Chen, JieChen, Dar-ZenTsai, Lung-WenThis paper describes a systematic methodology for the dynamic analysis of a general class of articulated gear-mechanisms. The approach is based on recently published results related to the kinematic and dynamic analyses of such gear systems. We have shown that the Lagrange's equations of motion can be derived in terms of the minimum number of generalized coordinates in a systematic manner. We have also shown that constraint forces and torques can be evaluated systematically and efficiently, once the equations of motion have been solved. The procedure can be automated in a computer program.en-USIntelligent ServomechanismsTechnical Report