Theory of Machine
In a reciprocating steam engine, when the crank has turned from inner dead centre through an angle θ, the angular velocity of the connecting rod is given by

ω cosθ/(n² - sin²θ)1/2
ω sinθ/(n² - sin²θ)1/2
ω sinθ/(n² - cos²θ)1/2
ω cosθ/(n² - cos²θ)1/2

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Theory of Machine
Angle of action of cam is defined as the angle

Of rotation of the cam for a definite displacement of the follower
Moved by the cam from beginning of ascent to the termination of descent
Moved by the cam from the instant the follower begins to rise, till it reaches its highest position
Through which the cam rotates during the period in which the follower remains in the highest position

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Theory of Machine
Kinematic pairs are those which have

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

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