In a friction drive actuator 1 according to the invention, a rotor 2 and a stator 4 are held in contact at a plurality of positions by a plurality of vibrators 3, and at least one of the vibrators 3 vibrates to rotate the rotor 2 relative to the stator 4. Accordingly, the rotor 2 is supported without using a bearing and, hence, the rotor 2 can be more easily elastically deformed as compared with the case where the rotor 2 and the stator 4 are held in contact over the entire circumference. Therefore, a frictional force between the stator 4 and the rotor can be stabilized.