Theory of Machine
In a kinematic chain, a quaternary joint is equivalent to

Four binary joints
Three binary joints
One binary joint
Two binary joints

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Theory of Machine
The sense of Coriolis component 2 ωv is same as that of the relative velocity vector v rotated at

90° in the direction of rotation of the link containing the path
45° in the direction of rotation of the link containing the path
45° in the direction opposite to the rotation of the link containing the path
180° in the direction opposite to the rotation of the link containing the path

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