A compact IR zoom telescope with diameter/length = 94/159 mm and magnification from 2 to 6 times at 8-12 microns is designed. Mechanically compensated zoom is adopted. Zooming lens and compensating lens groups possessing three roller followers for each are controlled by the stationary control cylinder on which there are three pairs of cam slots to which six followers are attached. When the outer cylinder having six linear slots is rotated, it will force the followers (i.e., the two lens mountings) to turn, resulting in smoothly turning and moving the two. The effect of air gap between the follower and the slot on backlash in the cam track is eliminated by special design of elastic construction of the roller follower. The image quality examed by MTF testing is satisfactory.