Bekirk,
If you have the motor efficiency, it is pretty safe to assume that the rest of the input power is lost to either friction or I^2R losses. Either one comes out in the form of heat.
Say you have a 10 hp motor with a full-load efficiency of 90%, and operating at full load. The heat generated would therefore be the remaining 10%. Converted to heat, that would be 2544 BTU/hr (1.0 Hp).
Regards,
speco