An ultrasonic sensor includes a two-dimensional array of ultrasonic transducers. A signal generator is configured to generate a plurality of transmit signals, wherein each transmit signal of the plurality of transmit signals has a different phase delay relative to other transmit signals of the plurality of transmit signals. A plurality of shift registers is configured to store a beamforming space including a beamforming pattern to apply to the two-dimensional array, wherein the beamforming pattern identifies a transmit signal of the plurality of transmit signals that is applied to each ultrasonic transducer of the beamforming space that is activated during a transmit operation. An array controller is configured to control activation of ultrasonic transducers during a transmit operation according to the beamforming pattern and configured to shift a position of the beamforming space within the plurality of shift registers such that the beamforming space moves within the two-dimensional array.