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||I'm not sure you'll get any directional controllability.
The phone vibrator is just a small electric motor with
an eccentric weight on the shaft, so it can only
vibrate in one way, possibly at different speeds.
||Of course, if you glued three phones to the corners of
a triangular base, all pointing in different directions,
you might get something very interesting. With some
fancy software, the system could learn to exploit
resonances and whatever, and might be capable of
quite precise control.
||That link is just wrong, [21Q].
||If you use the type of toothbrush that has slanted bristles,
the phone will tend to move away from the slant. Steering
is an issue, however.