Dear friend I borrowed the Falcon from: I swear I'll clean it before I give it back.
That's a NovInt Falcon (http://home.novint.com), with a dildo tied to it (using crocodile clips and wire, 'cause this is a workbench, not a bedroom!), being controlled through a python script running the motors to full out, then full back.
This is a fucking SWEET way to burn out the motors, so unless you're making stupid videos with a friend's one that they let you "check out for the weekend", I don't recommend trying this method.
Go implement a nice, romantic PID loop, instead. It's what the kids call "closing the loop". Smooth positional control is better anyways. See if you can be the first to implement "the swirl".
(Note: First person to get Oprah to talk about the crisis of "closing the loop" in high schools gets... something awesome)