This textbook is written for Mechanical Engineering students of Anna University and all other Universities in India. Every topic begins from the very first principle and progresses to the advanced topics. Table Of Contents: 1. INTRODUCTION TO KINEMATICS OF MACHINES2. BASIC MECHANISMS3. VELOCITY IN MECHANISMS4. ACCELERATION IN MECHANISMS5. ALGEBRIC METHODS6. COMPUTER-AIDED ANALYSIS OF MECHANISMS7. MECHANISMS WITH LOWER PAIRS8. CAMS9. GEARS10. GEAR TRAINS11. FRICTION12. BELT ROPE DRIVES13. CLUTCHES14. BRAKES