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Kinematics, Dynamics, and Design of Machinery, 2nd Edition

Kinematics, Dynamics, and Design of Machinery, 2nd Edition

Kenneth J. Waldron, G. L. Kinzel

ISBN: 978-0-471-24417-2

Oct 2003

680 pages

Select type: Paperback

In Stock



With over 25 years of outstanding research contributions and teaching experiences, Kenneth Waldron and Gary Kinzel provide a modern approach to the study of mechanisms and machines. The text reflects their unique backgrounds and provides an integrated treatment of a set of seemingly diverse topics, such as planar mechanisms, spatial mechanisms and robotics. Their emphasis on both analytical and graphical methods sets the stage so that students can readily transform problems into computer algorithms. Building on the success of the previous edition, the Second Edition continues to use the vector approach for both analysis and synthesis, and provides a solid theoretical background in kinematic principles coupled with practical examples.

Related Resources

Chapter 1. Introduction.

Chapter 2. Graphical Position, Velocity and Acceleration Analysis for Mechanisms with Revolute Joints or Fixed Slides.

Chapter 3. Linkages with Rolling and Sliding Contacts and Joints On Moving Sliders.

Chapter 4. Instant Centers of Velocity.

Chapter 5. Analytical Linkage Analysis.

Chapter 6. Planar Linkage Design.

Chapter 7. Special Mechanisms.

Chapter 8. Profile Cam Design.

Chapter 9. Spatial Linkage Analysis.

Chapter 10. Spur Gears.

Chapter 11. Helical, Bevel, and Worm Gears.

Chapter 12. Gear Trains.

Chapter 13. Static Force Analysis of Mechanisms.

Chapter 14. Dynamic Force Analysis.

Chapter 15. Shaking Forces and Balancing.


  • The former Chapter 2 is expanded into three separate chapters to provide more manageable coverage of all key topics. See new table of contents below.
  • Chapter 6 on Planar Linkage Design (formerly Chapter 4) is expanded to include more design options.
  • The Cam chapter, now Chapter 8, is expanded with a new procedure developed for computing cam profiles.
  • MATLAB programs rewritten to include MATLAB's graphical user interface making programs much easier for students to use.
  • Includes many new exercise problems.
  • Vector approach to analysis speeds acquisition of new information since the book uses an approach consistent with previous coursework in classical dynamics. Students are familiar with this approach and instructors do not need to teach new techniques to familiarize students with kinematics concepts.
  • Tables of equations provide a summary tool so students can check their analyses with the results from the equations presented in the text.
  • MATLAB programs enable students to experiment with different design parameters and perform a range of experiments that are too complex to do by hand.
  • Coverage of spatial mechanisms using both vectors and matrices introduces this important topic from two vantage points encouraging important skills development for students. Vector approach requires significant visualization capabilities while the matrix approach requires an elementary knowledge of linear algebra.