This book is intended as a supplement for undergraduate courses in Kinematics or Dynamics of Mechanisms, taught in Mechanical Engineering departments. As a MATLAB (R) supplement, it can be used with any standard textbook, including Norton's DESIGN OF MACHINERY Second Edition, Erdman/Sandor's MECHANISMS DESIGN, Third Edition, or Mabie/Reinholtz MECHANISMS AND DYNAMICS OF MACHINERY, Fourth Edition. The emphasis of the text is integrating the computational power of MATLAB (R) into the analysis and design of mechanisms. This new book in Brooks/Cole's Bookware Companion Series (TM) is the first to apply the use of MATLAB (R) to the study of kinematics and dynamics of mechanisms. This book is intended as a useful guide for readers interested in understanding kinematics, or as a reference for practicing mechanical engineers. It provides detailed instruction and examples showing how to use MATLAB (R) (increasingly, the software program of choice among engineers for complex computations) and its accompanying simulation environment, SIMULINK (R), to develop powerful and accurate computer simulations of constrained mechanical systems.