This paper introduces a novel reconfigurable parallel mechanism (RPM) consisting of two PRU limbs (P denotes a prismatic joint, R denotes a revolute joint, U denotes a universal joint) and one PUU limb. The proposed RPM can evolve into two distinct configurations from the switch configuration, in which one configuration has one rotational degree-of-freedom (DOF) and two translational DOFs, and the other configuration has two rotational DOFs and one translational DOF. First, the DOFs of the RPM in each configuration are analyzed using screw theory. Then, position modeling for the RPM is carried out. Inverse position solutions and forward position solutions are derived. Further, performance evaluation and optimization are conducted using the motion/force transmission method. Finally, a prototype is developed, and preliminary experiments are carried out. The proposed RPM has the potential to be used in applications with multi-task requirements.