diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2846e9f94..3074f13cd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -107,8 +107,10 @@ endif()
 
 ###############################################################################
 # Find boost
-if(CYGWIN OR MSVC OR WIN32)
-  set(Boost_USE_STATIC_LIBS 1) # Use static libs on Windows
+
+# If using Boost shared libs, set up auto linking for shared libs
+if(NOT Boost_USE_STATIC_LIBS)
+	add_definitions(-DBOOST_ALL_DYN_LINK)
 endif()
 
 find_package(Boost 1.43 COMPONENTS serialization system filesystem thread date_time regex timer chrono)
@@ -122,7 +124,7 @@ endif()
 # Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
 set(GTSAM_BOOST_LIBRARIES ${Boost_SERIALIZATION_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY})
 if(Boost_TIMER_LIBRARY)
-  set(GTSAM_BOOST_LIBRARIES ${GTSAM_BOOST_LIBRARIES} ${Boost_TIMER_LIBRARY} ${Boost_CHRONO_LIBRARY})
+  list(APPEND GTSAM_BOOST_LIBRARIES ${GTSAM_BOOST_LIBRARIES} ${Boost_TIMER_LIBRARY} ${Boost_CHRONO_LIBRARY})
 else()
   message("WARNING:  Boost older than 1.48 was found, GTSAM timing instrumentation will use the older, less accurate, Boost timer library.")
 endif()
diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt
index 4016caa39..400a77e84 100644
--- a/gtsam_unstable/CMakeLists.txt
+++ b/gtsam_unstable/CMakeLists.txt
@@ -10,6 +10,8 @@ set (gtsam_unstable_subdirs
     slam
 )
 
+set(GTSAM_UNSTABLE_BOOST_LIBRARIES ${GTSAM_BOOST_LIBRARIES} ${Boost_THREAD_LIBRARY})
+
 add_custom_target(check.unstable COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
 
 # assemble core libaries
@@ -58,7 +60,7 @@ set_target_properties(gtsam_unstable-static PROPERTIES
     CLEAN_DIRECT_OUTPUT 1
 	VERSION             ${gtsam_unstable_version}
  	SOVERSION           ${gtsam_unstable_soversion})
-target_link_libraries(gtsam_unstable-static gtsam-static)
+target_link_libraries(gtsam_unstable-static gtsam-static ${GTSAM_UNSTABLE_BOOST_LIBRARIES})
 set(gtsam_unstable-lib "gtsam_unstable-static")
 install(TARGETS gtsam_unstable-static EXPORT GTSAM-exports ARCHIVE DESTINATION lib)
 list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable-static)
@@ -72,7 +74,7 @@ if (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY)
         CLEAN_DIRECT_OUTPUT 1
     	VERSION             ${gtsam_unstable_version}
      	SOVERSION           ${gtsam_unstable_soversion})
-    target_link_libraries(gtsam_unstable-shared gtsam-shared)
+    target_link_libraries(gtsam_unstable-shared gtsam-shared ${GTSAM_UNSTABLE_BOOST_LIBRARIES})
     install(TARGETS gtsam_unstable-shared EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
     list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable-shared)
     set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt
index 14d9a1f84..7226d8006 100644
--- a/wrap/CMakeLists.txt
+++ b/wrap/CMakeLists.txt
@@ -7,6 +7,7 @@ file(GLOB wrap_srcs "*.cpp")
 file(GLOB wrap_headers "*.h")
 list(REMOVE_ITEM wrap_srcs ${CMAKE_CURRENT_SOURCE_DIR}/wrap.cpp)
 add_library(wrap_lib STATIC ${wrap_srcs} ${wrap_headers})
+target_link_libraries(wrap_lib ${WRAP_BOOST_LIBRARIES})
 gtsam_assign_source_folders(${wrap_srcs} ${wrap_headers})
 add_executable(wrap wrap.cpp)
 target_link_libraries(wrap wrap_lib ${WRAP_BOOST_LIBRARIES})