ESDU 82006 provides a method for selecting a cam law for a DRD motion segment in any cam mechanism; laws considered are simple harmonic, parabolic (constant acceleration), cycloidal (sine acceleration), modified sine or modified trapezoidal acceleration, 3 harmonic modified sine or trapezoidal, 3 harmonic zero jerk at crossover and 2-3- or 3-4-5-, or 4-5-6-7-polynomial. Criteria against which selection is made are dynamic performance, pressure angle considerations, and drive torque. These factors are discussed in general terms, and the behaviour of each law is assessed against them. Comprehensive practical examples illustrate the use of the assessment methods. Examples of the application are met in machine tool engineering, mining equipment, and in printing, packaging, textile, and special purpose machinery.