Abstract-The electromagnetic force between two misaligned coils (coils with parallel axes) with uniform current density distribution and rectangular cross section based on the derived semi-analytical expressions was presented. Using the semi-analytical expressions for magnetic force between filamentary misalignment circular coils we calculate the propulsive and the transverse magnetic force. In order to verify the validity of the expressions, we use the filament method with Grover's formula to calculate the magnetic force for two coils with parallel axes. The results obtained by two methods are in a very good agreement. In this paper, the derivation of the semianalytical expressions and the calculation results of the magnetic force are introduced.