Axial flux permanent magnet (AFPM) motors are frequently used in many applications. Axial gap coreless motors with surface-mounted magnets are the most noteworthy ones due to their potentially higher efficiency and smaller axial length. In this paper, a new spoke-type AFPM coreless disk motor with dual rotor and single stator is proposed with sinusoidal rotor segments. This new disk-type motor is an interior PM (IPM) motor with spoke-type rotor and variable air gap to obtain sinusoidal back Electro-Motive Force waveform. It is shown that it is possible to increase the air-gap flux density in the proposed new coreless AF-IPM motor and increase the torque output compared with the conventional surface-mounted AFPM motors.