An image forming apparatus is configured to reduce a velocity fluctuation of a rotating body by reducing the AC velocity component of the rotating body. The image forming apparatus may include an image bearing body with a surface on which a toner image is formed; a driving motor configured to drive the image bearing body according to an input signal; and a controller configured to control the driving motor to output a motor output velocity at a period equal to that of an AC velocity component of the image bearing body. A velocity control method for the rotating body includes sampling a continuous motor input signal at a period equal to that of an AC velocity component of a rotating velocity of the rotating body. The sampled signal is transmitted to a driving motor that drives the rotating body, which is driven based upon the discrete motor input signal.