In this paper,a self contained capsubot (capsule robot) propulsion mechanism is investigated.The proposed capsubot works on the principle of internal force-static friction.A modified linear DC motor is used to drive the capsubot.A novel acceleration profile is proposed for the moving part (linear cylinder) based on the principle.A significant feature of the proposed capsubot is that it is legless,wheelless,and trackless.The developed capsubot with a proposed propulsion mechanism demonstrates a very good average velocity.The propulsion mechanism has the potential to be used for the propulsion of a wireless-controlled self-propelling capsule endoscope.Simulation and experimental results demonstrate the performance of the self-contained capsubot with the proposed acceleration profile.