Connect a vibration motor to a headphone jack
To start with you really need an oscilloscope to look at the range of signal that comes out of the receiver and goes to the head phones. Can you see bursts of signal that correspond to the "beeps" with little or no signal in between?

Secondly you need to conceptually decide how the beeping sounds will be "felt". We have no idea here of the duration of each beep nor what rate the beeps occur. It is highly likely that there cannot be direct conversion of a single beep to a powered on pulse to the vibrator motor. The motor likely has a response time that is more typical for the ring duration of phone which is in the seconds range. 

Unless you understand the parameters here it is not time to start building anything. The beep characteristics and the motor response time will fully dictate the type of circuit design that would be required to achieve the vague goal that you have expressed.