Connecting a DC motor directly to the Arduino is pretty involved and requires a resister, diode, and a transistor. In the grand scheme of things, it isn't that much, by comparison to the simplicity of using the Motor Shield, it's seemingly not really worth it, especially if you want to run more than one DC motor simultaneously.
A straight forward tutorial on how to do this can be found here: https://learn.adafruit.com/adafruit-arduino-lesson-13-dc-motors/overview
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