Some things to consider
Get a gear motor like the 90 rpm one here
http://www.grainger.com/category/universal-ac-dc-gearmotors/gearmotors/power-transmission/ecatalog/N-nxf?redirect=gear+motor
It is series wound so a speed controller can slow it down nicely.
You will need a heavey base so it does not slide back and forth on a bed ( Newton's law about action and reaction ). Motor and base should be about 4 pounds. Maybe a bit more.
Put about a 1" arm on it and connect the arm to a rod of at least two feet. Connection should be a swivel ball joint like ones used in machine linkages or atv steering.
The dildo end should be hollow with ID big enough to allow end to pivot at least 15 degrees.
Fasten dildo to rod end with transverse bolt at least 2 inches from rod end of dildo. This will allow comftable agle changes. Recess head and end of bolt.
Motion will be nicely cyclic. Fancier motions can be gotten with a cam and cam follower but they are not worth the trouble.
Do not fasten the base down. You want something to give before damage to tissue.
And do start it from zero speed and make first motor driven motion out, not in.
Also, let her adjust the speed control.