Quake: It is basically 'Shake' but usually used to describe the earth. As in Earthquake. (In can also be used to describe a person shaking with fear or anger. As in to tremble. "She was scared. Her legs were quaking")
Shake: Used when someone/something is shaking someone/something.
Vibrate: Used when something is shaking by itself.
You can vibrates something, just not that common of a saying. Really all technically the same meaning and usage, but shake is much more common, quake as verb least common and usually for large things like earth
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