Theory of Machine
A completely constrained motion can be transmitted with.

1 link with pin joints
4 links with pin joints
2 links with pin joints
3 links with pin joints

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Theory of Machine
In a single slider crank chain

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

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