Theory of Machine
In a flat collar pivot bearing, the moment due to friction is proportional to

(r₁³ - r₂³)/(r₁² - r₂²)
(r₁³ - r₂³)/(r₁ - r₂)
(r₁² - r₂²)/(r₁ + r₂)
(r₁² - r₂²)/(r₁ - r₂)

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Theory of Machine
In a four bar chain or quadric cycle chain

Each of the four pairs is a turning pair
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

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