Velocity is the first time derivative of the position function. Unlike position analysis, velocity analysis is a linear problem and therefore it does not need application of numerical methods the way position analysis does. In this chapter, a variety of methods for performing velocity analysis of mechanisms are introduced. They include the algebraic, kinematic coefficients, relative motion, and instantaneous centers methods. Locked positions and limit positions of a mechanism are also obtained as by-products of velocity analysis. Several illustrative problems have been solved that provide examples for use of each of these methods.