ESDU ME2 provides derivations of the basic kinematic relationships, as background information for users of the data on cam design. It covers the design of a disc cam with a translating or a swinging follower (domed, flat-faced or roller type). Derivations of equations for the pressure angle, the cam profile and cutter centre path coordinates, and the radius of curvature of the cam profile in terms of the basic cam dimensions and measures of the follower motion are included. The derivation uses the concept of the instantaneous centre of rotation and that is explained and defined for all four types of followers. Expressions are given for the dimensionless velocities and accelerations. The directions of the forces acting on a follower are analysed throughout a cycle.