We designed a novel surface motor stage supported by air bearings and driven by linear electromagnetic motors. This compact and simple planar stage is proposed for compact-sized precision machine systems, such as micro-machine tools or measurement systems requiring minimum X-Y stage height. Four single-phase linear motors with coils and iron cores are located under the base plate, and air bearings and cores with permanent magnets are attached under the moving table. The hard, non-magnetic alumina-ceramic base plate surface acts as a planar guide for the air bearings. The attractive magnetic force between the magnets and motor cores preload the air bearing to increase vertical stiffness. By simultaneously combining actuations of the motors, linear X and Y motion can be controlled, and angular motions can also be generated. A grid encoder is used to control planar motion, and the system is run by a programmable numerical controller. The thrust and attractive force were calculated using a magnetic circuit model. The designed prototype is $220(L){ imes}220(W){ imes}66(H)mm^3$ in size with a $20mm{ imes}20mm$ range of motion. After fabrication, basic aspects of the prototype, such as vertical stiffness and thrust force, were evaluated. Twenty nanometers of positioning resolution was obtained for the X and Y axes, and the three motions could be controlled independently.