A computer-oriented introduction to kinematics of mechanisms is presented by this book, emphasizing analytical formulations and computer solutions of kinematics problems. Four main ideas - loop equations, velocity coefficients and velocity coefficient derivatives, virtual work, and energy-based equations of motion - form a basis for the analysis of all types of machine systems, and are applied consistently throughout. Processes of kinematical analysis are reduced to the application of differential calculus and algebra, and the use of matrices has been stressed, both for consistent formulation and for ease of computer program development. This text covers the important, but often neglected, methods for determining workable combinations of gear tooth numbers to achieve a specified train ratio. Coverage includes freedom linkages, cam systems, reactions and internal forces, and the Lagrange and Eksergian equations of motion.