The method works by creating a command signal that cancels its own vibration.
That is, a vibration excited by previous parts of the command signal is cancelled by vibration excited by latter parts of the command.
The shaped command that results from the convolution is then used to drive the system.
The amplitudes and time locations of the impulses are obtained from the system's natural frequencies and damping ratios.
Shaping can be made very robust to errors in the system parameters.