PREFACE to the First Edition When I hear,Iforget When I see,I remember When I do,I understand ANCIENT CHINESE PROVERB This text is intended for the kinematics and dynamics of machinery topics which are of- ten given as a single course,or two-course sequence,in the junior year of most mechan- ical engineering programs.The usual prerequisites are first courses in statics,dynamics and calculus.Usually,the first semester,or portion,is devoted to kinematics,and the sec- ond to dynamics of machinery.These courses are ideal vehicles for introducing the me- chanical engineering student to the process of design,since mechanisms tend to be intu- itive for the typical mechanical engineering student to visualize and create.While this text attempts to be thorough and complete on the topics of analysis,it also emphasizes the synthesis and design aspects of the subject to a greater degree than most texts in print on these subjects.Also,it emphasizes the use of computer-aided engineering as an ap- proach to the design and analysis of this class of problems by providing software that can enhance student understanding.While the mathematical level of this text is aimed at sec- ond-or third-year university students,it is presented de novo and should be understand- able to the technical school student as well. Part I of this text is suitable for a one-semester or one-term course in kinematics. Part II is suitable for a one-semester or one-term course in dynamics of machinery.Alter- natively,both topic areas can be covered in one semester with less emphasis on some of the topics covered in the text. The writing and style of presentation in the text is designed to be clear,informal,and easy to read.Many example problems and solution techniques are presented and spelled out in detail,both verbally and graphically.All the illustrations are done with computer- drawing or drafting programs.Some scanned photographic images are also included. The entire text,including equations and artwork,is printed directly from computer disk by laser typesetting for maximum clarity and quality.Many suggested readings are pro- vided in the bibliography.Short problems,and where appropriate,many longer,unstruc- tured design project assignments are provided at the ends of chapters.These projects provide an opportunity for the students to do and understand. The author's approach to these courses and this text is based on over 35 years' experience in mechanical engineering design,both in industry and as a consultant. He has taught these subjects since 1967,both in evening school to practicing engi- neers and in day school to younger students.His approach to the course has evolvedPREFACE to the First Edition When I hear, Iforget When I see, I remember When I do, I understand ANCIENT CHINESE PROVERB This text is intended for the kinematics and dynamics of machinery topics which are of￾ten given as a single course, or two-course sequence, in the junior year of most mechan￾ical engineering programs. The usual prerequisites are first courses in statics, dynamics and calculus. Usually, the first semester, or portion, is devoted to kinematics, and the sec￾ond to dynamics of machinery. These courses are ideal vehicles for introducing the me￾chanical engineering student to the process of design, since mechanisms tend to be intu￾itive for the typical mechanical engineering student to visualize and create. While this text attempts to be thorough and complete on the topics of analysis, it also emphasizes the synthesis and design aspects of the subject to a greater degree than most texts in print on these subjects. Also, it emphasizes the use of computer-aided engineering as an ap￾proach to the design and analysis of this class of problems by providing software that can enhance student understanding. While the mathematical level of this text is aimed at sec￾ond- or third-year university students, it is presented de novo and should be understand￾able to the technical school student as well. Part I of this text is suitable for a one-semester or one-term course in kinematics. Part II is suitable for a one-semester or one-term course in dynamics of machinery. Alter￾natively, both topic areas can be covered in one semester with less emphasis on some of the topics covered in the text. The writing and style of presentation in the text is designed to be clear, informal, and easy to read. Many example problems and solution techniques are presented and spelled out in detail, both verbally and graphically. All the illustrations are done with computer￾drawing or drafting programs. Some scanned photographic images are also included. The entire text, including equations and artwork, is printed directly from computer disk by laser typesetting for maximum clarity and quality. Many suggested readings are pro￾vided in the bibliography. Short problems, and where appropriate, many longer, unstruc￾tured design project assignments are provided at the ends of chapters. These projects provide an opportunity for the students to do and understand. The author's approach to these courses and this text is based on over 35 years' experience in mechanical engineering design, both in industry and as a consultant. He has taught these subjects since 1967, both in evening school to practicing engi￾neers and in day school to younger students. His approach to the course has evolved