Joint Forces @ Current θ₂
F₁₂ — Ground→Crank (O₂)
— N
x=— y=—
F₃₂ — Coupler→Crank (A)
— N
x=— y=—
F₄₃ — Follower→Coupler (B)
— N
x=— y=—
F₁₄ — Ground→Follower (O₄)
— N
x=— y=—
Shaking Forces & Torque
Shaking Force |Fs| — N
Fs angle —°
Shaking Torque Ts— N·m
Shaking force = F₁₂ + F₁₄ (transmitted to ground/frame).
Shaking torque = T₁₂ + moment of Fs about any point.
Power & Energy
Input power P = T₁₂·ω₂— W
Peak |T₁₂| (full cycle) — N·m
Peak |Fs| (full cycle) — N
Diagnostics & Observations