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In this paper the method of transmission matrix is applied for investigating planar mechanisms [5-7]. As is known, in many engineering problems, for example, in the problem of synthesis and analysis of motion, the following problem is more and more interested. There is an object (a particle or body) connected with a frame of reference, which moves with respect to another frame. It is necessary to define the configuration (the position, velocity, acceleration) of the object under consideration in the latter frame. There are two types of the frame of reference. A frame that is fixed in time named inertia frame or global frame of reference and the frame attached to each body of the system- the body frame of reference. The problem is stated now as follows: Determine the configuration in global frame of a particle fixed in any body of the system.In this paper a method is constructed for solving such a problem by means of transmission matrices.The obtained results are illustrated by examples.

The aim of investigation is to present the principle of compatibility and to apply it for determining the reaction forces of kinematics pairs in mechanism. For this purpose the system is released from the given constrains. This resulted to increase the number of coordinates of the system. In order that the freed system realizes the motion of the given system, the coordinates of the freed system must satisfy some relations called the constraint equations. The reaction forces of the formed constraints are just the reaction forces, which are of interest to us.

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ABSTRACT. In the present paper a form of equations of motion of a constrained mechanical system is constructed. These equations only contain a minimum number of accelerations. In the other words, such equations are written in independent accelerations while the configuration of the system is described by dependent coordinates. It is important that the equations obtained are applied conveniently for . the mechanisms in which the use of independent generalized coordinates is not suitable.