Power tool with compact motor assembly

A power tool comprising:

• a housing;
• a motor received in the housing, the motor including a rotor that rotates about a rotor axis and a stator assembly, the motor defining a motor envelope bounded by a rear plane at a rear end of the stator assembly, a front plane at a front end of the stator assembly, and a generally peripheral boundary extending from the rear plane to the front plane and surrounding a radially outermost portion of the stator assembly;
• a transmission received in the housing and including an input component coupled to and rotatably driven upon rotation of the rotor, and an output component rotatably driven upon rotation of the input component;
• a support plate that supports a transmission bearing and a first rotor bearing, the transmission bearing supporting a rotating component of the transmission, and the rotor bearing supporting the rotor shaft, wherein the support plate is held non-rotatably relative to the housing and has a rearward portion that supports the first rotor bearing with the rearward portion and the first rotor bearing at least partially received within the motor envelope.