Let's just say it likely involves a lot of lube... for his internal components that made Data the actual top warrior on the Enterprise, regardless of what Worf would have you believe.

If a new villain knocks Worf out easily, it's a sign they mean business and aren't a pushover and the crew and command of the Enterprise need to tread carefully to avoid casualties.

If a new villain knocks Data out easily, it's a sign the entire crew are in serious danger and there's a very good chance they are about to lose control of the ship.

Anyways, apply that principle to sex. He won't be so simple that an attempt will break hips, but he can calibrate the amount of power he does use based on the responses from his partner and experiment with more complex sequences with perfect memory of how each sequence was received. And, while I don't think his stamina is limitless, compared to humans it might as well be. Plus he can move fast enough to effectively turn any part of him into a vibrator (except maybe that part, unless he is set up for articulation beyond what humans can normally do).