Embodiments are described wherein a system for brushing the teeth of a person comprises a vibratory transducer coupled to a brushing member a controller operatively coupled to the vibratory transducer wherein subject to an input from an operator, the controller is configured to cause a first reciprocating brushing motion of the brushing member against a surface of a tooth at a first frequency, followed by a second reciprocating brushing motion of the brushing member against the surface of the tooth at a second frequency different from the first frequency, to clean the tooth.
