ABSTRACT
Kinematic analysis is the study of the motion of a particle or body without regard to the forces that may be generating the motion. The motion may be either rectilinear or rotary and in mechanical engineering this includes the motion of linkages in mechanisms including that of robotic arms and so on. The denition of a mechanism in this context is rigid bodies connected by joints and is applied to the combination of geometric bodies that constitute a machine or part of a machine. They move with denite relative motions with respect to each other and are often referred to as the geometry of motion.
