1. Introduction
1.1 Historical Perspective
1.2 Kinematics 
1.3 Design: Analysis and Synthesis
1.4 Mechanisms
1.5 Planar Linkages
1.6 Visualization
1.7 Constraint Analysis
1.8 Constraint Analysis of Spartial Linkages
1.9 Idle Degrees of Freedom 
1.10 Overconstrained Linkages
1.11  Uses of the Mobility Criterion
1.12 Inversion
1.13 Reference
1.14 Motion Limits
1.15 Actuation
1.16 Coupler-Driven Linkages
1.17 Motion Limits for Slider-Crank Mechanism
1.18 Interference
1.19 Practical Design Considerations
1.19.1 Revolute Joints
1.19.2 Prismatic Joints
1.19.3 Higher Pairs
1.19.4 Cams vs. Linkages
1.19.5 Actuation

2. Graphical Position, Velocity, and Acceleration Analysis for Mechanism with Revolute Joints and Fixed Slides
2.1 Introduction
2.2 Graphical Position Analysis
2.3 Planar Velocity Polygons
2.4 Graphical Acceleration Analysis
2.5 Graphical Analysis of a Four-Bar Mechanism
2.6 Graphical Analysis of a Slider-Crank Mechanism
2.7 The Velocity Image Theorem
2.8 The Acceleration Image Theorem
2.9 Solution by Inversion

3. Linkages with Rolling and Sliding Contacts and Joints on Moving Sliders
3.1 Introduction
3.2 Reference Frames
3.3 General Velocity and Acceleration Equations
3.3.1 Velocity Equations
3.3.2 Acceleration Equations
3.3.3 Chain Rule for Positions, Velocities, and Accelerations
3.4 Special Cases for the Velocity and Acceleration Equations
3.4.1 Points P and Q Fixed to B
3.4.2 P and Q are Coincident
3.4.3 P and Q are Coincident and in Rolling Contact
3.5 Linkages with Rotating Sliding Joints
3.6 Rolling Contact
3.6.1 Basic Kinematic Relationships for  Rolling Contact
3.6.2 Modeling Rolling Contact Using a Virtual Linkage
3.7 Cam Contact
3.7.1 Direct Approach to the Analysis of Cam Contact
3.7.2 Analysis of Cam Contact Using Equivalet Linkages
3.8 General Coincident Points 
3.8.1 Velocity Analyses Involving General Coincident Points
3.8.2 Acceration Analyses Involving General Coincident Points

4. Intant Centers of Velocity
4.1 Introduction 
4.2 Definition
4.3 Existence Proof
4.4 Location of an Instant Center from the Direction of Two Velocities
4.5 Instant Center at a Revolute Joint
4.6 Instant Center of a Curved Slider
4.7 Intant Center of a Prismatic Joint
4.8 Instant Center of a Rolling Contact Pair
4.9 Instant Center of a General Cam-Pair Contact
4.10 Centrodes 
4.11 The Kennedy-Aronholdt Theorm
4.12 Circle Diagram as a Strategy for Finding Instant Centers
4.13 Using Instant Centers: The Rotating-Radius 
4.14 Finding Instant Centers Using Drafting Programs

5. Analytical Linkage Analysis
5.1 Itroduction 
5.2 Position, Velocity, and Acceleration Representations
5.3 Analytical Closure Equations for Four-Bar Linkages
5.4 Analytical Equations for a Rgid Body after the Kinematic Property of two Points are Known
5.5 Analytical Equations for Slider-Crank Mechanisms
5.6 Analytical Equations for the Slider-Crank Inversion
5.7 Analytical Equations for an RPRP Mechanism
5.8 Analytical Equations for an RRPP Mechanism
5.9 Analytical Equations for Elliptical Trammel
5.10 Analytical Equations for Oldham Mechanism
5.11 Clouser or Loop-Equation Approach for Compound Mechanisms
5.12 Clouser Equations for Mechanisms with Higher Pairs
5.13 National Differences: Vectors and Complex Numbers

6. Planar Linkage Design