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Many types of mechanical linkages are in use on fluid power equipment. Linkages are often used in hydromechanical servomechanisms and in actuator powered machine members used to accomplish desired working functions. Agricultural and construction equipment have many examples of linkages in use with fluid power systems. The motion of hydraulically actuated linkages is usually quite complex, because of the versatility of fluid power machinery. This paper explores some helpful concepts from kinematics to describe motion analysis of linkages. Linkage position, velocity, and acceleration may be covered by the method.