The Theory of Machines is an important subject to mechanical engineering students of both bachelor's and diploma level. One has to understand the basics of kinematics and dynamics of machines before designing and manufacturing any component. The subject material is presented in such a way that an average student can easily understand the concepts. The graphical methods of analysis are given preference over analytical wherever possible though they lack in accuracy but can be performed quickly. Particular care has been taken to draw diagrams to scale correctly. The results are compared with analytical ones wherever possible. Common doubts that the students have while preparing for the examinations or new faculty in the classrooms have been kept in mind. The same examples are being explained wherever different methods are there instead of giving different examples. The effect of the different parameters on the end result also is shown in the same problem, for example, in cams and governors etc. In the exercises at the end of each chapter, questions from the question papers of various universities are given under three categories ? short answer questions, problems, multiple choice questions. Some of the questions may be seen repeated. One should note that they are being given repeatedly and are important for examination purpose.