The submitted paper presents a kinematic analysis of Stirling engine by the vector method. Position equations are written for various points of the mechanism, and values of velocity and acceleration are obtained from derivation of the equations, depending on time. Equations in matrix form are solved by means of the Matlab program. Graphic dependences of kinematic magnitudes of some points are given in dependence of the angle of rotation of the drive member. Position equations are utilised for the animation of the mechanism. The computational model of the Stirling engine  was created in the SolidWorks software program.