pure continuous analogue 96 Hertz signal
If your transducer has a similar impedance to an ordinary loudspeaker, then the answer would be to feed the output of your signal generator into any off-the-shelf audio power amplifier.  These are designed with a low-impedance output, for driving loudspeakers.

If the impedance of the transducer is particularly low (below about 8 ohms), then you may have to think a bit more about what to drive it with.