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This paper presents the fundamental principles of variation analysis and robust design for dimensional datum schemes. The kinematics equations for rigid body motions are simplified through linearization. The simplified formulations explicitly relate the dimensional deviations of a rigid part with its datum scheme configuration and dimensional variations at datum target points. This simplified approach can be used with either the first order Taylor series approximation or Monte Carlo simulation to study the statistical characteristics of datum scheme variations. A headlamp case study is presented that shows the application procedures and demonstrates that both Taylor series and Monte Carlo methods generate comparable results, but the former offers more efficiency and convenience due to its close form formulation. This approach has found many applications especially in on-site problem solving and fast what-if studies.