Reprint of the original, first published in 1871.

A classic text in engineering education, this book covers the principles of mechanisms in a clear and concise manner. With practical examples and illustrations, students and professionals alike will benefit from this timeless reference. This work has been selected by scholars as being culturally important, and is part of the knowledge base of civilization as we know it. This work is in the "public domain in the United States of America, and possibly other nations. Within the United States, you may freely copy and distribute this work, as no entity (individual or corporate) has a copyright on the body of the work. Scholars believe, and we concur, that this work is important enough to be preserved, reproduced, and made generally available to the public. We appreciate your support of the preservation process, and thank you for being an important part of keeping this knowledge alive and relevant.

This book describes methods and algorithms for the analysis and design of kinematic systems.