Theory of Machine
A combination of kinematic pairs, joined in such a way that the relative motion between the links is completely constrained, is called a

Kinematic chain
Mechanism
Inversion
Structure

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Theory of Machine
Two pulleys of radii r₁ and r₂ and at distance x apart are connected by means of a cross belt drive. The length of the belt is

π (r₁ - r₂) + [(r₁ - r₂)²/x] + 2x
π (r₁ + r₂) + [(r₁ + r₂)²/x] + 2x
π (r₁ + r₂) + [(r₁ - r₂)²/x] + 2x
π (r₁ - r₂) + [(r₁ + r₂)²/x] + 2x

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Theory of Machine
Open pairs are those which have

Two elements that permit relative motion
Elements of pairs not held together mechanically
Surface contact between the two elements when in motion
Point or line contact between the two elements when in motion

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