A rotating piezoelectric motor including a piezoelectric actuator including a resonator having a pair of arms connected at one of their ends in a connection area, the other two ends being free, a passive element including a cylindrical part extending substantially orthogonally to the resonator and passing between the free ends of the arms, the cylindrical part being rotatable by friction of the free ends, the passive element including: a lower and upper truncated cones, the small bases of the cones being arranged facing each other and on either side of the resonator, the cylindrical part of the passive element at least partly axially traversing the cones, the upper truncated cone being movable along the cylindrical part, and at least one of the cones being integral in rotation with the cylindrical part, a device for holding the lateral surfaces of the cones in contact with each of the free ends of the arms of the resonator.