Theory of Machine
A disc is a spinning with an angular velocity ω rad/s about the axis of spin. The couple applied to the disc causing precession will be (where I = Mass moment of inertia of the disc, and ωP = Angular velocity of precession of the axis of spin)

Iω²
I ω ωP
(1/2). I ω ωP
(1/2).Iω²

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Theory of Machine
In a mechanism, the fixed instantaneous centers are those centers which

Remain in the same place for all configurations of the mechanism
None of the listed here
Vary with the configuration of the mechanism
Moves as the mechanism moves, but joints are of permanent nature

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