If you want to redirect /shop/contact-us with a number of optional trailing slashes to http://www.example.com/contact-us, then the Redirect directive is not very appropriate. Use RedirectMatch directive instead:
RedirectMatch 301 "^/shop/(contact\-us)/?" http://www.example.com/$1/
where
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^ is an anchor meaning "beginning of the line";
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/? matches zero or one slash character;
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(contact\-us) is a capturing group (referenced by $1)
Note, the regular expression matches only the prefix, since only the ^ anchor is used. You can use the $ (end of the line) anchor in order to make the expression stricter, e.g.:
RedirectMatch 301 "^/shop/(contact\-us)/*$" http://www.example.com/$1/
where /* means zero or more slashes.