A linear motor comprising: a housing; a coil, a moving magnet a flexure joined to the housing comprising: a shaped sheet of material having a middle portion coupled to the magnet, two end portions generally perpendicular to the middle portion, and corner portions each joining a respective one of the end portions and the middle portion, each corner portion: including a first curve (202,222) with a concave curvature relative to a point of view outside the corner portion, a second curve (204,224) having a concave curvature relative to the point of view, and a third curve (218,226) joining the first and second curves and having a convex curvature relative to the point of view, being symmetric about a plane that bisects a net planar angle between the middle portion and the respective end portion, and being shaped to protrude beyond an envelope defined by the planes containing the middle portion and the respective end portion. a housing; a coil, a moving magnet a flexure joined to the housing comprising: a shaped sheet of material having a middle portion coupled to the magnet, two end portions generally perpendicular to the middle portion, and corner portions each joining a respective one of the end portions and the middle portion, each corner portion: including a first curve (202,222) with a concave curvature relative to a point of view outside the corner portion, a second curve (204,224) having a concave curvature relative to the point of view, and a third curve (218,226) joining the first and second curves and having a convex curvature relative to the point of view, being symmetric about a plane that bisects a net planar angle between the middle portion and the respective end portion, and being shaped to protrude beyond an envelope defined by the planes containing the middle portion and the respective end portion. a shaped sheet of material having a middle portion coupled to the magnet, two end portions generally perpendicular to the middle portion, and corner portions each joining a respective one of the end portions and the middle portion, each corner portion: including a first curve (202,222) with a concave curvature relative to a point of view outside the corner portion, a second curve (204,224) having a concave curvature relative to the point of view, and a third curve (218,226) joining the first and second curves and having a convex curvature relative to the point of view, being symmetric about a plane that bisects a net planar angle between the middle portion and the respective end portion, and being shaped to protrude beyond an envelope defined by the planes containing the middle portion and the respective end portion. including a first curve (202,222) with a concave curvature relative to a point of view outside the corner portion, a second curve (204,224) having a concave curvature relative to the point of view, and a third curve (218,226) joining the first and second curves and having a convex curvature relative to the point of view, being symmetric about a plane that bisects a net planar angle between the middle portion and the respective end portion, and being shaped to protrude beyond an envelope defined by the planes containing the middle portion and the respective end portion.