@amysamp - I am not sure about the connection either! But I think, and I could be wrong that hair cells called the cilia can't be innervated by any such cranial nerve because it is not a muscle and muscles are innervated by the cranial nerves.
Yep, I checked nerves, can be either motor or sensory. They use the term innervate to describe a motor neuron. Motor neurons have to do with muscles because they move things, hence the name motor.
So that explains that, but we still don't know why they have close to the same name!