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Synthesis of mechanisms to perform kinematic functions has been the subject of a number of investigations. Mechanisms being synthesized in these schemes are characterized by the requirement that a member generate a path or a function of the input. Optimization of mechanisms for kinetic performance, such as stress-constrained design or force balancing, has been the subject of only a limited number of investigations. Most methods available for synthesis and design of these classes of mechanisms are restricted in applicability to a very specific class of problems. In the state space technique presented in this report, problems of optimal design of mechanisms are formulated in a setting that allows treatment of general design objectives and constraints. A constrained multielement technique is employed for position, velocity, acceleration, and kineto-static force analysis of mechanisms. An adjoint variable technique is employed to compute derivatives with respect to design of general cost and constraint functions that involve kinematic, force, and design variables. A generalized steepest descent algorithm with constraint compensation is employed, using the design sensitivity analysis method developed, for general-purpose kinematic system optimization. Five optimal design problems are so1ved to demonstrate effectiveness of the method.