Kinematics of Planar Mechanisms? Nothing easier!

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.