This is a graduate-level text in which 3X3 co-ordinate-transformation matrices and three element vectors with dual-number elements are used to analyze the mechanics of mechanisms, robots and other mechanical systems. The use of dual-numbers allows a very compact and convenient notation for the analysis of displacements, velocities, static equilibrium and dynamic equilibrium. The concept of the dual-number has been around since the 19th century but has not become popular because there has not been a textbook available to facilitate learning the concepts and methods. Mention of the dual-number...