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This book contains the Proceedings of the 4th International Symposium on Historical Developments in the field of Machine and Mechanism Science(MMS) that was held in Amsterdam in May 2012. The proceedings cover recent research concerning all aspects of the development of MMS from antiquity until the present and its historiography: machines, mechanisms, kinematics, dynamics, design methods, collections of methods, collections of models. At this specific symposium, a special role was given to the role of mathematics in MMS.