In conventional linear accelerators, the beam is accelerated with a synchronous harmonic of the radio frequency field where the electric field component is collinear with the beam direction. This approach requires the design of complex accelerating structures, especially for low-energy heavy ions. If the beam motion were sustainably coupled to transverse electromagnetic fields, this could significantly simplify the accelerating structure design, and even allow acceleration with free-space waves. However, despite the long history of the proposed concept for accelerating low-velocity ion beams, it has not found practical application, partially because of the complexity of the technical design. In this paper, we present a practical design approach for this undulator-based accelerator for low-energy heavy-ions, reminiscent of the inverse free electron laser operating principle, but in a different parameter space.