Experiment: We set up the following circuit:
Varying the resistance on the POT varied the speed of the motor. Going below 3.9V made the motor stop.
The POT was replaced with a function generator producing square waves at 10kHz with duality on and the oscilloscope to see the motor voltage.
When the frequency was reduced to only a few hertz, depending on the voltage the motor turned on and off.
Conclusion: Changing the speed on the motor was as simple as varying the voltage on the motor. This could be done with a varying voltage supply (function generator) or varying resistance (POT). The function generator worked much better than the POT.
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