Acceleration is turned on in the front panel or with Rep G. Acceleration is tunable with Rep G when connnected via USB. Acceleration sounds like it speeds things up, however it actually controls how fast the mechanisms speed up and slow down. Those ripples are a common artifact of stopping too quickly and it makes the whole assembly shake. You can't see it with the naked eye. There are some good guides if you search for Sailfish documentation.

Another thing that also helps is to lessen the weight of the print head. If you find yourself printing mostly with only one extruder then it is good to remove one of the steppers and extruder/wiring. It's usually better to remove the left side since the right side is default and actuates the x motion position switch.