Haptic actuator including pulse width modulated waveform based movement for overcoming resting inertia and related methods

A haptic actuator may include a housing, at least one coil carried by the housing, a field member movable within the housing responsive to the at least one coil, and at least one mechanical limit stop between the housing and the field member. The haptic actuator may also include circuitry capable of generating a pulse width modulated (PWM) waveform for the at least one coil to move the field member from an initial at-rest position and without contacting the at least one mechanical limit stop.