A proportional plus derivative controller is used on a system with coulomb friction. The proportional control decreases steady state error, while the derivative control reduces system oscillations. However, the derivative control also makes the system response more sluggish. As an alternative, input shaping can be used to reduce the system oscillations. Traditional input shapers are not designed to include the effects of coulomb friction so they may not work well in all cases. A new method of developing an input shaper to include the effects of coulomb friction is discussed. Simulation and experimentation show the effectiveness of the new shaper.