Hi, I've been grappling with a calculation that appears to give me a good result, however my gut feeling says other wise. Could someone please check the layout and possibly confirm my final answer. Attached is the layout of the system. The system: -There is a long arm, d1+d2 is one link. then end of d2 to m2 is the second link. -m2 is constrained in all directions except vertical up/down movement. (by putting the mass on a linear shaft with linear bearings) The goal is to calculate m2, everything else is given, and Theta is a variable. my final answer i reach to is: m2= (m1)*(d1/d2)*(1/2) The point is that it seems that the mass of object two is independent of the angle. and can be fixed, however I have a feeling that tells me that its not that simple. I can also upload how I got the final answer, but I'd prefer to see how others would tackle the situation. Any help is appreciated. Many Thanks!.