The electromechanical dynamics of a four-link mechanism moving in a magnetic field perpendicular to the plane of motion is considered. As the linkage moves, a voltage is generated around the closed conducting path formed by the mechanism links, causing current to flow through these links. As a result of the magnetic field and this induced current, time varying, distributed magnetic forces act on each link. The equations of motion of the mechanism and the generated current are derived for a torque input on the driving link. These equations are then integrated numerically in an example design.

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