In this work, an optimum shape synthesis for rolling contact components was done to minimize contact forces considering dynamic characteristics of the system. Even this method was applied to an OHC type cam follower system, it can be expanded to general rolling contact shape design problems which are strictly forced to follow predetermined motion. First, the follower optimum angular motion was derived to minimize the valve peak acceleration while satisfying all the constraints of valve motion. Then the cam and follower contact shape were synthesized to give the proposed follower motion. Theoretically, two components shape to generate a predetermined motion can not be uniquely determined. So the cam shape was syntehsized with parametric synthesis method to minimize the peak contact force between cam and follower when the follower shape is assumed as a circle or an ellipse.