Smooth 2D collision

Whenever I use transform.Translate(), the player slightly clips through a square while they fall, but rigidbody.AddForce() does not present the same issue. When I use AddForce, however, there is no regulation of the player's speed. Is there any way I can have smooth collisions and not have acceleration? (The player has a BoxCollider2D and Rigidbody2D, and the square has a BoxCollider2D.)