The entire contents of the book have been re-cast and almost all the chpaters have been substainially up-dated and enlarged. A new chpater on "Introduction to Computer Aided Synthesis of Machines" has been added, with the Loop Closure Equations and Complex Number methods, the solutions of mechanisms become very simple. Even the mechanisms involving Coriolis component accelaration have been solved with Loop Closure Equation and Complex Numbers. Novel features of this chapter is that the level of information on complex numbers and Loop closure equations as required in the chapter is explained in the beggining of the chapter itself to make it self sufficient. However the emphasis on Analysis of Mechanisms by graphical methods is still retained at this stage. Many new mechanisms by graphical methods is still retained at this stage. Many new mechanisms have been analysed like Geneva Mechanism, Slider Mechanism, Gear Mechanism.