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

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

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Theory of Machine
The displacement of the reciprocating roller follower, when it has contact with the straight flanks of the tangent cam, is given by (where r₁ = Minimum radius of the cam, r₂ = Radius of the roller follower, and θ = Angle turned by the cam from the beginning of the follower displacement)

(r₁ - r₂) (1 - cosθ)
(r₁ - r₂) [(1 - cosθ)/cosθ]
(r₁ + r₂) [(1 - cosθ)/cosθ]
(r₁ + r₂) (1 + cosθ)

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