As a footnote to Wayne's post I wanted to post a picture of Bendix teeth. Do not expect the ends of the teeth on the Bendix gear or ring gear to be perfectly square and sharp. Both will have lead in chamfers so the gears will engage when you turn the starter motor over. If the did not have these chamfers the gear teeth could not slip into position and you would have an awful noise with no motor rotation.
For wear you are looking for thinned, chipped teeth that look like they have or will slip out of engagement.
The Bendix pictures below are generic new parts and not unique to Lucas starters. The end profile is typical of new/good parts. The teeth on the ring gear will have similar profiles both in the leading and trailing edge of the tooth.
The picture below shows worn Bendix and ring gear teeth.
And below is a bad/failed MGB ring gear.