This study presents a comprehensive model for ultrasonic energy transfer (UET) using a 33-mode piezoelectric transducer to advance wireless sensor powering in challenging environments. One of the advantages of UET is that it is not stoppable by electromagnetic shielding and can penetrate metal. Existing models focus on feasibility and numerical analysis but lack an effective link between input and output power in different media applications. The proposed model fills this gap by incorporating key factors of link loss, including resonant frequency, impedance matching, acoustic coupling, and boundary conditions, to predict energy transfer efficiency more accurately. The model is validated through numerical simulations and experimental tests in air, metal, and underwater environments. An error analysis has shown that the maximum error between theoretical and experimental responses is 3.11% (air), 27.37% (water), and 1.76% (aluminum). This research provides valuable insights into UET dynamics and offers practical guidelines for developing efficient wireless powering solutions for sensors in difficult-to-access or electromagnetically shielded conditions.