Haptics feedback has interested several researchers in using the technology for teaching dynamics associated with many physical systems. Mechanism dynamics is one such area in which the effects of changes in kinematic and dynamic parameters of a virtual mechanism can be realized physically with a haptic device. In this work, an in-house developed inverse dynamics algorithm for closedloop systems is utilized in order to compute the forces/torques associated with the complex mechanisms in motion. The proposed work is a generalization to the concept of 'teaching mechanism dynamics using haptics' demonstrated in our previous work [1]. In this part, the protocol to integrate virtual mechanisms, generalized dynamics algorithm, the control causality and the haptic device are discussed. The development of such technologies is contemporary and is expected to greatly transform the pedagogy of teaching dynamics. © 2015, Indian Institute of Technology, IIT. All rights reserved.