An excitation device includes an output circuit to output a drive signal having a frequency component to drive a piezoelectric element to vibrate an object using a vibrating body, and a control circuit including vibration modes to control the output circuit to apply to the piezoelectric element a drive signal having a frequency based on a resonant frequency of a vibrator including the object, the vibrating body, and the piezoelectric element, the modes including a predetermined vibration mode in which the frequency of the drive signal is about 1/(2n+1) times or about (2n+1) times the resonant frequency of the vibrator, and n is a positive integer.