In the earlier Chaps.  5 and 6 , balancing of shaking forces, shaking moments, and driving torques/forces minimization of several systems was performed by mass redistribution of their links. In industries, mass redistribution is achieved by adding counterweights to the link, which increases the overall weight of the system resulting in increased inertia. Hence, counterweights are not advisable if alternative ways exist. In fact, one can redefine the shape of the link for mass redistribution which calls for shape optimization. This is not common due to difficulty in practically realizing the shape obtained through optimization. Optimized links need not to be of regular shapes, e.g., square or circular cross-section throughout the length of the link. This chapter introduces a methodology for the shape optimization for given mass, mass center location, and moment of inertia of the links. Using proposed methodology, the solutions are practically realizable as any shape can be realized using suitable constraints through appropriate material distribution. It is an approach mainly used in the topology optimization of structures, shape or topology optimization being a vast topic itself.