Single-molecule experiments have found near-perfect thermodynamic efficiency in the rotary motor F_{1}-ATP synthase. To help elucidate the principles underlying nonequilibrium energetic efficiency in such stochastic machines, we investigate driving protocols that minimize dissipation near equilibrium in a simple model rotary mechanochemical motor, as determined by a generalized friction coefficient. Our simple model has a periodic friction coefficient that peaks near system energy barriers. This implies a minimum-dissipation protocol that proceeds rapidly when the system is overwhelmingly in a single macrostate but slows significantly near energy barriers, thereby harnessing thermal fluctuations to kick the system over energy barriers with minimal work input. This model also manifests a phenomenon not seen in otherwise similar nonperiodic systems: Sufficiently fast protocols can effectively lap the system. While this leads to a trade-off between accuracy of driving and energetic cost, we find that our designed protocols outperform naive protocols.