In this paper, an optimization program for the design of wiper mechanisms is developed to minimize jerky motion while satisfying design constraints on kinematic and torque performances, mobility condition, and packaging. The lengths/orientations of the links and the position of a driving motor are selected as the design variables. In our optimum design program for wiper mechanisms, an optimization module interacts with an analysis module which calculates kinematic and force/torque properties, until convergence. The optimization results of a particular wiper mechanism are presented to illustrate the effectiveness of the program developed.