Mechanisms are fundamental components of machines. They are used to transmit forces and moments and to manipulate objects in industrial machinery, robots, automobiles, aircraft, mechatronics devices and biomechanical systems. A knowledge of the kinematic and dynamic properties of mechanisms is essential for their design and control. This book describes methods and algorithms for the analysis of kinematic systems. Beginning with basic concepts, the book then discusses a variety of problem-solving approaches and computational techniques. Its distinctive feature is its focus on the contour equation as a powerful, computationally efficient tool that will help the reader to design complex spatial mechanisms. This handy text will be useful for senior or graduate students, researchers and practising engineers working in robotics, vehicle dynamics, mechatronics and machine design.