You have to remember these acronyms are from the RC scene and not describing a certain technology. So for example a "BEC" or battery eliminator circuit could be a linear regulator, a buck or boost converter, or even a resistor and a zener diode.
The first speed controller that was in my RC car was a servo that had an arm which selected between 2 different values of resistance in series with the drive motor, or to have the battery connect directly to the motor at full servo rotation, reverse was the same in the servo CCW direction.
I have attached an image showing such a beast, it is the plate with contacts seen in the middle. The resistors were high wattage wire wound so when the electronic speed controllers came out they were much more efficient.
My first real ESC was single phase PWM driving a brushed motor. Even with the antiquated technology the car had a top speed of around 60km/h.