Abstract: A piezoelectric motor for rotating a shaft formed of a hard material and having a general circular cross-section which drives a load having preselected torque characteristics and a known frictional force which opposes rotation of the shaft and load is shown. The piezoelectric motor includes a piezoelectric translation apparatus which is operatively coupled to the shaft for producing incremental angular rotation thereof. The piezoelectric translation apparatus includes a base plate, an annular-shaped housing and a support pin which passes through an aperture in the housing enabling the support pin to pivotally attach the housing onto the base plate. The piezoelectric translation apparatus further includes a piezoelectric driver assembly having an engaging member, at least one piezoelectric driving element and a compliance means. A control circuit for selectively applying electrical signals to the piezoelectric driving element for expanding and contracting the same is shown.