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I'm not following. Is the other person unable to provide you with the paperwork (title, etc) on the vehicle that you took in trade?
If you don't get the title then it is a breach of contract, clearly.
As to your question regarding driving down, leaving the car and picking up the motorcycle, no, that wouldn't be legal. There are two type of "title" or ownership. "Legal title" which just means what the documents show and "Equitable title" which means who really owns the item based on all factors. Based on the facts you have given the exchange was made and therefore he owns the motorcycle now and so you can't just go and get it.
If you believe you have some grounds for rescinding the contract, for example if he hasn't provided you a title in another couple of months, then you can sue him and ask the court to rescind the original agreement and issue a "turnover order" in which case the court would tell him to give the motorcycle back to you and then he would take the car back.
As far as it being an oral contract, oral contracts are valid.
The issue as to why you traded it to him, unless the agreement was that he wasn't to trade it off without your permission or giving you the first chance at it then that really isn't a breach.
If you are going to claim that the agreement was that if it ever started hurting his hip you were to get the motorcycle back then you would have an argument to make to the court although, of course, it is always hard to prove the specific terms of an oral contract.