This research focuses on force control taking environmental dynamics into account. Force control technique have been improving along with the control technique of acceleration. In general, the control objective can be achieved when compliance of the motor system is larger than contact environment. Although the high compliant system can contact and adopt many environment, unexpected vibration occurs when the environment behaves like multi-mass resonant system. Such problem is avoidable in the case when the environmental dynamics is known in advance, e.g. manufacturing factory. The factory implements many combined machines and it makes object behave like multi-mass system. The paper focuses on the force control for two-mass system considering such environmental dynamics. Some experiments are conducted and the paper confirms the theoretical validation.