Wade Robson accused Michael Jackson of forcing him to have sex during an appearance on Today Thursday morning.

Robson told Today anchor Matt Lauer that Jackson forced him to have sex when he was a child. Robson said that Jackson also forced him to perform sexual acts on the superstar. It was the first interview that Robson gave after he made his allegations. Robson filed legal documents on May 1 against the late singer's estate requesting payment for alleged childhood sexual abuse.

"I feel strong, I feel like this is the right thing to do because this is my truth," Robson said.

Robson also called Jackson a "pedophile and a child sexual abuser." The 30-year old Australian born dancer addressed accusations as to why he was now coming forward with these claims. He had previously denied that Jackson ever abused him in any fashion. In 2005 Ronson testified in court that Jackson never abused him during the superstar's molestation case. Robson also recalled Jackson in fond terms when the King of Pop died in 2009. He cited Jackson as the reason he danced and why he believed in the goodness of humankind. During his chat with Lauer, he struck a different tone.

"I have never forgotten one moment of what Michael did to me, but I was psychologically and emotionally completely unable and unwilling to understand that it was sexual abuse," he said.

Robson also said that money was not a motivating factor as to why he had changed his story. He said that he would not place his family in harm's way for financial gain. He said he simply wanted to be liberated from what he has had to keep secret.

"Because I've lived in silence and denial for 22 years, I can't spend another moment in that," he said. "In order to truly heal ... I'm never going to go away with this. I'm never going to be silenced."

Tom Mesereau, Jackson's lawyer during his 2005 molestation case, branded Robson a liar who was only out for money. He pointed out to the fact that Jackson's estate has grown to a billion dollar empire since his death. He felt that Robson simply made up the accusations for profit.

"This is a pathetic and an obvious grab for publicity and an attempt to put pressure on the [Michael Jackson] Estate to pay him money," he told TMZ.