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From MAKE Magazine:
George has a great page of DC motor tips, he writes - A small DC motor generates torque by creating an interaction between a fixed and rotating magnet field. The fixed field is supplied by high energy permanent magnets. The rotating field is created by passing a DC current through several different windings on the armature (rotating part) and timing which winding is powered through a device called a commutator. Power is applied to the armature by brushes which ride on the commutator.
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