Theory of Machine
Higher pairs are those which have

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
Two elements that permit relative motion

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Theory of Machine
Pitch point on a cam is

The point on cam pitch curve having the maximum pressure angle
Any point on pitch curve
The point on cam pitch curve having the minimum pressure angle
Any point on pitch circle

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