Human action planning relies on integrated representations of motor acts and the associated consequences, which implies that changing the set of effects associated to a motor act might directly influence action planning and control. The present study investigated the hypothesis that action-effect manipulations also affected the motor components of the actions even when only a single action option was available. Participants performed simple everyday actions (pinched a plastic sheet, pressed a button, tapped on a table) in two conditions. In the motor-auditory condition actions resulted in the presentation of a tone, whereas no tones were presented in the motor condition. The applied force was softer in the motor-auditory than in the motor condition for all three types of actions. The temporal characteristics of force application showed that action-effect related motor adaptation occurred during action planning, but possibly also during action execution. This demonstrates that even in simple, well-defined interactions with everyday devices we take all (even seemingly task-irrelevant) action-effects into account during action planning, which affects the motor component of the action. The results also imply that in experiments manipulating contingent action effects, one cannot rely on the assumption that the motor part of the action is invariant between conditions.