Abstract: This invention offers advantages over the prior art by providing a simple, inexpensive mechanism and method for reducing the shock load on the drive of a rotary or linear actuator when the motion of the actuator output shaft is slowed, even to the point of stopping. This is referred to as bringing the actuator to a “soft stop.” This invention uses a single spring wherein the spring may be a torsion, ribbon or compression spring. The mechanism generally includes a spring, a spring cup and a drive cup. When the motion of the output shaft is slowed or reaches its limit of travel, the spring begins to store energy and brings the drive cup to a soft stop.