Kennedy was with the Royals as an extra coach for 3 weeks in September of 2011. I'm not sure if september call-up coaches count in the official total (if they do for players, seems like they would for coaches). I know I saw him on the field before and after games (and in the dugout). He may have spent a few innings as the Royals first base coach as well. He was sent back down in late September when Mike Jirschele rejoined the team after Omaha's playoff run was over.
Here's his photo from the 2011 Royals Media Guide:
