In the paper the Simple Adaptive Control approach is employed to design the adaptive controllers for controlling both angular and translational motion. The adaptive controllers are synthesized based on the Implicit Reference Model (IRM) design technique. The "shunting method" (parallel feedforward compensation) is used to mitigate the relative degree restriction. Parametric feedback is used to prevent the increasing of controller coefficients caused by external disturbances or sensor noise. Quality of the closed-loop IRM adaptive control system is studied based on the series of simulations for ensuring the system stability and tracking cases.