This paper presents the shape optimization of a permanent magnet synchronous motor to reduce the torque ripple and iron loss. Specifically, the harmonics of the electromotive force and cogging torque are decreased by adjusting the permanent magnet arrangement and non-uniform air gap length. In addition, an additional flux path along the q-axis is proposed with a unique rotor shape to increase the q-axis inductance and reluctance torque. The improvement in the performance of the proposed model is verified with simulated and experimental results.