Introduction: History of Mechanisms -- Two Positions of a Moving Plane -- Three Positions of a Moving Plane -- Four Positions of a Moving Plane -- Five Positions of a Moving Plane -- Four-Bar and Slider-Crank Cognates -- Four-Link Crank Mechanisms -- Correlation of Crank Angles, Function Generation, Freudenstein's Equation in Mechanism Design -- Chebyshev Methods of Synthesis -- Optimization Methods in the Synthesis of Mechanisms Using Excel.