The SCARA Etch-a-Sketcher is a two-axis robotic arm intended for drawing. The system takes in G-code inputs or cursor movements and performs the respective movement. This is made possible by an onboard esp32 that processes the inputs and sends a corresponding PWM signal to the servos. The motion of the arm is powered by two servos and an additional servo to lift/lower the pen. The case and arms were 3d printed and designed in Fusion360. The system is modular and can be powered by 7-20V thanks to the buck converter on the power delivery PCB which steps the voltage down to 5V for both the esp32 and the servos. The system is also accurate thanks to implementing a kinematics equation to calculate angles at each joint to reach a final position that is in our drawing boundary. Our most notable accomplishment was implementing a drawing window on a computer screen that could receive user drawing and have the robot arm recreate those drawings. For future improvements we might consider switching from servos to stepper motors to reduce the weight on the arms and necessary torque as well as allowing for different gearing ratios to increase precision on small movements.