This study presents an innovative piezoelectric actuator, capable of long travel distance and fast speed. Main components of the actuator include a rod and two piezoelectric buzzers of disk geometry. Being subject to the piezoelectric force and Coulomb friction, the piezoelectric actuator can move rapidly. Equations of motion are derived based on piezoelectric properties and Newton's law. Static and kinetic friction effects are incorporated. Stress and strain calculations and piezoelectric equations are included in derivation. Circular plate models with polar coordinates are used to account for piezoelectric properties of buzzers. Experimental results are compared with theoretical results. According to experimental results, the present actuator can move at the speed of 37.5 mm/sec and generate the force of 15.4 mN.