No a child cannot legally be forced to visit a parent that they don't want to visit.
If you have gotten divorced and have visitation rights with your child that is what it really is.
It's just a right that you have to visit that child and the child also has rights when it comes to parent and child visitation.
If the child does not want to visit a parent they don't legally have too and cannot be forced by law to see that parent.
However in some states depending on the age of the child the parent could face legal problems if they don't get their child to visit the other parent when they are supposed too.
Such as for a child under 14 there might be more legal issues than say a 14 or older kid that doesn't want to visit the parent.
If the kid doesn't want to visit the parent you should speak with the court about it as there could be some legit concerns and reasons why they don't want to visit the parent.