A knowledge of the kinematic and dynamic properties of mechanisms is essential for their design and control. This volume describes methods and algorithms for the analysis of kinematic systems. Beginning with basic concepts, the authors then discuss a variety of problem-solving approaches and computational techniques. A distinctive feature of their work is its focus on the contour equation as a powerful, computationally efficient tool that will help the reader to design complex spatial mechanisms. The chapters include helpful examples and problems. This handy text will be useful for advanced undergraduate or graduate students, researchers, and practicing engineers working in robotics, vehicle dynamics, mechatronics, and machine design.