Systems and methods for breaking a material are provided. In one embodiment, a system for breaking a material comprises a device configured to generate a force or torque on a material. The system further comprises at least one controller coupled to the device. The controller is configured to select at least one degree of freedom and an initial direction to apply the force or torque with the device. The controller is further configured to oscillate the force or torque at a first series of frequencies while applying the force or torque in the initial direction with the device by providing commands to the device.
