For a one time quick thing, you can probably get away with any pair of pliers. For any real cable install definitely use a crimp tool.
Just pushing it on with your hands its going to slide right off unless you have a really thick cable for some reason. The copper wire only makes contact, it doesn't "snap in" to anything on the plug, so if you dont crimp it at all you're going to just end up with a lonely F connector screwed into the back of your device and a roll of cable sitting on the ground next to it
Depending on the cable I would either buy a couple of the non crimp screw on connectors or just go ahead and blow $3 on a cheap crimper. If the cable is loose snag some Cable guy and get him to put a couple connectors on it.