The original work is based on the experience of teaching Mechanisms Course for many years to students of technical faculties, very useful for the students studying this discipline and engineers who studied the discipline years ago. The approach is as simple as possible, providing clear, concrete examples. There are some absolutely necessary notions about the structure of planar mechanism. The kinematics of the dyads based on the contour method, exemplifying common mechanisms with a dyad, one with a triad, and another with two dyads. The presented methods allow the kinematic calculation of any planar mechanism with bars. The examples are completed with generated trajectories and kinematic diagrams.

Professor Emeritus PhD Engineer Iulian Popescu, a member of the Academy of Technical Sciences in Romania, studied mechanical engineering at the Technical University of Cluj-Napoca. He taught the Mechanisms and Machine Theory course at the University of Craiova for 40 years and directed 26 PhD students in Mechanisms.