An ornithopter engine and method of generating an iterative flapping motion are disclosed. The engine includes a structural frame, having at least two swinging member mounting portions, a driving magnetic member shaft mounting portion and a driving magnetic members shaft. The driving magnetic members shaft is rotatable relatively to the structural frame. The engine includes at least two driving magnetic members, affixed to the driving magnetic member shaft and at least two swinging members, pivotally mounted onto the structural frame. The engine further includes at least one driven magnetic member, affixed to the swinging member and a motor coupled to the shaft.