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A demonstration of cogging using a 100+mph on road car is at 9:15.
Cogging in a brushless motor occurs from the interaction of the rotor, a permanent magnet and the stator core. Slotted motors are responsible for cogging where slotless motors prevent cogging.
The permanent magnet is attracted to the stator laminations when the rotor is rotated or stationary. This magnetic force is what creates cogging.
Certain motors contain more cogging torque than others. An example used is of a 6 pole design, where the cogging torque can not be overcome by trying to rotate the shaft of the motor. 6 pole motors, in my experience contain the most amount of cogging torque.
Note that cogging is not the resulting interaction of a sensorless motor and it's ESC.