This text includes a broad coverage of the kinematics and dynamics of machines. Practical applications are considered throughout the text. Example problems and homework problems involve engineering design and provide a basis for design courses to follow. Analytical and graphical vector methods are illustrated, as well as complex numbers methods. The book illustrates the design and analysis of mechanisms with the aid of mathematics software, user-written computer programs, and spreadsheets. Computer graphics and dedicated kinematics and dynamics software are discussed. Many of the example and homework problems involve calculations and plotting of results that can be done most efficiently using a computer.