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

Structure
Mechanism
Kinematic chain
Inversion

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Theory of Machine
Kinematic pairs are those which have

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

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Theory of Machine
The magnitude of velocities of the points on a rigid link is

Inversely proportional to the distance from the points to the instantaneous center and is parallel to the line joining the point to the instantaneous center
Directly proportional to the distance from the points to the instantaneous center and is parallel to the line joining the point to the instantaneous center
Directly proportional to the distance from the points to the instantaneous center and is perpendicular to the line joining the point to the instantaneous center
Inversely proportional to the distance from the points to the instantaneous center and is perpendicular to the line joining the point to the instantaneous center

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