This paper proposes a design concept which allows the simultaneous shaking force/shaking moment balancing and torque compensation in slider-crank mechanisms. At first, the shaking force and shaking moment are cancelled via a cam mechanism carrying a counterweight. Then, the spring designed for maintaining contact in this balancing cam mechanism is used for torque minimization. For this purpose, the spring is jointed with a second cam mounted on the input crank. The proposed design concept allows the development of only one device for solving the both mentioned problems. The suggested solution is illustrated by numerical example carried out by using ADAMS software.