Step 5: Vibrating Motors
Vibrating motors are constructed in the same way many as DC and stepper motors, except at the end of their rotors, they have a counter weight extending off of the edge. As the rotor spins, the counter weight is 'thrown' in a circular motion causing the entire mechanism to to shake.
The intensity of vibration depends on the size of the motor, as well as the counterweight.
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Vibrating unit for modular robots :) http://www.instructables.com/id/How-to-build-your-Modular-Vibrating-Robot/