motors control

I am totally new to motor control and need your help for going to the right direction

basically I need to control two motors on two different metal boards
the metal boards need to be underwater (not the entire system)

one give tilt to one metal board
second move the other metal board forward and backward at different frequency and amplitude

frequency should be up too 120 per minute (2 Hz)
amplitude work in the range of 10mm should be steeped around 0.2mm

I can compromise in each category
not looking for the mechanical solution in this stage only to control two motors capabilities for the above request

is there there motors that get DC for tilt so giving sinus will do the moving?
control should be done using some MCU board with usb, any suggestions?