They are continuous single turn, so if you were to put the pot directly on the shaft of the motor, even though you would normally use about 150 deg of turn, if the motor decided to overshoot, you wouldn't break the pot.
Unlike this http://www.jaycar.com.au/productView.asp?ID=RP7610 which is cheap, but if attached directly to the motor drive shaft and overshoot happens, you destroy the pot.
A joyrider is not 3DOF capable due to its design.
Motors are your choice.
For sheer grunty lift, but noisy, 12v winches
For quiet and fast operation, and also strong, big worm gears.
You can start with wipers if you like to get the hang of the setup.
As said, the best place for motors is leverage point, not point of axis .
http://www.youtube.com/watch?v=Yrlzl3Ie7Z8 this is my first setup with wipers and a bad profile, but it moved well.