My first steps were to get my hands on a motor. I started with the X27.168 motor, seen here. 

There are a couple of variants of these motors. The 168 motors have the pins exiting on the back of the motor, while the drive shaft exits on the front. The 589 motors have the pins exiting on the same side as the drive shaft. Both versions have plastic pins used to hold the motor into its PCB. I grabbed a set of each motor, and decided to go with the 168 series.