There's always the World Music Awards 2006, where he walked amongst the stage, shaking people's hands and singing, sorta, 'We Are The World'. Ok, it's not, but I love it anyway.
There's a handful of shows like that, He performed 'Gone Too Soon' at the Clinton Inauguration or whatever, and 'What More Can I Give' in 2001. Even 'This Is It', the movie, could be considered, 'stripped down', though it's really just half-way there. ?
I guess the real reason is, he just knew we all want to see him dance, at the end of the day. We all want him to bust a move, I know I do, and I ammmmm... unconcerned with 'miming', though that's whatever y'know, let's not talk about that. He was an entertainer, not a balladeer.