This book delivers a straightforward, clear and concise presentation of principles for 2-D mechanisms while having the rigor to serve as basis for more advanced work. This text is meant to be used in a single semester course, which introduces the basics of planar mechanisms. Advanced topics are not covered in this text because the semester timeframe does not allow these advanced topics to be covered. Although the book intended as a textbook, it has been written so that it can also serve as a reference book for planar mechanism kinematics. This is a topic of fundamental importance to mechanical engineers.
