Abstract: The present invention is a method for decreasing rotational latency in systems which include a data retrieval element and a rotating medium. The method requires that the rotating medium be divided into a plurality of discrete angular regions. For each discrete angular region, a number of cylinders that may be traversed by the data retrieval element during a single revolution of the medium is identified. A rotational latency assigned to each discrete angular region based on a current location of the retrieval element. A command queue array is searched for a command that addresses a location within a range of cylinders determined by the number of cylinders in the discrete angular region having the smallest rotational latency. Finally, the command addressing a location in the range of cylinders in the selected discrete angular region of the medium is executed.