This textbook presents theory-based approaches to teaching and studying the kinematics and dynamics of machines, complemented by graphics and animations using contemporary software; MATLAB®, Simulink® and Simscape™ Multibody™. Students gain hands-on experience with relevant engineering software, developing skills in modeling, analysis, simulation, and animation while learning the course material. Instructors can guide students in creating their own systems, helping them better understand and optimize their designs. Emphasizing the ubiquity of machines, the text is informed by a wide variety of examples; it caters for the generic-such as the factory packing machine-but also draws on the more familiar-such as kitchen appliances-to highlight machines encountered in everyday life. The book provides a connection between the acquisition of marketable skills in computer modeling and study for an academic degree and has evolved from the author's teaching experience. Features of the textbook include: extensive use of examples in the text, covering numerical, graphical, analytical, and Simscape™ Multibody™ model-based techniques examples for students; end-of-chapter exercises allowing regular assessment of learning attainment; a pdf solutions manual for instructors adopting the book, available from SpringerLink; and lecture slides for use or adaptation by instructors. Chiefly intended for an upper-level undergraduate course in the design and kinematics of machines, this textbook also contains more advanced elements that extend its relevance into the sphere of the beginning graduate student.