A sex toy comprising a body housing a motor; a shaft coupled to the motor; a massaging member mounted over the shaft; and a controller coupled to control the motor to drive the massaging member in a reciprocating motion along the length of the shaft is described. The reciprocating motion results in a change in length of the sex toy. The change in length may comprise about 20 mms to about 100 mms; about 25 mm to about 90 mm; or about 30 mm to about 85 mm. One full stroke of the reciprocating motion may be performed in about 0.5 to about 2.0 about seconds; about 0.6 to about 1.5 seconds; or about 0.7 to about 1.0 seconds.