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Abstract
A methodology has been developed for determining the inertia loads on the joints of a spatial mechanism in motion where the equations of motion are set up automatically by computer coding considering the joint types, link dimensions, and the masses of the links. Using this procedure to consider the effect of inertia of the links on the joint reactions in the Myard RCRCR constant-velocity coupling shows the presence of output torque fluctuation which is unpredicted by a static analysis.