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

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Theory of Machine
In a four bar chain or quadric cycle chain

One is a turning pair and three are sliding pairs
Two are turning pairs and two are sliding pairs
Three are turning pairs and one is a sliding pair
Each of the four pairs is a turning pair

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