A compact portable ultrasonic inspection apparatus and method of non-destructive inspection of an object. A probe of the apparatus has a stationary cavity frame assembly with an agile ultrasound stylus, being a transducer and an acoustic coupling member, located therein and on which a motion system induces random or controlled motion of the stylus, to pivot the transducer about a point where the coupling member contacts a surface to be inspected. Three landing elements surround the coupling member, configured to hold the frame assembly to the surface. A sequence of oblique angle ultrasound measurements collected at measured transducer orientations generate polar scans of backscattered acoustic energy from within the object and automatically derive geometric measurements and/or ascertain internal health-condition information about the object. The apparatus finds application in-situ non-destructive testing (NDT) inspection of anisotropic or composite materials used in safety-critical objects or structures.