In a 4-bar linkage, if the lengths of shortest, longest and other two links are denoted by s, l, p and q, then it would result in Grashof's linkage provided
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A simple way to remember Grashof's Law is "Shortest + Longest \(\le\) Sum of the Others". This single rule is key to analyzing the motion of any four-bar linkage. If the condition is not met (\(s+l > p+q\)), it's a non-Grashof linkage, and no link can make a full revolution.