To solve the problems that double-mode-drive-type moving ultrasonic motors (USMs) need to equalize two natural frequencies for driving and that single-mode-drive-type USMs either only move unidirectionally or have many difficulties in realizing bidirectional movement, a single-mode-drive-type bi-directional linearly moving USM composed of an inclined slider and a V-shaped stator is presented. The slider is obliquely installed with the stator which works under the in-plane symmetric vibration mode or the in-plane unsymmetrical vibration mode. When the working mode of stator is changed, the inclined direction of the trajectory of driving-foot is changed, so the stator can move the slider bidirectionally. On the basis of analyzing the working theory and the design principles of the motor, the obliquity range of the inclined slider which can make the motor running normally is derived. Finally, a prototype is fabricated and its vibration mode and mechanical characteristics are tested. The experimental results show that under the conditions that the obliquity angle of slider is 35°, the peak-to-peak voltage is 600 V and the pre-pressure is 65 N, when the motor is working under the in-plane symmetric vibration mode, the motor offers a maximal driving force of 14 N, and the maximal velocity with no load is 180 mm/s; when the motor is working under the in-plane unsymmetrical vibration mode, the motor offers a maximal driving force of 24 N, and the maximal velocity with no load is 125 mm/s.