A haptic actuator, comprising: a housing; a first electromagnet fixed to the housing and configured to have magnetic poles that are aligned with a first axis and that are at first and second ends of the first electromagnet; a moveable mass disposed within the housing and at least partially surrounding the first electromagnet, the moveable mass having, i) ferromagnetic material at a first end of the moveable mass, and ferromagnetic material at a second end of the moveable mass opposite the first end of the moveable mass, wherein the first axis passes through the first and second ends of the moveable mass, and ii) a plurality of permanent magnets (125, 126, 128, 130) that are configured to magnetize the ferromagnetic material at the first and second ends of the moveable mass, such that when a current is applied to the first electromagnet, the ferromagnetic material at one of the first and second ends is attracted to the first electromagnet, and the ferromagnetic material at the other of the first and second ends is repelled by the first electromagnet; the haptic actuator further comprising a controller, a second electromagnet fixed to the housing and configured to have magnetic poles aligned with the first axis; a third electromagnet fixed to the housing and configured to have magnetic poles aligned with the first axis; wherein the second electromagnet and the third electromagnet are facing respective opposite ends of the moveable mass, such that the first end of the moveable mass is between the first electromagnet and the second electromagnet, and the second end of the moveable mass is between the first electromagnet and the third electromagnet, wherein the controller is configured to cause actuation of the moveable mass by providing respective alternating currents to each of the first electromagnet, the second electromagnet, and the third electromagnet in a manner that causes the magnetic poles of the first, second, and third electromagnets to have the same polarity, such that, at a moment in time, the second electromagnet exerts a pulling force on the ferromagnetic material at the first end of the moveable mass, and the third electromagnet exerts a pushing force on the ferromagnetic material at the second end of the moveable mass. a housing; a first electromagnet fixed to the housing and configured to have magnetic poles that are aligned with a first axis and that are at first and second ends of the first electromagnet; a moveable mass disposed within the housing and at least partially surrounding the first electromagnet, the moveable mass having, i) ferromagnetic material at a first end of the moveable mass, and ferromagnetic material at a second end of the moveable mass opposite the first end of the moveable mass, wherein the first axis passes through the first and second ends of the moveable mass, and ii) a plurality of permanent magnets (125, 126, 128, 130) that are configured to magnetize the ferromagnetic material at the first and second ends of the moveable mass, such that when a current is applied to the first electromagnet, the ferromagnetic material at one of the first and second ends is attracted to the first electromagnet, and the ferromagnetic material at the other of the first and second ends is repelled by the first electromagnet; i) ferromagnetic material at a first end of the moveable mass, and ferromagnetic material at a second end of the moveable mass opposite the first end of the moveable mass, wherein the first axis passes through the first and second ends of the moveable mass, and ii) a plurality of permanent magnets (125, 126, 128, 130) that are configured to magnetize the ferromagnetic material at the first and second ends of the moveable mass, such that when a current is applied to the first electromagnet, the ferromagnetic material at one of the first and second ends is attracted to the first electromagnet, and the ferromagnetic material at the other of the first and second ends is repelled by the first electromagnet; the haptic actuator further comprising a controller, a second electromagnet fixed to the housing and configured to have magnetic poles aligned with the first axis; a third electromagnet fixed to the housing and configured to have magnetic poles aligned with the first axis; wherein the second electromagnet and the third electromagnet are facing respective opposite ends of the moveable mass, such that the first end of the moveable mass is between the first electromagnet and the second electromagnet, and the second end of the moveable mass is between the first electromagnet and the third electromagnet, wherein the controller is configured to cause actuation of the moveable mass by providing respective alternating currents to each of the first electromagnet, the second electromagnet, and the third electromagnet in a manner that causes the magnetic poles of the first, second, and third electromagnets to have the same polarity, such that, at a moment in time, the second electromagnet exerts a pulling force on the ferromagnetic material at the first end of the moveable mass, and the third electromagnet exerts a pushing force on the ferromagnetic material at the second end of the moveable mass.