Let us consider a coaxial cylinder of radius $r$ and thickness $d r$, then force of friction or viscous force on this elemental layer, $F=2 \pi r \ln \frac{d v}{d r}$ This force must be constant from layer to layer so that steady motion may be possible.
or, $\frac{F d r}{r}=2 \pi l \eta d v$
Integrating,
$F \int_{R_{2}}^{r} \frac{d r}{r}=2 \pi l \eta \int_{0}^{v} d v$
or, $\quad F \ln \left(\frac{r}{R_{2}}\right)=2 \pi \ln v$
(2)
Putting $r=R_{1}$, we get
$F \ln \frac{R_{1}}{R_{2}}=2 \pi l \eta v_{0}$
From (2) by (3) we get, $v=v_{0} \frac{\ln r / R_{2}}{\ln R_{1} / R_{2}}$
Note : The force $F$ is supplied by the agency which tries to carry the inner cylinder with velocity $v_{0}$.