Mobile haptic devices are being studied extensively because they have great potential for use as information transfer devices. Amemiya et al. proposed a method for haptic feedback with a slider-crank mechanism that uses an asymmetrical drive. We have recently proposed a haptic device that uses a small two degree-of-freedom (2-DOF) oscillatory actuator. Using this actuator, we have investigated the relationship of the properties of the asymmetric acceleration to haptic perception by conducting experiments on volunteers. Then, by applying a genetic algorithm to the optimization method, we created an optimized asymmetric acceleration waveform. However it has a different oscillations in operating directions. In this report, we propose a new oscillatory actuator using stepper motor principle to realize uniform oscillations in different directions. We verify that the proposed actuator is able to generate an asymmetric acceleration waveform.