The midfielder-come-striker struggled for regular game time at Bucs last season - making nine appearances in the league.
On Tuesday, Baroka confirmed that they had resigned Motupa on a season-long loan deal from Pirates prior to the 2017/18 campaign.
The attacker joined Bucs from Baroka just before the 2015/16 season and he helped the Buccaneers reach the 2015 Caf Confederation Cup final.
Bakgaga also confirmed that Marshall Munetsi's loan deal at the Limpopo-based side from the Buccaneers had been extended.
The Zimbabwean midfielder impressed during the 2016/17 season making 26 league appearances for Bakgaga - scoring two goals in the process.
Pirates striker Thabiso Kutumela, a former Baroka player, has been linked with a loan move to Bakgaka.