Provided are a striking device and a natural frequency measuring device capable of simply and accurately measuring a natural frequency of a system including force detector. The striking device includes an arm capable of swinging around a spindle, and a steel ball arranged in an end part of the arm on a side opposite to the spindle. The spindle is supported by a supporting part capable of lifting up and down relative to a post erected on a magnet stand. A supporting part for supporting a supporting plate is arranged at a position in the post and above the supporting part. A permanent magnet is placed above the supporting plate. The steel ball falls down in an arc shape from a standby height position when the permanent magnet is removed.