An in-wheel motor having an inner stationary portion (the stator), and an outer rotating portion (the rotor) that rotates around the stator and drives a wheel directly attached to the rotor. The stator may comprise an inner support structure around which a plurality of magnets having windings are disposed in a circumferential fashion. The rotor circumferentially surrounds the stator, and includes permanent magnets placed at an interval along a surface of the rotor. An intermediate layer between the rotor and the stator is comprised of a bearing that allows movement of the rotor relative to the stator. By attaching a wheel directly to the outer surface of the rotor, a compact and efficient wheel-mounted electrical motor may be provided.