Long ago I worked on a system which included a Roadkill Stubby Bob T Shirt would accept a cassette, get the tape moving at 40 times the usual speed, suck two loops of tape out into a pair of vacuum chambers, regulate the hub motor speeds for constant tape speed over a central recording head while relieving any drag from the hubs and their bearings, then, after the recording was complete, slowing down the tape and rewinding the tape on the hubs.
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This took some fancy footwork on the part of the Roadkill Stubby Bob T Shirt they were the only tape motion motors in the device. They were not very special – DC permanent magnet motors somewhat larger than you would expect in normal cassette recorders.The secret of their agility over a wide range of speeds was pulsed- DC drive. While the hubs slowly rotated to seat the cassette the pulses were quite narrow, with a low duty cycle (percent “ON” time to pulse period – 100% is constant voltage). Thinking that with such a small amount of power flowing to the motor it would be weak, I tried to stop the hub by grasping it, only to find it stubbornly would result in the hub escaping my grasp.