A Treatise on the Theory of Screws which belongs to the pen of Robert Ball was published for the first time in 1900. The author was born in Ireland in 1840 and devoted all of his life to the study of applied mathematics and mechanism. He also served as the Royal Astronomer of Ireland and a professor of applied mathematics and mechanism. A Treatise on the Theory of Screws is a detailed research devoted to the history of screw theory and its contemporary problems. The book presents a profound description of rigid dynamics and complicated engineering problems, for example, its application in robotics, multibody dynamics, mechanical design, computational kinematics, and hybrid automatic control. A Treatise on the Theory of Screws is definitely worth reading for engineers.