The answer depends on factors such as the length of cable that you plan to use and the current rating of your motors.
In general, I would not advise using CAT5 for motor wiring in most cases. The typical CAT5 cable designed for in-wall use has solid wire conductors, which are prone to breakage from vibration or flexing. Also, the wire gauge used in a CAT5 cable has a fairly small diameter (#24 AWG), which means that it is unsuitable for long runs when carrying anything other than a relatively small amount of current.
You will probably want to use cable made from stranded wire, and probably using a wire gauge of #20 AWG or #18 AWG.
Here is an example of such a cable from one vendor: