In the present work, a simplified mathematical model of ultrasonic elastic fin micromotors has been developed. According to the operating principle of this type of motor, the motions of a rotor in each cycle of the stator vibration are divided into several stages based on whether the fin tip and the stator are in contact with slip, contact without slip or separation. The equations of motion of the rotor in each stage are derived. The valid range of the model has been discussed through numerical examples. This work provides an initial effort to construct a model for the elastic fin motor by considering the dynamical deformation of the rotor as well as the intermittent contacts.