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Ultrasound can push vaccines into the body without needles
(www.newscientist.com)
This is a most excellent place for technology news and articles.
Forced vaccinations weren't and still aren't a thing in the US. (I'm sure there were exceptions, but I mean large scale and general public)
However requiring a vaccine in order to participate in society (jobs, school, etc.) is perfectly reasonable. It's still a choice, just that the consequences are on those making the choice instead of on those around them.