How can I use ArcHandles with Motor6D by scripting?

I'm trying to rotate ArcHandles via Motor6d but I don't know where to start. I have been doing research looking up tutorials etc and haven't found much. The only good thing I found was that they aren't an decoration and can actually be used for rotating objects by a script. So I would really appreciate it if some could explain how ArcHandles and Motor6D's can both be used via scripts. (Note I already know how to rotate objects via scripting with ArcHandles. My main problem is that I want to rotate models with Motor6D in them)