"tap the desk" and "tap on the desk" are the same?

[optimistic pessimist]

Dear all,

He kept tapping the desk.
He kept tapping on the desk.

He kept tapping the desk with his pen.
He kept tapping on the desk with his pen.

Are the sentences all correct?

Thank you!

OP

 

[Rover_KE]

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Are "tap the desk" and "tap on the desk" the same?

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