Theory of Machine
If some links are connected such that motion between them can take place in more than one direction, it is called

Completely constrained motion
Partially constrained motion
Successfully constrained motion
Incompletely constrained motion

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Theory of Machine
The frictional torque transmitted in a flat collar bearing, considering uniform wear, is (where r₁ and r₂ = External and internal radii of collar respectively)

(1/2) μ W (r₁ + r₂)
(2/3) μ W [(r₁³ - r₂³)/(r₁² - r₂²)]
(2/3) μ W (r₁ + r₂)
(1/2) μ W [(r₁³ - r₂³)/(r₁² - r₂²)]

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