This paper presents the description of an integrated software package titled DAMP (Design and Analysis of Mechanisms Program) that has been developed for the purposes of modeling, analysis, and synthesis of planar linkage mechanisms. DAMP is a comprehensive computer-aided design tool with the ability to design complex planar mechanisms including higher order mechanisms with multiple loops and multiple degrees of freedom. It is also capable of addressing a wide range of design objectives such as the position, velocity, acceleration, and force requirements. DAMP employs matrix methods for the modeling and analysis of mechanisms, and the method of nonlinear goal programming in the determination of the optimal mechanism solutions. Two mechanism design examples are presented to illustrate the various capabilities of this software package.