Hello guys, since linear motors are too expensive I decided to buy a rotational motor and use some gears and a crank mechanism to get enough torque and translate rotation into linear motion. I need to meet a certain force on the shaft though. The question is how do I calculate the resulting force on the shaft? I do know the following formula: Torque = crossproduct( Radius, Force). This is be the crank construction I am talking about: I appreciate your help. God bless you all.