This paper develops a mathematical model of the linearized vibrations of a four-bar linkage with a flexible rocker link and flexible input and output shafts. The model assumes constant input velocity and includes inertial masses at the ends of the input and output shafts. The assumed modes technique is used to model the rocker link. Exact rocker mode shapes are derived from an analysis of the continuous parameter model and are then used in a lumped parameter model to predict system response. Finally, a dimensional analysis is presented which develops the concept of families of mechanisms whose dynamic behaviors are similar.

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