“…The dependence of the vibration amplitude on the end-effector oblateness could be attributed to the added mass, M am , induced by the vertical motion of the end-effector. For oblate spheroids with oblateness b/a = 0.25, 0.50, 0.75, and 1.00, the added mass of water are M am /M 0 = 0.594, 0.558, 0.527, and 0.500, respectively 21 -M 0 ¼ 4 3 ρπa 3 is the mass of a sphere with radius a filled with water. A flatter end-effector was associated with a larger added mass, which could explain the larger vibration amplitude of the plate.…”