Linkage and cam-follower mechanism design are often based on the simplifying assumption of constant drive speed. Usually, however, the mutual interaction between the mechanism and its actuator gives rise to a fluctuating drive speed, possibly resulting in a variety of dynamic problems. This paper provides machine designers and researchers with a structured design approach toward solving such problems. As such, it constitutes both an extension and a complement to the 1979 input torque balancing survey by Berkof.

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