An imaging device for producing multicolor images from image data containing data representing an image of a first color and an image of a second color to be registered relative to the image of the first color onto a substrate by transferring toner of the first and second colors to the substrate is provided. The imaging device includes a first imager, a second imager, a photoreceptor belt, a plurality of rollers mounted to a frame of the imaging device, an angular position sensor, an image data source and a controller. The plurality of rollers define a process path along which the photoreceptor belt is driven past the first and second imagers in a process direction. The plurality of rollers includes a drive roller that exhibits an eccentricity for which a formula relating angular position as a function of the phase angle of the drive roller to eccentricity is known. The angular position sensor detects the phase angle of the drive roller. The image data source generates image data that includes a line to be printed in the first color and in the second color. The controller is coupled to receive signals from the angular position sensor, ROS imager and image data source and is configured to drive the second imager to generate an optical output. The controller includes memory and a processor. The memory stores the formula relating angular position as a function of the phase angle of the drive roller to eccentricity. The processor calculates an appropriate time delay for starting the generation of the optical output of the second imager for printing the line to be printed in the first color and in the second color based on the time of the starting of the optical output by the ROS imager to print to print that line, the signal received from the angular position sensor, and the formula relating angular position as a function of the phase angle of the drive roller to eccentricity.