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The simple answer is... use a wiper motor. They are very powerful and can easily rock a rocking horse. You will need a power supply of some kind (I use old PC power supplies). For the slower motion of a rocking horse, I would usse 5 volts, rather than the normal 12 volts the motor would typically run on. Some kind of linkage to connect the two together and you'll be all set. :)
 
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