Any student of Elizabethan drama will tell you that character motivation was not considered to be an important (or even relevant) component of drama at that time. The idea of set personalities based on the balance (or more accurately, imbalance) of the four humours was held to be common knowledge, and Shakespeare (regardless whether he personally believed that the humours dictated personality or not) wrote his dramas under those same assumptions. It should be very clear then why the motivations of Shakespeare's major characters cannot be objectively categorized 99% of the time; he never intended those motivations important enough to be thoroughly established.
Therefore, the 'true' reason behind Iago's hatred of Othello will never be known as it either 1) died with Shakespeare or 2) never existed in the first place (that is, Shakes created an antagonist who hates only because the story requires him to and never thought much of it after that).
But on to conjecture anyway:
Personally, I get the impression that Iago only has his sights set on Othello because Othello is the character who has the most to lose. Iago seems to fit the mold of what in the present would be considered a sociopath; he loves (or perhaps values is a better word) only himself, and for all others he feels either nothing at all or contempt. He hates Othello because he hates EVERYBODY, and he focuses his venom on Othello because Othello has the most to lose: political power, respect and honor from his military prowess, the most beautiful wife in the whole of Cyprus. We also know that Iago is bitter over being made ensign (3rd in command) under both Cassio and Othello; he makes it clear that he believes himself to be superior to Cassio in terms of deserved rank, and given what else we know about Iago's ego it is not unlikely that he feels that he deserves Othello's position as well. And, as has been mentioned, he may hate Othello for being a Moor as well (note, however, that Othello is NOT from Africa as some seem to think; he is a Moor from Spain, a descendant of North Africans, who tend to have very dark skin but are not actually 'black.' From the first performance on, he has always been played as 'black' because Shakespeare is exaggerating the features of a Moor for dramatic contrast; in reality, Othello would have extremely dark olive skin and would still bear the brunt of European prejudice, even though he was not 'black' like the people of sub-Saharan Africa.) Anyways, however you choose to interpret Iago's character, he remains a fascinating villain.
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