Trajectory planning has a significant role in meeting the strict requirements of the systems in motion. Focus of the trajectory design can be minimum response time, minimum error or extended service life depending on the application. Limited time and error minimization requirements can be achieved in the systems with small inertia without any visible problems. However, torque ripples and vibration create fatigue in the mechanical parts. In this study, limited-jerk sinusoidal trajectory (also known as cycloidal follower motion) is proposed in the field oriented control (FOC) of permanent magnet synchronous motors (PMSM) to achieve precise motion control, reduced torque ripple and extend service life. In order to show the effectiveness of the proposed method in this study, simulation results of the closed-loop systems are compared with reference trajectories calculated using various methods. The velocity and the position of the load are controlled with an H-infinity optimal controller that is designed after the open-loop system identification.