A battery-powered percussive massage device comprising: a main housing that encloses a motor, the main housing having a main enclosure (112, 114) and a battery assembly receiving enclosure, wherein said main enclosure (112, 114) extends between a proximal end and a distal end and defines a longitudinally extending bore that encloses a piston that reciprocates along a reciprocation axis within the longitudinally extending bore in response to operation of the motor and said battery assembly receiving enclosure extends from the underside of the main enclosure (112, 114) at a position between said proximal and distal ends and wherein said motor has a rotatable shaft having a central axis that is perpendicular to the longitudinal axis of the bore; a crank coupled to the shaft, the crank having a pivot offset from the central axis of the shaft; a reciprocating linkage have a first end coupled to the crank and a second end coupled with the piston; an applicator head (516; 700; 720; 740) positioned at the distal end of the main enclosure (112, 114) and removably coupled to the piston, at least a portion of the applicator head (516; 700; 720; 740) exposed outside the distal end of the main enclosure (112, 114); a battery assembly receiving tray positioned within the longitudinally extending bore of the main enclosure (112, 114) in alignment with the battery assembly receiving enclosure, the battery assembly receiving tray having at least a first electrical contact and a second electrical contact; and a battery assembly removably secured to the battery assembly receiving enclosure such that a first portion of the battery assembly is positioned within the battery assembly receiving enclosure and a second portion of the battery assembly extends from the battery assembly receiving enclosure, the second portion of the battery assembly having an outer gripping surface configured to be gripped by one hand to provide a handle to direct the application of the applicator head (216; 700; 720; 740) to a body part to be massaged, wherein the battery assembly has a contact end that is insertable into the battery assembly receiving tray through the battery assembly receiving enclosure to position the first portion of the battery assembly in the battery assembly receiving enclosure and attach the battery assembly to the main enclosure by engaging an engagement structure (220, 222) on said contact end with a mating engagement structure (224, 226) in said battery assembly receiving assembly to mechanically connect the battery assembly to the battery assembly receiving assembly and engage at least a first electrical contact of the contact end with the first electrical contact of the battery assembly receiving tray and a second electrical contact of the contact end with the second electrical contact of the battery assembly receiving tray. a main housing that encloses a motor, the main housing having a main enclosure (112, 114) and a battery assembly receiving enclosure, wherein said main enclosure (112, 114) extends between a proximal end and a distal end and defines a longitudinally extending bore that encloses a piston that reciprocates along a reciprocation axis within the longitudinally extending bore in response to operation of the motor and said battery assembly receiving enclosure extends from the underside of the main enclosure (112, 114) at a position between said proximal and distal ends and wherein said motor has a rotatable shaft having a central axis that is perpendicular to the longitudinal axis of the bore; a crank coupled to the shaft, the crank having a pivot offset from the central axis of the shaft; a reciprocating linkage have a first end coupled to the crank and a second end coupled with the piston; an applicator head (516; 700; 720; 740) positioned at the distal end of the main enclosure (112, 114) and removably coupled to the piston, at least a portion of the applicator head (516; 700; 720; 740) exposed outside the distal end of the main enclosure (112, 114); a battery assembly receiving tray positioned within the longitudinally extending bore of the main enclosure (112, 114) in alignment with the battery assembly receiving enclosure, the battery assembly receiving tray having at least a first electrical contact and a second electrical contact; and a battery assembly removably secured to the battery assembly receiving enclosure such that a first portion of the battery assembly is positioned within the battery assembly receiving enclosure and a second portion of the battery assembly extends from the battery assembly receiving enclosure, the second portion of the battery assembly having an outer gripping surface configured to be gripped by one hand to provide a handle to direct the application of the applicator head (216; 700; 720; 740) to a body part to be massaged, wherein the battery assembly has a contact end that is insertable into the battery assembly receiving tray through the battery assembly receiving enclosure to position the first portion of the battery assembly in the battery assembly receiving enclosure and attach the battery assembly to the main enclosure by engaging an engagement structure (220, 222) on said contact end with a mating engagement structure (224, 226) in said battery assembly receiving assembly to mechanically connect the battery assembly to the battery assembly receiving assembly and engage at least a first electrical contact of the contact end with the first electrical contact of the battery assembly receiving tray and a second electrical contact of the contact end with the second electrical contact of the battery assembly receiving tray.