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

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

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Theory of Machine
Kinematic pairs are those which have

Point or line contact between the two elements when in motion
Two elements that permit relative motion
Surface contact between the two elements when in motion
Elements of pairs not held together mechanically

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