Scissor linkage: dynamic analysis

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serbring
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Hi guys,

I have a scissor linkage and I should calculate the force F for keeping the system in equilibrium in a specific position. The force must be applied in the the middle joint as you can see in the following picture:

http://imageshack.us/photo/my-images/810/scissordisegno.png/

L is the arms lenght, instead a is the horizontal distance between the two joints. How can I calculate this force for a specific height and supported weight? Any suggestions, or links are appreciated.

Thanks
 
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