Theory of Machine
Higher pairs are those which have

Two elements that permit relative motion
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

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Theory of Machine
In a circular arc cam with roller follower, the acceleration in any position of the lift will depend only upon

Radius of circular arc, cam speed, location of centre of circular arc and roller diameter
Total lift, total angle of lift, minimum radius of cam and cam speed
Total lift, centre of gravity of the cam and cam speed
Mass of cam follower linkage, spring stiffness and cam speed

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