Control of multi-rotor unmanned aerial vehicles (UAV) has received a lot of attention during last decade. Such vehicles are very useful because of their compact size, maneuverability and ability to fly into spaces which are otherwise inaccessible or unsafe for both military and civilian applications. There has been a lot of research on trajectory planning and control of UAVs for formation flying, replicating swarm behaviors, map construction, imaging, pick and place objects etc. Interest in controlling interaction forces between these UAVs and external environment is relatively new. Such an ability of controlled physical interaction with an external environment can significantly enhance the capability of such vehicles and is the subject of this paper. Controlling these interaction forces is challenging because the UAV, which is essentially a floating base, is under-actuated and can not provide arbitrary reactions torques and forces to a manipulator mounted on itself (as opposed to ground that can provide any reaction force or torque to a ground based manipulator). This paper presents a controller for a planar multi-rotor aerial vehicle with two link manipulator such that both kinematic and contact force requirements are met. Simulations demonstrating the effectiveness of this controller are also presented.