Theory of Machine
A body of weight W is required to move up the rough inclined plane whose angle of inclination with the horizontal is α. The effort applied parallel to the plane is given by (where μ = tan φ = Coefficient of friction between the plane and the body)

P = W (sin α + μ cos α)
P = W tan (α + φ)
P = W (cos α + μ sin α)
P = W tan α

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Theory of Machine
The inversion of a mechanism is

Obtained by reversing the input and output motion
Obtained by fixing different links in a kinematic chain
Changing of a higher pair to a lower pair
Turning its upside down

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