The substrate includes a stroke amplifier for generating an amount of amplified motion converted from a force received thereon. The substrate also includes a rotating device coupled to the stroke amplifier, the rotating device comprising supporting rotational springs. The rotating device is separate and independent from the stroke amplifier and has a center of rotation substantially proximal to a center of mass of an object disposable thereon. The rotating device causes a rotation in a portion of the substrate upon receiving said amplified motion. The substrate further includes a piezoelectric actuator that is coupled to the stroke amplifier and is for generating the force. The stroke amplifier and the rotating device are integrated within the substrate.