jaahgray WROTE:Motor circuit.png
How much current is needed to rotate this motor?
When you connected 12V regulator to the motor and when it runs slowly....did you measure the voltage across the motor?
Your circuit looks OK and I think it should work. Only thing to watch out is the current rating of the relay contacts must be heavy enough not to burn out by the high current. You also forget to put a diode across the relay coil to prevent back emf that might fry your transistors.
Allen