The aim of this paper is the presentation of the general form of the constraint equations necessary to calculate the accelerations occuring on a five sided spatial mechanism. Using these equations the computing of the accelerations for any part of any plain or spatial mechanism will be possible.
The constraint equations of the acceleration are obtained by computing the time derivatives of the velocity equations (which in general form are given by  and ) followed by the correspondent grouping of the unknowns.
The plough is the basic machine for soil work. It is usually connected to the tractor by means of a suspension system. The suspension system is a bar-shaped arm system fixed to the tractor frame, which fixes and raises the attached machine in three points. Its role is significant. Single-sided ploughing on slopes creates some special situations. This phenomenon was observed during a plowing competition and in this paper we look for solutions related to this topic.