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This paper discusses a method to analyze the forced vibration of an interior permanent magnet (IPM) motor due to magnetic force. A structural finite element (FE) model of the IPM motor that includes stiffness of ball bearings and laminated effect of core is developed and verified by comparing the simulated natural frequencies and mode shapes with experimental data. A magnetic FE model is also developed and both the radial and tangential magnetic forces are calculated in the air-gap. These forces are subsequently transformed into equivalent nodal forces and applied to the structural FE model to investigate the forced vibration characteristics of the IPM motor. It was found that the magnetically induced vibration of a stator mainly results from the contribution of the dominant harmonics of the magnetic force and structural resonance. In addition, the magnetically induced vibration of the rotor mainly appeared as rigid body modes due to the flexibility of ball bearings.