It is widely recognized that teaching and learning the dynamics of machines and mechanisms is a challenging task for both students and instructors. In fact, dynamics is often perceived as a difficult and demanding subject because it draws on many areas, such as mechanics, physics, algebra, calculus, numerical methods, and computational techniques, to name a few. This challenge is particularly evident when working with first-year engineering students. In this context, the present work introduces a simple and straightforward technique for formulating and solving mechanism dynamics problems. To support this, a seven-step procedure is presented along with a demonstrative example involving a robotic arm. The proposed approach has been implemented in the “General Mechanics” course (3 h per week), which is part of the first-year curriculum of the bachelor’s degree in mechanical engineering at the University of Minho. Preliminary results suggest that students responded positively to the dynamics module’s activities and content. These findings provide a basis for discussing the main challenges and lessons learned from implementing this approach for teaching mechanism dynamics to freshman students.