To mount the pole and motor, I used a closet pole cup on one end.  This is normally screwed to the wall in a closet, and allows you to lift the pole out.  This was mounted into a brace which was screwed into the wall studs, though a drywall anchor probably would have been fine.

On the other end I had some wooden shelving I previously built, so could easily mount to it.  I used a scrap 1x6, with about 3 inches cut off and screwed to the end.  With a V-notch in the end wood, it creates an easy saddle for the pole to ride in.  The friction between the smooth gloss painted pole and the sanded wood was plenty low so I didn't need any bearings.  I was prepared to put in teflon blocks, but it wasn't needed.

The rest of the board I simply screwed the drill to, in line with the pole.  As there is a lot of flex from both the hex bolt to socket coupling, as well as the socket to driver adaptor, alignment wasn't vital, though I did line it up as best as I could.