ABSTRACT
Until now, we have discussed kinematics, which is the study of position, velocity, and acceleration without regard to forces. We assumed that a “magic motor” turned the crank on a linkage at a constant speed, and plotted the resulting motion of the rest of the linkage. We will now turn our attention to the forces and torques required to produce such a motion. Recall the definition of dynamics, given earlier:
Dynamics: the study of forces in a moving system
