This college text presents a modern, computer-oriented, systematic approach to the analysis of single and multiple degree of freedom linkages, cam systems, gear trains, and other mechanisms. The concepts of position loop equations, velocity coefficients, and velocity coefficient derivatives are used effectively throughout. The formulation of machine dynamics is fully developed and several machinery simulations are included. The principle of virtual work is presented, first in terms of machinery statics and then in regard to machine dynamics. Ten Appendices cover a variety of topics including matrix algebra, the Newton-Raphson method, numerical solution of differential equations, and the calculation of geometric properties for irregular areas.