Haptic devices play a significant role in conveying physical feeling of real objects through their computer simulation with force feedback. Apart from their standard applications in medical surgery, gaming, entertainment etc., teaching dynamics and control with haptic devices has been gaining popularity. Educational haptics has been recognized as an effective method to improve the understanding of a learner about the physics of a system, say, a mechanism, which does not exist in reality or is difficult to realize physically. The effect of change in inertial and kinematic properties of the mechanism is reflected and conveyed to the learner in the form of torque at the actuated joints. In this work, we demonstrate how a simple low cost 1-DOF (Degree of Freedom) haptic device can be utilized in teaching a typical course on dynamics of mechanisms. The methodology can be extended to higher-DOF systems as well, to understand the effect of kinematic and inertial properties of actual mechanisms, even though they do not physically exist.