Cogging torque in a permanent magnet motor, which arises from the interaction of the rotor magnets with the steel teeth on the stator, can be reduced by skewing the stator teeth, but only at the expense of added complexity in stator construction and some loss of output torque. It is shown that by appropriate choice of the angular width of the magnet relative to the tooth-plus-slot dimension, the cogging torque can be reduced to about 1% of rated torque. A further reduction to about 0.3% resulted from a rotational shift of one pair of poles with respect to the other pair in a four-pole motor. The analysis of cogging torques with both surface mounted and inset magnet rotors as well as experimental confirmation are reported. >