Have a look at the lineinfile module usage and a general syntax for Ad hoc commands.
What you are looking for is:
ansible target_node -b -m lineinfile -a 'dest=/etc/motd line="This server is managed by Ansible"'
in extended form:
ansible target_node --become --module-name=lineinfile --args='dest=/etc/motd line="This server is managed by Ansible"'
Explanation:
target_node is the hostname or group name as defined in the Ansible inventory file
--become (-b) instructs Ansible to use sudo
-module-name (-m) specifies the module to run (lineinfile here)
--args (-a) passes arguments to the module (these change depending on a module)
dest points to the destination file
line instructs Ansible to ensure a particular line is in the file
If you would like to replace the whole contents of the /etc/motd you should use copy module.
ansible target_node -b -m copy -a 'dest=/etc/motd content="This server is managed by Ansible"'
Notice one of the arguments is changed accordingly.