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
Structure
Inversion
Mechanism

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Theory of Machine
The maximum fluctuation of energy is the

Difference between the maximum and minimum energies
Ratio of the mean resisting torque to the work-done per cycle
Variations of energy above and below the mean resisting torque line
Sum of the maximum and minimum energies

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Theory of Machine
The frictional torque transmitted in a flat collar bearing, considering uniform pressure, is (where r₁ and r₂ = External and internal radii of collar respectively)

(1/2). μ W (r₁ + r₂)
(2/3). μ W (r₁ + r₂)
(2/3). μ W [(r₁³ - r₂³)/(r₁² - r₂²)]
(1/2). μ W [(r₁³ - r₂³)/(r₁² - r₂²)]

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Theory of Machine
The relation l = (2/3).(j + 2) apply only to kinematic chains in which lower pairs are used. This may be used to kinematic chains in which higher pairs are used, but each higher pair may be taken as equivalent to

Two lower pairs and one additional link
One lower pair and two additional links
Two lower pairs and two additional links
Any one of these

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