In principle, yes, although there are exemptions. The surcharge of 10 euro is required for adults and for visitors with cards like the Museumkaart, I Amsterdam City Card and GoCity Pass. Students and holders of the CJP-card pay half of the surcharge: 5 euro. The surcharge is not required for visitors under 19, holders of the Stadspas, Friends and Members of the Stedelijk, and a number of other cards. This also goes for a visitor that accompanies someone with reduced mobility. You can find the complete overview here.