Thou I'm hardly expert on sub - i still don't have one (used to have one really bad, but got rid of it)
That you really want for your sub is not Gramma, but
SubDude -
this recent post goes on lengths with comments of happy owners.
About placing sub underneath your side table - Lets say you find nice 8" sub and place it under your Mega DVD changer

- Bass output it typicaly omni-directional and being such close proximity to source (sub) i think vibrations might be in issue, plus acoustically, sub placement under the table might not be the optimal location anyways