Piezoelectric actuator

A method of applying a force to an object, comprising:

• positioning at least one piezoelectric shear device proximate said object, and wherein said device comprises:
• a crown having a friction surface which surface is proximate said object;
• a bottom having a surface supported by a support structure;
• at least one piezoelectric shear body integrally located intermediate said crown and said bottom;
• and
• means for effecting an electrical potential within said piezoelectric shear body;
• effecting an electric potential within said piezoelectric shear body so as to cause said piezoelectric shear body to shear said crown friction surface to move in a first direction;
• interacting said crown friction surface with said object thereby frictionally causing non-sliding smooth tangential translation of said object to occur;
• reversing the electric potential within said piezoelectric shear body;
• and
• retracing the tangential translation of said crown at a magnitude and velocity sufficient to reduce sliding friction between said crown and said object and thereby always maintaining the sign of the velocity of the object as positive and greater than zero.