In order to extract shaft power from thermal energy in a R134a Rankine cycle as waste heat recovery system of a passenger car, a scroll expander has been designed. Algebraic spiral is adopted as the base curve for scroll wrap profile in the compact scroll design. About 19% reduction in scroll diameter is accomplished when compared to the conventional involute scroll. Performance analysis on the designed scroll expander shows that the expander efficiency is 85.5% at the vehicle speed of 120 km/hr and it decreases to 67.2% at 60 km/hr, provided that the scroll clearance is kept at 10 ${mu}m$. The expander can produce shaft power equivalent to about 13~14% of the driving power within the speed range of 60~120 km/hr.