Theory of Machine
A single degree of freedom system is given by, m × (d²x/dt²) + c × (dx/dt) + sx = F.cosω.t with usual notations. It represents

Free vibration without damping
Forced vibration with damping
Free vibration with damping
Forced vibration without damping

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Theory of Machine
Higher pairs are those which have

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

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