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

Mechanism
Structure
Kinematic chain
Inversion

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Theory of Machine
A system of masses rotating in different parallel planes is in dynamic balance if the

Resultant force is numerically equal to the resultant couple, but neither of them need necessarily be zero
Resultant force is equal to zero
Resultant force and resultant couple are both equal to zero
Resultant couple is equal to zero

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

Two are turning pairs and two are sliding pairs
One is a turning pair and three 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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