In this work, the design and implementation of several physics scenarios using haptic devices are presented and discussed. Four visuo-haptic applications were developed for an undergraduate engineering physics course. Experiments with experimental and control groups were designed and implemented. Activities and exercises related to classical mechanics concepts were applied in virtual scenarios. The importance of carefully designing haptic scenarios and planning the implementation process to foster greater student engagement was emphasized. The quality of the visualization and friendlier interaction with bodies in the simulation are essential factors. The haptic intervention was evaluated through a perception questionnaire about the use of the visuo-haptic simulators. The results strongly indicate that most students were motivated to use haptic technology. In addition, post-tests were administered to compare the potential learning gains of the experimental and control groups. The results indicate that students in the experimental group obtained greater learning gains than those in the control group in two scenarios. These findings suggest that, by incorporating properly designed visuo-haptic learning environments, students are engaged and motivated to learn physics concepts, thereby supporting better learning outcomes.