The two wires of the brushed dc motor can be thought of as forward and reverse. The three wires of brushless can be thought of as 1, 2 and 3. Going forward would be this sequence 1-2, 2-3, 3-1, 1-2, etc. Going backwards would be 1-3, 3-2, 2-1, 1-3, etc. What this means is that one third of the motor is helping maintain momentum while another third is pulling the motor in a new direction.
A stepper motor is a polyphase AC synchronous motor (see Theory below), and it is ideally driven by sinusoidal current. A full-step waveform is a gross approximation of a sinusoid, and is the reason why the motor exhibits so much vibration. Various drive techniques have been developed to better approximate a sinusoidal drive waveform: these are half stepping and microstepping.
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