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

Mass of cam follower linkage, spring stiffness and cam speed
Total lift, centre of gravity of the cam and cam speed
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

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Theory of Machine
In a single slider crank chain

Three are turning pairs and one is a sliding pair
Two are turning pairs and two are sliding pairs
One is a turning pair and three are sliding pairs
Each of the four pairs is a turning pair

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