The development of active locomotion approaches for endoscopic capsules – as opposed to the passive traversal of the gastrointestinal (GI) tract by natural peristalsis, which is the current clinical practice – is expected to significantly enhance the diagnostic and therapeutic functionalities of these devices. Exploitation of external magnetic fields as locomotion strategy currently represents the most promising approach for the active guidance of endoscopic capsules. In addition, the use of capsule vibrations is currently under investigation, in order to further enhance the maneuverability of the capsule by reducing its friction with the GI tissues. Towards this end, we present here the development of a capsule prototype, which integrates permanent magnets with a vibrating motor and a triaxial accelerometer, along with an electronic module allowing remote control of the motor and wireless transmission of the inertial data to a host PC. Ex vivo tests confirm both the efficacy of vibrations for reducing friction, as well as the adequacy of the inertial sensing scheme in capturing the characteristics of the capsule vibrations. It is expected that these findings could be exploited for the on-the-fly adjustment of the vibratory motor frequency, based on the accelerometer data, in order to adaptively minimize the capsule friction during the entire endoscopic procedure.