diff --git a/tabs/motors.css b/tabs/motors.css
index 3c29813c..8b2228f3 100644
--- a/tabs/motors.css
+++ b/tabs/motors.css
@@ -30,7 +30,7 @@
     width: 160px;
     /* border: 1px solid silver; */
     height: 100%;
-    height: 160px;
+    height: 180px;
     margin: 0px;
     background-color: #ECECEC;
     border-top-right-radius: 3px;
@@ -107,6 +107,18 @@
     text-align: right;
 }
 
+.tab-motors .plot_control .rms {
+    background-color: #00D800;
+    padding: 3px;
+    color: #fff;
+    height: 12px;
+    float: right;
+    border-radius: 3px;
+    line-height: 12px;
+    margin-bottom: 2px;
+    text-align: right;
+}
+
 .tab-motors .plot_control .x, .tab-sensors .plot_control .y, .tab-sensors .plot_control .z {
     text-align: right;
 }
diff --git a/tabs/motors.html b/tabs/motors.html
index 4fcfdcd6..c0868777 100644
--- a/tabs/motors.html
+++ b/tabs/motors.html
@@ -54,6 +54,8 @@
                         <dd class="y">0</dd>
                         <dt>Z:</dt>
                         <dd class="z">0</dd>
+                        <dt>RMS:</dt>
+                        <dd class="rms">0</dd>
                     </dl>
                 </div>
             </div>
diff --git a/tabs/motors.js b/tabs/motors.js
index 7661d7fb..e6aa6e7e 100644
--- a/tabs/motors.js
+++ b/tabs/motors.js
@@ -202,17 +202,20 @@ TABS.motors.initialize = function (callback) {
         var raw_data_text_ements = {
             x: [],
             y: [],
-            z: []
+            z: [],
+            rms: []
         };
 
-        $('.plot_control .x, .plot_control .y, .plot_control .z').each(function () {
+        $('.plot_control .x, .plot_control .y, .plot_control .z, .plot_control .rms').each(function () {
             var el = $(this);
             if (el.hasClass('x')) {
                 raw_data_text_ements.x.push(el);
             } else if (el.hasClass('y')) {
                 raw_data_text_ements.y.push(el);
-            } else {
+            } else if (el.hasClass('z')) {
                 raw_data_text_ements.z.push(el);
+            } else if (el.hasClass('rms')) {
+                raw_data_text_ements.rms.push(el);
             }
         });
 
@@ -265,9 +268,19 @@ TABS.motors.initialize = function (callback) {
                 samples_accel_i = addSampleToData(accel_data, samples_accel_i, accel_with_offset);
                 drawGraph(accelHelpers, accel_data, samples_accel_i);
 
+                // Compute RMS of acceleration in displayed period of time
+                // This is particularly useful for motor balancing as it 
+                // eliminates the need for external tools
+                var sum = 0.0;
+                for (var j = 0; j < accel_data.length; j++)
+                    for (var k = 0; k < accel_data[j].length; k++)
+                       sum += accel_data[j][k][1]*accel_data[j][k][1];
+                var rms = Math.sqrt(sum/(accel_data[0].length+accel_data[1].length+accel_data[2].length));
+
                 raw_data_text_ements.x[0].text(accel_with_offset[0].toFixed(2) + ' (' + accel_max_read[0].toFixed(2) + ')');
                 raw_data_text_ements.y[0].text(accel_with_offset[1].toFixed(2) + ' (' + accel_max_read[1].toFixed(2) + ')');
                 raw_data_text_ements.z[0].text(accel_with_offset[2].toFixed(2) + ' (' + accel_max_read[2].toFixed(2) + ')');
+                raw_data_text_ements.rms[0].text(rms.toFixed(4));
 
                 for (var i = 0; i < 3; i++) {
                     if (Math.abs(accel_with_offset[i]) > Math.abs(accel_max_read[i])) accel_max_read[i] = accel_with_offset[i];