In mechanical engineering, kinematic synthesis (also known as mechanism synthesis) determines the size and configuration of mechanisms that shape the flow of power through a mechanical system, or machine, to achieve a desired performance. The word synthesis refers to combining parts to form a whole. Hartenberg and Denavit describe kinematic synthesis as ...it is design, the creation of something new. Kinematically, it is the conversion of a motion idea into hardware. Applications of kinematic synthesis include determining: