Abstract: A rocking bed is disclosed which produces pitching (movement up and down relative to the sleeper), rolling (side to side relative to the sleeper), or translational (movement within the X-Y plane without changing orientation of the sleeper) motion to trigger sensory mismatch which aids the onset of sleep. One embodiment of the bed comprises a top frame supported by triangular trusses, which can rotate freely through pillow block bearings. A motor and crank shaft mechanism causes the bed to pitch upwards and downwards. Another rocking bed embodiment is disclosed wherein the top frame sits on an inverted pyramid structure, which sits on a ball and socket joint that is fixed to the base frame with two motors. These motors permit the full range of motion and can combine types of motion to accelerate sleep onset.