A device for sexual stimulation includes: a support structure defining a centerline; a first vibratory actuator including a first motor, a first output shaft, and a first eccentric mass coupled to the first output shaft, the first vibratory actuator elastically coupled to the support structure opposite the first eccentric mass in a cantilever configuration; a second vibratory actuator including a second motor, a second output shaft, and a second eccentric mass coupled to the second output shaft, the second vibratory actuator elastically coupled to the support structure opposite the second eccentric mass in a cantilever configuration, the first vibratory actuator and the second vibratory actuator substantially parallel and arranged on opposing sides of the centerline; and a sheath including a first section arranged over the first vibratory actuator, a second section arranged over the second vibratory actuator, and a third section arranged over a portion of the support structure.