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Edmund Taylor Whittaker (1904). A Treatise on the Analytical Dynamics of Particles and Rigid Bodies. Cambridge University Press. Chapter 1. ISBN 0-521-35883-3.
Joseph Stiles Beggs (1983). Kinematics. Taylor & Francis.. ISBN 0-89116-355-7.
Thomas Wallace Wright (1896). Elements of Mechanics Including Kinematics, Kinetics and Statics. E and FN Spon. Chapter 1.
A. Saxena (2011) Kempe’s Linkages and the Universality Theorem Archived 7 December 2016 at the Wayback Machine, RESONANCE
Synthesis of a linkage to draw a plane algebraic curve
A. K. Mallik, A. Ghosh and G. Dittrich - Kinematic Analysis and Synthesis of Mechanisms, CRC Press Inc. Boca Rato
A. Ghosh and A. K. Mallik - Theory of Mechanisms and Machines, Affiliated East-West Press (P) Ltd., New Delhi
Kenneth J. Waldron, Gary L. Kinzel - Kinematics, Dynamics And Design Of Machinery, Wiley India Pvt Ltd
John Joseph Uicker, G. R. Pennock, Joseph Edward Shigley - Theory of machines and mechanisms , Oxford University Press
Arthur G. Erdman, George N. Sandor, Sridhar Kota - Mechanism Design: Analysis And Synthesis, Prentice Hall
Atmaram H. Soni -Mechanism Synthesis and Analysis,, McGraw-Hill Inc.,US