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

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

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Theory of Machine
A system of masses rotating in different parallel planes is in dynamic balance if the

Resultant force is numerically equal to the resultant couple, but neither of them need necessarily be zero
Resultant couple is equal to zero
Resultant force is equal to zero
Resultant force and resultant couple are both equal to zero

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