Cables are sometimes buried using a worm-like probe called a mole which drives its way through the soil using a reciprocating slide-hammer, often powered by compressed air in the manner of the moving mass in a vibratory poker.
As in most fields, energy transfer (in this case to push aside the surrounding soil) is best when matched to the load - thus the vibratory stroke length, frequency and speed should be optimised for the water content and weight of the substrate.
This idea uses a BLDC in the form of a linear actuator to accelerate the moving weight, allowing the velocity profile to be tailored to the job. A further BLDC actuator might be used to modify the attack angle and provide steering.
The motion could be developed using a single TAPAS board to control the linear actuator, but an additional board would be required for steering control.