According to the invention, a method for designing a rotary drill bit for drilling a cavity in a medium is disclosed. The method may include determining a characteristic of a drillstring with which the rotary drill bit is coupled. The method may also include determining an initial number of groups of cutters for the rotary drill bit, where each group of cutters includes a plurality of cutters substantially aligned along a different radius of the drilling face. The method may moreover include determining a characteristic of the medium relative to a characteristic of the cutters. The method may additionally include determining a characteristic of a rotational motion source used to rotate the rotary drill bit. The method may further include determining the angles of pitch between each of the groups of cutters to minimize an amount of sticking or slipping of the bit in the medium during a drilling operation.