Why do the anti-resonant filters in servo controllers operate on the velocity output and not position?

I’ve been looking into implementing a cascade controller for a motor control application that has a position, velocity, and torque control loops. Because the system we are positioning can experience some mechanical resonances, we are considering an anti-resonance notch filter implementation (possibly multiple notches). In my reading most anti-resonance filters acting on the velocity. Isn’t the vibration that we are trying to remove happening due to oscillations in position? Why then would we not filter on the position so that certain frequencies in the position response are dampened?