By vibrating a rigid plate with up to six degrees of freedom, we can
create a large family of programmable frictional force fields acting
on parts resting on the plate. These fields can be used for sensorless
part orientation, uncertainty reducing transport, and simultaneous
manipulation of multiple parts. The principle is demonstrated by a
plate rotating about an axis below the plate. Simple oscillatory
rotation produces a squeeze field that attracts and aligns parts along
a center line.  This behavior is confirmed in experiment. Motivated by
this experimental confirmation, we use a simulation to find plate
motions that yield a number of other useful primitive force fields. By
sequencing these force fields, we can create any force field that is a
convex combination of the primitives.