This paper deals with the complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs. The cancellation of the dynamic loads transmitted to the ground is a challenge for these types of manipulators. 2 It is obvious that the classical methods based on the optimal redistribution of movable masses and additional counter-rotations can be used to cancel shaking force and shaking moment. However, such a balancing of parallel manipulators with prismatic pairs is only attained via a considerably complicated design. This paper shows that it is possible to balance planar parallel mechanisms using Scott-Russell mechanisms. Such an approach enables a division of the number of counter-rotations by two. Numerical simulations carried out using ADAMS software validate the obtained results and illustrate that the suggested balancing enables the creation of a parallel manipulator transmitting no inertia load to its base. Index terms-Shaking force, shaking moment, balancing, planar parallel robots with prismatic pairs.