The invention provides a rotary reciprocating drive
actuator and an
optical scanning device, which are easy to assemble and can be driven while achieving
thinning, wide angle and
high amplitude. The present invention is provided with: a movable body that has a shaft part to which a
magnet is fixed on the outer circumference, holds a V-shaped mirror such that the
ridge part of the V-shaped mirror follows the shaft part, and is supported so as to be capable of reciprocating rotation about the axis via the shaft part; and a unit main body having: a plurality of
magnetic poles facing the magnets in the radial direction of the shaft portion and spaced apart from each other in the circumferential direction of the shaft portion; a coil body that forms, together with the
magnet, an
electromagnetic drive unit that reciprocates and rotates the movable body; and a magnetic body that faces the
magnet in the radial direction of the shaft portion, is disposed between the plurality of
magnetic poles in the circumferential direction, attracts the magnet, and urges the movable body toward an initial position at which the movable body reciprocates. The
electromagnetic drive unit rotates the movable body in a reciprocating manner, and swings the V-shaped mirror while maintaining the angle formed by the V-shaped mirror.