Theory of Machine
Lower pairs are those which have

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

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Theory of Machine
A system of masses rotating in different parallel planes is in dynamic balance if the

Resultant force is numerically equal to the resultant couple, but neither of them need necessarily be zero
Resultant force and resultant couple are both equal to zero
Resultant couple is equal to zero
Resultant force is equal to zero

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