A whirlpool is used after the boil, so extract or BIAB have no matter. When I used an immersion chiller, I always put it in the boil with 15 minutes left to sanitize it.
You can whirlpool with a sanitized spoon or use a pump to draw the wort out of the kettle then back in with a circular motion. This requires at least one port in your kettle (I made a return arm that goes over my kettle top).
The reasons for whirlpooling include faster chilling times (wort moving around chiller), to get the trub & hop debris to collect in the middle of the kettle prior to transfering, and for whirlpool hop additions at or around specific temperatures below boiling, typically 150-180F.
I have not seen an attachment for a drill, and would question the sanitation of such a device, but I'm sure it could be done.