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It is known that the slot frequency vibration is the one of the main components in electromagnetic vibration spectrum of permanent magnet DC motors (PMDCM). After finding that the vibration reduction scheme of the piecewise varying pole width (PVPW) is only effective for the odd order harmonic of slot frequency vibrations by analytical method, the PM pole with sawtooth edge is put forward to reduce all harmonic components of slot frequency vibrations of PMDCM. In this article, after the air gap flux density and radial force density are analyzed, the two vibration sources, radial force and bending moment, are derived for the motor with sawtooth edge poles (SEP). Then the optimized pole shape is obtained to reduce all harmonic components of both the radial force and bending moment at the same time. Three dimensional finite element method of electromagnetic field and structure are used to calculate the magnetic flux density, radial force and vibration for the motors of PVPW and SEP. Three permanent magnet motors with fixed pole width (FPW), PVPW and SEP are manufactured and tested. The comparison and verification show that SEP is better than the other two schemes in general. [ABSTRACT FROM AUTHOR]