Theory of Machine
Kinematic pairs are those which have

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

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Theory of Machine
In a single slider crank chain

Two are turning pairs and two are sliding pairs
Three are turning pairs and one is a sliding pair
Each of the four pairs is a turning pair
One is a turning pair and three are sliding pairs

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