We had one like 2 years ago. I was laying on the ground and don't remember noticing any shaking but I can still remember the sound. Like a heavy grinding sound. I thought a tank was driving around outside
I lived in the SF Bay Area for 10 years and experienced quite a few tremblers while I was out there, including the Loma Prieta earthquake. I don't think my neighbors are too used to these things though. Fortunately, they're pretty small round these parts.