The highlights of this book are summarized as follows: 1. The problem of dynamic balancing and formation of links¿ shapes for the planar multiloop mechanisms is presented as an optimization problem. 2. Planar mechanisms are balanced by finding the optimum mass distribution for their links instead of using the counterweights and/or additional members. 3. A novel design methodology for links of the optimally balanced mechanisms using computer aided design principles is presented. 4. Evolutionary optimization techniques are explored to find the optimum solution for the optimization problem.