Here is a genuine introduction to the differential geometry of plane curves for undergraduates in mathematics, or postgraduates and researchers in the engineering and physical sciences. This well-illustrated text contains several hundred worked examples and exercises, making it suitable for adoption as a course text. Key concepts are illustrated by named curves, of historical and scientific significance, leading to the central idea of curvature. The author introduces the core material of classical kinematics, developing the geometry of trajectories via the ideas of roulettes and centrodes, and culminating in the inflexion circle and cubic of stationary curvature.