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This reference text provides a balanced treatment of graphical and analytical methods for kinematic analysis and synthesis of linkages (planar and spatial) and higher-pair mechanisms (cams and gears). Solved problems and exercises are included to demonstrate how theory is put into practice. The text aims to elucidate both the classical and modern aspects of mechanism analysis and synthesis and give confidence in designing real-life systems that may require various combinations of linkages, cams and gears. Both graphical and algebraic methods are emphasized to sharpen visualization skills and equip the reader to handle problems requiring optimal solutions.