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You use a driveline adapter on the out put shaft of the motor, then a U-joint then a driveline, with a slip jt. then another U-jt. at the rear end. Check out Dwarf Car Racing, on the web.
you could use a motorcycle engine that is shaft drive ,i have seen some home made trikes built using a modified miata drive shaft and the miata rear end , cost effective and works nicely .