Abstract: A mechanism that steers a high energy density output(s) in a shaking motion other than a rotating motion that when translated across a surface evenly affects the surface. One application can be used as an end effector. A pivot on the mechanism induces an angular motion that eliminates the tops and bottoms of the pattern produced by the shaking motion. As a waterjet stripping mechanism which may be an end effector, a nozzle or output manifold with one or more orifices or outputs is attached to a non-rotating tube eccentrically mounted within a rotating tube that shakes the nozzle or output manifold so as to direct the stream of water to the target in a skewed circular pattern.