This project seeks to explore high resolution haptic feedback systems in the application of VR styluses. The goal of this project is to see if a high resolution haptic system can be designed such that writing in VR with a pen is just as natural as writing with a pen and paper. Three main haptic sensations were aimed to be replicated: the speed of a stroke, the angle of the stroke, and a sense of contact when the virtual pen interacts with a surface. This was done using an omnidirectional ball system, which when combined with an engagement system, theoretically replicates these tactile sensations. A user study showed that using this VR pen with haptics on improved handwriting abilities compared to haptics turned off, although further research and development is still required