A hydraulically driven walking beam pumping jack* is introduced which differs from the conventional pumping jack in that the walking beam is activated by two telescopic joints. To analyze the performance of sucker rod pumping systems (both standard and hydraulic), a mathematical model and a numerical simulation were developed. Seven performance criteria were used to characterize the pumping systems. Full scale laboratory type experiments were performed to verity the mathematical model. Both computer generated and experimental results indicate that the hydraulic pumping jack consumes less energy at the polished rod than does the conventional pumping jack.