Theory of Machine
A foot step bearing and rotor of a vertical turbine form examples of

Incompletely constrained motion
Completely constrained motion
Successfully constrained motion
Partially constrained motion

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Theory of Machine
The inversion of a mechanism is

Changing of a higher pair to a lower pair
Obtained by fixing different links in a kinematic chain
Obtained by reversing the input and output motion
Turning its upside down

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