A general method for obtaining the optimum design of a cam-follower system is presented. This method, developed for polynomial output motions which satisfy prescribed terminal conditions, includes performance criteria related to kinematic, as well as dynamic properties of the system. The output motion and the performance coefficients are expressed as functions of independent parameters. Using a linear sum of the weighted performance coefficients, the optimum design is obtained by scanning a suitable family of polynomial output motions. The theory is illustrated by numerical examples for four-term polynomial output motions.