A sex toy comprising a body housing a motor； a shaft coupled to the motor； a massaging member mounted over the shaft； and a controller coupled to control the motor to drive the massaging member in a reciprocating motion along the length of the shaft is described. The reciprocating motion results in a change in length of the sex toy. The change in length may comprise about 20 mms to about 100 mms； about 25 mm to about 90 mm； or about 30 mm to about 85 mm. One full stroke of the reciprocating motion may be performed in about 0.5 to about 2.0 about seconds； about 0.6 to about 1.5 seconds； or about 0.7 to about 1.0 seconds.
