The transmission angle synthesis of single degree-of-freedom mechanisms is investigated. This synthesis problem can be defined as the determination of the dimensions of a mechanism such that the constraint DELTAmu < delta is satisfied. Here, DELTAmu denotes the maximum deviation of the transmission angle, mu, from the optimum one; and delta is a specified bound on DELTAmu. The developed algorithm yields, analytically, the algebraic conditions (inequalities) that must be satisfied by the dimensions of the mechanism. The method is applicable to any spatial or planar mechanism for which a transmission angle(s) may be defined.