Using 3D Printing and an Adafruit Trinket Pro, I programmed a set of motions that happens over 4 minutes for steeping a nice cup of English Breakfast Tea. The print doesn't require and supports and it uses a standard mini servo motor with the long arm attachment. Modifying the code is easy but you need the special VarSpeedServo Library installed so it doesn't fling the tea bag all about when moving from one position to the other. VarSpeedServo - https://github.com/netlabtoolkit/VarSpeedServo