In an example, a system for harvesting nut and fruit trees includes an electro-mechanical shaker head, a transport mechanism, and a control system. The electro-mechanical shaker head is configured to dislodge fruit or nuts from a target tree using a linear energy system. The transport mechanism is configured to position the electro-mechanical shaker head on the target tree. The control system is communicatively coupled to the shaker head and configured to dynamically control shaker head operation.