This paper describes the design of a piezoelectric tuning-fork dual-mode motor. The motor uses a single multilayer piezoelectric element in combination with tuning fork and shearing motion to form an actuator using a single drive signal. Finite-element analysis was used in the design of the motor, and the process is described along with the selection of the device’s materials and its performance. Prototypes of the actuator achieved a maximum linear no-load speed of 13 cm/s, a maximum linear force of 5.98 N, and a maximum efficiency of 25%.