To create a Swarm cluster using VirtualBox using Machine:
TOKEN=$(docker-machine create-swarm-token)
docker-machine create -d virtualbox --swarm --swarm-discovery token://$TOKEN --swarm-master swarm-master
docker-machine create -d virtualbox --swarm --swarm-discovery token://$TOKEN swarm-node-00
Then configure your Docker client:
$(docker-machine env --swarm swarm-master)
docker ps