There has been some serious geekery around here given the Great Geek Off (GG-O), so I figured I would publish some decidedly un-geeky and definitely-not-in-any-way-nerdy, non-technical stuff about suspension geometry, which is particularly interesting to me given my favorite and most-expensive hobby of off-roading.
Since I expect that the readers of this blog are more tech-savvy than most, I will assume that everyone at least has an idea of what suspension is on a vehicle. Most cars have either a solid axle, where there are two sets of joined wheels, or they have "independent suspension", meaning that the wheels can all move up and down seperately. The subject of independent suspension is incredibly complex and I could really care less about it now that I no longer own one of these:

and now I have one of these:

If you can’t tell from these sweet wikipedia pictures, the top vehicle has independent suspension and the bottom one has solid axles. I will now explain why I care about suspension beyond simple ground clearance.
When off-roading, or "wheeling" as the Jeep community likes to call it, it is rarely entertaining to move along flat terrain. There’s not really a lot of excitement in trucking along across some land that is pretty much just glorified road without pavement, so we tend to make it a little interesting by making our "roads" lead up to obstacles. Now, with any luck, the body of the vehicle will be at a 20 degree angle to the ground and some equipment in the back will be straining in its tie-down straps, trying to fall all over the vehicle and cause a raucous.
In an out-of-the-box Jeep, this means that one or more wheels are probably not touching the ground. While this is an excellent photo opportunity, it does not bode well for actually getting anywhere, as the amount of traction you have is now equal to 4x – yx, where x is the amount of traction per tire, and y is the number of tires that are in the air waving at onlookers.
Instead, what we really want is for all four tires to be touching the ground to maximize total traction, and there is only one way to accomplish this: Flex.

No, not that kind of flex you cheeky bugger, this kind:

In the above picture, you can see that the two axles are clearly not parallel anymore. This is the general off-road qualification of flex. It is as simple as "how far can one wheel on an axle be up on top of something while the other one is still touching the ground." While this Jeep is highly modified, the same principle applies to stock vehicles as well.
This is an image of standard Five-Link Suspension for trucks with solid axles. There are four control arms (two uppers, in orange, and two lowers, in yellow), that act to keep the axle at a proper distance from the rest of the drivetrain so that the driveshaft doesn’t have to expand and contract as much. The green arm, called the trackbar, serves to center the axle under the vehicle. Without it, the axle would shift from side to side causing all kinds of problems.
The five-link is fine if the front and rear axles are always occupying the same plane, however, when one of the axles needs to rotate in order for a tire to move over a rock, the five links cause a lot of resistance, and will ultimately bind. Here you can see a variation of this geometry, called a Triangulated Four-Link Suspension. First notice that there is no trackbar. “Well how does the axle stay centered under the vehicle, dear Shannon” you may ask. Well, also notice that the upper arms meet at the differential housing instead of far apart on the axle tube. From fundamental physics, we know that this creates a triangle, which cannot shift laterally as a parallelogram can. The lower control arms are constructed similarly, meeting closer together at the frame side. These two triangles work together to center the axle, and they do a very good job of it.
This kind of suspension allows you to do crazy stuff like this:
That’s all I have right now. So next time you are looking at building a rock crawler by putting 1-Ton solid axles into a Jeep, you know that you want a Triangulated 4-link suspension design.
Picture sources:
Wikipedia
Automotive.com
JeepForum