Kinematics of Machinery is the branch of engineering science which deals with the study of relative motion between the various parts of a machine and the forces which act on them. It gives information about the basic concepts and layout of linkages in the assembly of a system or a machine. The subject provides information about the principles in analysing the assembly with respect to the displacement, velocity and acceleration at any point in a link of a mechanism. This book gives technique to find velocity and acceleration of different mechanisms by graphical and analytical methods. It also includes the basic concepts of toothed gearing and kinematics of gear trains and the effect of friction in motion transmission and in machine components. My hope is that this book, through its careful explanations of concepts, practical examples and figures bridges the gap between knowledge and proper application of that knowledge.