The book consists of 17 chapters which cover many of the important aspects of mechanism and MBS formulations and approaches. The book starts with the Song of the Screw which was published anonymously in Nature in 1877. The preface of the book also includes interesting quotations from the writings of Franz Reuleaux (1829–1905). The first chapter of the book is an introduction which is focused on concepts and definitions that are fundamental to mechanisms and MBS analysis including the definition of mechanical bodies and lower and higher pairs. The topology and kinematic architecture including incidence matrices and kinematic loops are covered in Chap. 2. Chapter 3 is focused on the transformation matrices and their important role in accurate kinematic definitions. Different forms of the transformation matrices are presented in this chapter. The use of the transformation matrices in the description of the kinematics of systems that include mechanical joints is explained in Chap. 4. Chapter 5 describes how successive transformations can be handled and introduces the well-known Denavit–Hartenberg Transformation and its use in the definition of the absolute position equations. The loop closure equations which are required in the kinematic description of closed-loop chains are presented in this chapter which also presents closed-form solution of kinematic equations of joint-variable position. Chapter 6 presents the differential kinematics and demonstrates its use in different joint formulations. Differential kinematics is particularly important when considering the numerical solution and the development of general mechanism and MBS algorithms. Chapters 7 and 8 describe, respectively, the velocity and acceleration equations and explain how these equations can be written in terms of the joint coordinates. Chapter 9 presents some of the important force elements used in modeling mechanism and MBS applications. It is appropriate to present the joint kinematics and the formulation of the forces before presenting the dynamic equations of motion in Chap. 10. The formulation of these dynamic equations requires the use of the joint kinematics and the force expressions. Chapter 11 describes how the linearized equations of motion can be obtained, while Chap. 12 discusses the equilibrium posture analysis with explanation of stable and unstable equilibrium. The system frequency and time responses are discussed in Chaps. 13 and 14, respectively. Procedures for collision detection and impact analysis are presented in Chaps. 15 and 16, respectively, while the analysis of constraint forces is presented in Chap. 17.