Just throwing out my $0.02
The motion you want "can" be accomplished with a continuously rotating device and "mechanical" linkages to avoid the whole servo/micro/complexity aspect..
Simple example

This was my first idea but proved to be too hard to get what I needed to fit into my project thank you tho I appreciate the response!

 

You don't need much room at all..
Another..

 

How much force does the thing have to produce?
How about the "voice-coil" with the pick-up arm of an old floppy drive?
A small up-converter could produce the 5 or 12 volt required. E