Hi, I suppose if you learn to control a small DC motor first that'd give you a pretty decent idea. Your question is a bit fuzzy. If you're wondering whether you can scrounge off parts from a printer to drive the motor, I'd say no you can't. Printers mainly use stepper motors, and you need to know how to use microcontrollers to drive the driver.
A good step is to take a small DC motor, and learn how to use a mosfet or H-Bridge IC to control it.
While you're at it, learning how to use microcontrollers will help a lot. Here's our household page:
Cheers,
Vizier87