Tom Igoe's excellent minisite on Physical Computing has motor
control circuits: http://fargo.itp.tsoa.nyu.edu/~tigoe/pcomp/index.shtml
(Almost any hobby electronics book would have some in, too.)
I've not used Infusion's Switch actuator, but it seems to be able
to switch 200V dc / 1 Amp, which would easily be enough for any motor.