Abstract: An optical recording actuator includes: a base and a lens holder having a lens. A pair of spaced-apart flexible, inextensible, coplanar connecting members are connected between the base and the lens holder. A force is applied to the lens holder in the plane of the connecting members to generate tension in the connecting members. A motor applies forces and moments to the lens holder so that the lens holder can move the lens in a desired manner. The resulting actuator has four controllable degrees of freedom of motion relative to the base: focus, tracking, pitch and roll.