Purpose <p>Piezoelectric fixed actuator known as inertial slider operate via stick–slip motion, inducing forward motion through static friction and retraction via sliding friction. Various operation modes exist, impacting slider velocity and wear. Rapid normal force adjustments expand slider functionality but increase complexity and energy consumption. Nonlinearities in PZT actuators, such as hysteresis and creep, affect slider performance. Friction in real contacts depends on tangential stiffness and surface properties, influencing actuator behavior and wear. Simulation aids in slider development, but standardizing friction models remains a challenge.</p> Methods <p>In this work, an experimental setup is constructed to validate theoretical models, comparing displacement, velocity, and acceleration between simulations and experiments. Linear behavior of PZT-5A material is confirmed, even at high excitation amplitude(s). The investigation includes modeling and simulation details, with results analyzed to understand stick–slip dynamics.</p> Results and Conclusion <p>Exponential input waveforms yield superior displacement performance. Due to the extremely small length scale considered here, it was observed that frictional stress is dependent on the relative acceleration between the contacting surfaces, not just the relative velocity. Experimental measurements are compared with simulations, providing insights into slider functionality, thus leading to optimized operating design.</p>