The dynamic equations of planar mechanisms with flexible pin shafts and clearance connections is developed here using Lagrangian formulation. The general flexible-connection planar mechanism can be described by a damped, circulatory, gyroscopic system. Quite often, damping and circulatory forces are small, one may regards them as the perturbations. Indeed, a perturbation method for obtaining the eigensolution and dynamic response is presented by regarding the undamped, non-circulatory, gyroscopic system as the unperturbed system.

The procedure may be used to investigate the fundamental nature of dynamic interaction between the elastic deflection of pin shafts and clearance connections. A major objective of this paper, in addition to the development of the analytical technique, was to obtain some insight into the phenomenon at flexible-connection, so that these effects may be included during the designing of mechanisms.

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