Nonholonomic systems are mechanical systems with nonintegrable constraints. It is shown how nonlinear control theory can be applied to design nonholonomic mechanical systems. Expliting the unique features of nonholonomic systems, we designed a nonholonomic manipulator which is a controllable 2-input, n-joint manipulator. To create nonholonomic constraints, a special type of velocity transmission, called a nonholonomic gear, was used. In this paper, we show the theoretical design of a nonholonomic manipulator and experimental results with the fabricated prototype.