Analytical synthesis of mechanisms is a useful tool towards computer-aided machinery design and
production. 4-bar planar mechanisms have wide applications in industry and thus receive more attention from
machinery design researchers. The proposed approach relies on forming a mathematical model for the mechanism
position incorporating the 2 coupler positions. The model consists of 6 nonlinear equations considering the
transmission angle of the mechanism in the 2 coupler positions. A case study is presented as a justification for the
proposed approach. Exact coupler positions are attained with transmission angles not more than 7 % of the optimum
value of 90 degrees.