ESDU 92016 describes a range of established techniques for reducing the torque fluctuation in shafts that drive, or are driven by, planar linkages. The fluctuations result from inertial and gravitational effects of the moving links or from variable external loads. The peak-to-peak torque fluctuation may be reduced by appropriate techniques, of which six are considered. The design considerations involved in the selection are discussed, and the principle underlying each technique is explained. General design guidance is given for each technique together with a table of typical characteristics so that the designer can assess rapidly the potential of each method for a particular application. The techniques covered include mass reduction of the links, dyad addition, addition of springs and dampers, use of a torsional-vibration isolator and use of a flywheel (which does not reduce peak-to-peak torque fluctuation but, by increasing the inertia of the shaft, reduces the effect of the torque fluctuations on the angular velocity). A considerable bibliography lists references giving further information on each method.