The principle of a planar motor driven by the vibration of the abnormal plate is presented in this paper. The upper ends of the two longitudinal rods of the abnormal plate are used as the driving feet. The stator’s 1st longitudinal mode, 2nd in plane bending mode and 2nd out plane bending modes were determined as the working modes, making the motor’s drive ends run in ellipse trajectories in xOy and zOy planes to push the slider move along x and z freedom directions. The driving principle of the motor is introduced, and the elliptic trajectory equation of the driving foot is derived. An optimization model of the multi mode frequency consistency of the stator is established and the size of the stator is determined. The assembly structure of the motor is designed. A FEM model for the motor is estbalished so that the operating modes and frequency response characteristics of the motor are calculated. The elliptic motions along xOy and zOy planes are simulated, so the motor’s principle are validated. The motor’s characteristics of frequency modulation, voltage regulation and phase modulation are investigated. The results show the vibration amplitudes of the driving feet along x, y and z directions are 1.42 μm,1.28 μm and 1.33 μm respectively, and the motor speed along x and z directions can reach to 156 mm/s and 146 mm/s at the normal electric excitation.