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Steering angle over 20 degrees two-axis optical beam steering prototype that employs a mirror on a two-axis gimbal is developed, which takes advantage of two-dimensional planner surface acoustic wave actuator. For the actuation of 20 degrees of tilt angle, 10 ms duration of driving power input is required for actuation, then additional 10 ms for mirror structure's damping produced complete angle holding. Note that any power supply is unnecessary to hold the angle. The resolution of the angle was 0.003 degree because of high-resolution ability of the actuator. The beam steering prototype showed 104 dynamic range of angle positioning ability.