Vaccines can be delivered through the skin using ultrasound. This method doesn’t damage the skin and eliminates the need for painful needles. To create a needle-free vaccine, Darcy Dunn-Lawless at the University of Oxford and his colleagues mixed vaccine molecules with tiny, cup-shaped proteins. They then applied liquid mixture to the skin of mice and exposed it to ultrasound – like that used for sonograms – for about a minute and a half.
Forced vaccinations weren’t and still aren’t a thing in the US. (I’m sure there were exceptions, but I mean large scale and general public)
However requiring a vaccine in order to participate in society (jobs, school, etc.) is perfectly reasonable. It’s still a choice, just that the consequences are on those making the choice instead of on those around them.