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Highlights • A novel coaxial eccentric indexing cam mechanism is proposed. • The influences of geometric parameters on the kinematic performance are discussed. • The physical prototype is designed and developed. Abstract A novel coaxial eccentric indexing cam mechanism (CEC) is proposed for high-speed automatic machineries. In comparison with the conventional indexing cam mechanisms such as parallel, globoidal, cylindrical cam mechanisms as well as the Geneva mechanism, the merits of this novel mechanism are: (1) more compact structure and (2) higher indexing rate. The structure and transmission principle of the mechanism are introduced and the cam profiles are formulated with an emphasis to derive two design criteria. The influences of the geometric parameters on the kinematic performance of the mechanism are also discussed through significant numerical analyses. Finally, the dynamic performance of a virtual prototype is analyzed with the aid of SolidWorks, and the physical prototype is manufactured to verify the validity of this design. [ABSTRACT FROM AUTHOR]