There are a lot of ways to mount a motor to your lens, the most common of which is rods. Put some 15mm or 19mm (or, Panavision-sized if you are on an older camera) rails on your camera and mount ...

What do you get when you cross a photographer with an Arduino hacker? If the cross in question is [nukevoid], you wind up with a clever camera rail that can smoothly move with both shift and rotation ...