A sensing system comprising a hand-held sensing device with a vibracoustic sensor module (VSM). The VSM comprises a voice coil component comprising a coil holder supporting wire windings; a magnet component comprising a magnet supported by a frame, a magnet gap configured to receive at least a portion of the voice coil component in a spaced and moveable manner; a connector connecting the voice coil component to the magnet component, the connector being compliant and permitting relative movement of the voice coil component and the magnet component; a diaphragm configured to induce a movement of the voice coil component in the magnet gap responsive to incident acoustic waves; a housing for retaining the vibroacoustic sensor module having a handle end and a sensor end, the sensor end having an opening, the VSM positioned such that at least a portion of the diaphragm extends across the opening.