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Its funny you should mention this. I've been likewise rolling the same idea around in my head of a non-magic martial buffer. There are quite a few ways to create it, I haven't played one yet so this is mostly my rambling finds.
There are several classes and feats that allow you to share teamwork feats with teammates without them needing the pre-reqs. Most notably the Cavalier but also several archetypes; Drill Seargent (Fighter), Seasoned Commander (Fighter), Exemplar (Brawler), Majordomo (Investigator), Holy Tactician (Paladin), and Vanguard (Slayer) as examples. There are partly magical ways of doing it also like the Bardic Masterpiece Battlesong of the People's Revolt (Masterpiece). Also, recently added is the feat intensive Sisterhood Style feat chain. Which allows nearly any class through the use of the combat style to share teamwork feats.
A lesser used way of buffing another that pairs well with sharing teamwork feats is Aid Another. If you give the
Harrying Partners teamwork feat your aid lasts a round rather than the normal next action. That means if you buff it either through Traits, Class Abilities, or Some Magic
Items you can get upwards of a +8 to an ally for all attacks or to their AC for a round. Normally Aid is a standard action but
Swift Aid (Feat),
Effortless Aid (Investigator Talent), and Team Up (Feat) are all examples of ways to modify how you can change that.
Also this direction of build makes Bodyguard a must have.
Getting competence bonuses to allies is a Bard staple, but we don't have to always have magic to do that, Seasoned Commander and Exemplar mentioned above both grant bardic performance like effects. The Sister-in-Arms Cavalier archetype give you access to Order of the Lion and Order of the Dragon in exchange for losing the Mount and a lessened Challenge class feature. Having both adds some versatility to your buffing options. I'd recommend looking at the Banner of the Scarlet Rose if that archetype looks appealing.
Alternatively you could give up half your non-class specific feats and become a 1/3 bard with Variant Multiclassing (Bard). It would give you Bardic knowledge and Bardic Performance at your character level -4. Depending on your build it could be worthwhile.
There's a lot of love for the blundering halfling builds. I haven't dug too much but the basic piece is this feat and it builds off of that and the halfling racial traits.
The Divine Fighting Technique has several options in it, but the one for buffing is 'Iomedae's Inspiring Sword' listed in the PFSRD as 'inspiring sword'. If you go a full BAB, +2 to basically everything for a minute, doesn't sound to bad to me.
One piece I was excited to find was Scarlet Rose Devotion which allows you to make an immediate action as a martial to buff someone's save. A +2 on an important role is nothing to sneeze at and the image of yelling to warn someone of danger is very cinematic in my mind.
Other fun options include both the Golden Legionnaire has a great well rounded toolkit for buffing and the Battle Herald is spoken of often in forums, though I personally don't like the look of it as much.
Basically the biggest winner of this lottery of abilities is the Inspiring Commander (Cavalier) if 3rd party is allowed at your table reading up on this it looks crazy powerful. Maybe too powerful, but YMMV.
This wound up being longer than I thought it would, I hope they're helpful.