This book serves as an introduction to the design and analysis of mechanisms using computer-aided design tools. A mechanism is a set of components connected together in such a way as to produce a desired motion. Examples of mechanisms in everyday life are numerous, and include windshield wipers, mechanical watch movements, the piston/connecting-rod/crankshaft assembly in an automotive engine and the fancy "European hinges" found in upscale kitchen cabinets. In each of these instances, the designer was confronted with the problem of producing a desired motion (e.g. sweeping a wiper across a windshield) in the most economical way. Until the recent past, mechanical designers have employed drafting tools (triangle, T-square, compass) to complete their work. These tools have been entirely superseded by computer-aided design tools such as CAD software (e.g. SOLIDWORKS®) and mathematical simulation software (e.g. MATLAB®). While a mechanical engineer might use a pencil and sketch pad to help in brainstorming a design, the final result will inevitably be developed and communicated through software. With this in mind, we have written a textbook that brings the modern practice of mechanical design into the classroom and computer lab. The book is intended to accompany a one-semester course in mechanical design at a four-year university or technical college. The authors have used the material in this textbook to teach mechanical design to first, second and third-year students for almost 20 years at our university. The text demonstrates the use of modern design tools (e.g. MATLAB® and SOLIDWORKS®) to conduct motion and force analysis of mechanisms. Practical design examples are given throughout the book, and mobile-friendly web content is fully-integrated.