This paper presents the design of a compliant mechanism for secondary positioning actuation within a dual-stage three-dimensional (3D)-printer. Dual-stage structures consist of a low-speed, long-range actuator that displaces a serially-connected high-speed, short-range actuator. This work focuses on the mechanical design of the secondary planar actuator: a compliant mechanism guiding the motion of voice coil motors. The stiffness and range characteristics are tailored to compliment the long-range gantry positioner of the system, while achieving a mechanical bandwidth over 10 × larger. Euler-Bernoulli beam theory with Castigliano's second theorem are leveraged to determine the effective stiffness of the mechanism; finite element analysis (FEA) is used to estimate the range and speed characteristics of the mechanism. A prototype positioner is manufactured via 3D-printing, and the experimental system is characterized. Simulations are performed on a linear model of the system using PID control with a complementary filter pair.