A general method for design cam-follower systems with desired kinematic and dynamic properties is presented. In this method, an output motion is defined as a sum of two series and satisfies prescribed terminal conditions as well as constraints directly related to the characteristics of the system. Approximation of such characteristics was based on certain properties of the series. The method is suitable for polynomials as well as finite trigonometric series or a combination of both. The application of this method is demonstrated for output motion expressed by polynomials.