I do not believe so. However consider this:
If you remove and install the same stick of SDRAM numerous times for whatever reason maybe in different systems then over time the contacts will wear gradually.
Same applies to AGP and PCI video cards with AGP because of their more compact and closeness of the contacts more prone to wear.
So to answer your question the cards will wear gradually unless you are an extremist and do so several times in one day. Regarding the motherboard - I think not they are very durable.
I have a few sticks of EDO with "silver" contacts and these have taken a beating from Mobo to Mobo but still work.