Tooth brushing is a fundamental technique and very important for keeping dental and oral clean, which contributes to decrease risk of diseased and extend the health life. However, lack of knowledge of tooth brushing and less brushing time cause many people be in a bad condition of dental and oral health. A few robots were developed for supporting brushing teeth with only horizontal motion of brushes and biting force was applied to brushes. This decreases the motion of brushes and causes low plaque removal rate. Therefore, the purpose of this study is to develop a new mechanism for achieving higher plaque removal rate with automatic teeth cleaning robot. One of the most effective brushing method is Pones method, which combines vertical and horizontal motion of brushes during brushing. Hence, mechanisms to achieve vertical and horizontal motion of brushes were designed. The system was tested and multiple motion of brushes was achieved by controlling actuator.