The paper describes a method for the determination of the conditions for the complete shaking force and shaking moment balancing of planar linkages, including geared linkages, with revolute and prismatic joints. The conditions may be written down without the need for any kinematic analysis of the linkage by the application of two new concepts. These are the concept of mass flow for complete shaking force balance and the concept of derivative moment of inertia flow for complete shaking moment balance, the second of which is described here for the first time. A number of examples demonstrate the power of the method.

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