A wiping system is disclosed for use with a circular sensor having a circular lens. The system may have an electric motor having an armature, and a wiping subsystem for wiping the lens in a circular motion. The wiping system may be driven rotationally by the armature of the electric motor and orientated so as not to obstruct a field of view of the circular sensor. The motor armature may be rotated at a speed in accordance with a circular scanning speed of the sensor.