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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Theory of Machine
In a mechanism, the fixed instantaneous centers are those centers which

None of the listed here
Remain in the same place for all configurations of the mechanism
Moves as the mechanism moves, but joints are of permanent nature
Vary with the configuration of the mechanism

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