This book surveys computer algorithms and programming techniques for specifying and generating motion for graphical objects, that is, computer animation. It is primarily concerned with three-dimensional (3D) computer animation. The main audience is advanced undergraduate or beginning graduate students in Computer Science. Computer graphics programmers who want to learn the basics of computer animation programming and artists who use software packages to generate computer animation (digital animators) who want to better understand the underlying computational issues of animation software will also benefit from this book.