A generalized computational method for planar kinematic analysis of pumping units is presented in this study. In this method, a local coordinate system is assigned to each body with respect to a fixed global coordinate system. The position of each point in a body is determined by specifying the global translational coordinates of the local coordinate system origin and its rotational angle relative to the global coordinate system. Constraint equations of motion are developed using the vector of coordinates of the connected bodies. These equations are solved to yield the position, velocity, and acceleration of the individual linkages at each instance of time. Both rotational and translational types of joints are considered in the analysis. The translational joint analysis is not discussed in this paper as they are not applicable for beam pumping units. This method can be used as an effective tool for pumping unit design and optimization. An example is provided to show the application of this method.