For the motor to do the most it should be operating at torque and speed of maximum power. The optimum torque and speed are half the Ts and Wn respectively. Wheels Return to top of Page Lets put a wheel on the motor and examine the physics of moving a vehicle. Lets just lightly hold the wheel in place against the ground and apply a small normal force. The wheel will still spin at a constant velocity, but the motor will be loaded by the frictional force.
T is the torque exerted by the motor to overcome the friction.
Ts the motor stalls and everything stops. Moving Vehicles Return to top of Page Lets now look at the case of a moving vehicle. This is the no load case. Assuming no internal friction the wheel will turn at Wn. The speed of the vehicle will be rWn.