A fixing device includes a fuser member, a pressure member, a first motor, a second motor, a pressure adjuster, and a controller. The fuser member defines a first heatable surface. The pressure member defines a second heatable surface. The first motor is connected to the fuser member to rotate at a first rotation rate to drive the first surface at a first conveyance speed. The second motor is connected to the pressure member to rotate at a second rotation rate to drive the second surface at a second conveyance speed. The pressure adjuster presses the pressure member against the fuser member at a variable pressure to form a fixing nip with a variable width extending along the conveyance path. The controller is connected to the first and second motors to adjust at least one of the first and second rotation rates relative to the other.