High-frequency acoustic devices based on two-dimensional (2D) materials are emerging platforms to design and manipulate the spatiotemporal response of acoustic waves for next-generation sensing and contactless actuation applications. Conventional actuation methods, however, cannot be applied to all 2D materials, are frequency-limited or influenced by substrate interactions. Therefore, a universal, high-frequency, on-chip actuation technique is needed. Here, we demonstrate that surface acoustic waves (SAWs) can efficiently actuate suspended 2D materials by exciting suspended graphene membranes with high-frequency (375 MHz) Rayleigh waves and mapping the resulting vibration field with atomic force acoustic microscopy (AFAM), enabling direct visualization of wave propagation without substrate interference. Acoustic waves traveling from supported to suspended graphene experience a reduction in acoustic wavelength from 10 μm to ∼2 μm due to the decrease in effective bending rigidity, leading to a decrease in wave velocity on suspended graphene. By varying the excitation frequency through laser photothermal actuation (0-100 MHz) and SAW excitation (375 MHz), we observed a phase velocity change from ∼160 m/s to ∼700 m/s. This behavior is consistent with the nonlinear dispersion of acoustic waves, as predicted by plate theory, in suspended graphene membranes. The geometry and bending rigidity of the membrane thus play key roles in modulating the acoustic wave pattern and wavelength. This combined SAW actuation and AFAM visualization scheme advances the understanding of acoustic transport at the nanoscale limit and provides a route toward the manipulation of localized wavefields for on-chip patterning and transport over 2D materials surfaces.