Abstract: A hydraulic actuator is provided for controlling relative movement between first and second structures between which the actuator is mounted, for example between a boom and the base frame of an agricultural sprayer, while providing some resilience in the form of suspension. The actuator comprises a piston cylinder having a floating cushion piston supported within the cylinder end to support the piston within the cylinder in a retracted position at a prescribed spacing from the cylinder end. The piston can thus be deflected from the retracted position in either direction using a pressure relief mechanism so as to provide some flexibility to the actuator to accommodate the varying forces between the pair of relatively movable structures between which the actuator is mounted. The cushion piston requires no additional electrical switches or controllers and can be part of the hydraulic circuitry of the actuator so as to provide a simple, low cost actuator with integral suspension.