Sure there is. The ? three terminal box you drew can be a transistor that will switch the motor on or off. You can choice to use a simple digital output command to turn it on or off, or use the analogwrite command that would allow variable speed output, from off to full speed. The motor should be mounted on the other side between the battery + and the transistor collector lead. Also the battery - terminal must also wire to the Arduino ground pin.
Here is a drawing from the Arduino Playground that controls a DC solenoid, but just think of the solenoid connections as your motor connections. All the parts shown have a purpose so you would be best just to copy it completely:
Lefty