Abstract: For planar linkages a new method of adding a fixed cam to balance the inertia input torque is presented.With this method the imput torque can be partially or complete balanced, using the moment of inertia of the mass which is added to input crank for balancing the shaking force. The main advantage of this technique is that no other mass (broad sense) needs adding to original linkage for the purpose to decrease or complete balance the fluctuating torques. But the moment of inertia of the added mass should be adjusted according to the requirement.