In this paper, a novel Lorentz-force-driven DC planar motor with low force ripple is proposed. The magnetic field distribution is calculated analytically by using magnetic surface charge model and image method. The expressions of force and torque are derived based on the Lorentz force law. A method for electromagnetic design of the motor is also discussed. The static force characteristic is measured experimentally. The experiment results are in good agreement with the results of the analysis and simulation.