Theory of Machine
Lower pairs are those which have

Surface contact between the two elements when in motion
Point or line contact between the two elements when in motion
Elements of pairs not held together mechanically
Two elements that permit relative motion

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Theory of Machine
The contact ratio is given by

(Length of the path of approach)/(Circular pitch)
(Length of the arc of approach)/cosφ
(Length of path of recess)/(Circular pitch)
(Length of the arc of contact)/(Circular pitch)

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