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

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

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

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

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Theory of Machine
The secondary unbalanced force due to inertia of reciprocating parts in a reciprocating engine is given by (where m = Mass of reciprocating parts, ω = Angular speed of crank, r = Radius of crank, θ = Angle of inclination of crank with the line of stroke, and n = Ratio of the length of connecting rod to radius of crank)

m.ω².r sinθ
m.ω².r cosθ
m.ω².r (cos 2θ/n)
m.ω².r (sin 2θ/n)

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