Vibration control of a maneuvering flexible robotic arm is a challenging task which has to deal with changing structural dynamics and inaccuracies from modelling and measurements. This paper offers a simple an effective alternative controller for a two-link flexible arm. The suggested technique is stable and suitable as an add-on feature, as it requires no additional hardware. It is based on a kinematic event, rather than needing a dynamic model of the structure to be controlled. Hence, it certainly represents a significant practical advantage. Both numerical predictions and experimental observations are presented, to compare the deviations from the intended trajectories with and without the control.