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MechanicalSystems is a set of Mathematica packages designed to assist in the analysis and design of planar and spatial rigid body mechanisms. The package is written entirely in the Mathematica programming language and is completely portable and platform independent. The source code is written in the preferred package format as generally used by Wolfram Research, Inc. for the standard packages that are included with Mathematica. MechanicalSystems is intended to run under Mathematica 5.0 or later.