A piezoelectric Ciliary-like body beam of a tactile feedback device can realize a touchpoint of different tactile sensations under simple control when the finger movement changes to the opposite direction. In a previous published study, the friction of touch sensation was shown to depend on the acceleration of forced vibration of the ciliary-like body beam. For investigating the system parameters’ effect on vibration accelerations, the dynamic model of forced vibration of the touch beam is established, and the steady-state response of the touch beam excited by piezoelectric sheets is deduced. The influence of instantaneous acceleration and average acceleration of the touch beam on skin was analyzed, and an experiment was conducted to prove the theoretical analysis. The study results show that larger excitation voltage, larger piezoelectric constants, smaller elasticity modulus, and smaller damping ratio would enhance the displacement and acceleration of the forced response of the touch beam. Through the experimental results, the working mode and frequency of the touch beam was obtained, and the correctness of the theoretical analysis was verified.