A simple, robust and low-cost torsionally flexible, sealed drive that allows external drives to provide agitation within a container. A torsionally flexible tube is sealed to a torsionally rigid portion of a container. A second end of the tube is sealed to a driven element within the container. The driven element is coupled to a drive- shaft that is partly contained within the tube. Motion of the protruding end of the drive shaft imparts a corresponding motion to the driven element, while maintaining a water-tight seal between container and drive-shaft. One useful motion is a rotary oscillation. A stepper motor may operate via such a drive to impart a rotary oscillation to an impellor in a bioreactor, or mixing container, suitable for agitating a cell culture in a nutrient medium or hydrating a powdered media in water. The drive is suited to use in disposable bioreactors and mixers.