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This monograph develops a unified methodology for dynamic analysis and minimization of the inertiainduced forces occurring in high speed multi loop planar as well as spatial mechanisms based on the multi body system modelling approach. Dynamic analysis is prerequisite for the dynamic balancing of mechanisms. The balancing of mechanisms is one of the crucial steps in design of high speed machinery and is a difficult one due to trade off amongst various dynamic quantities, e.g., shaking force, shaking moment, bearing reactions, and driving torques/forces. Hence, it is essentially an optimization problem where various dynamic quantities are computed repeatedly.