Theory of Machine
In the below figure, PC is the connecting rod and OC is the crank making an angle θ with the line of stroke PO and rotates with uniform angular velocity at ω rad/s. The Klien's acceleration diagram for determining the acceleration of the piston P is shown by quadrilateral CQNO, if N coincides with O, then

Acceleration and velocity of the piston P is zero
Acceleration and velocity of the piston P is maximum
Acceleration of the piston P is maximum and its velocity is zero
Acceleration of the piston P is zero and its velocity is maximum

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Theory of Machine
Higher 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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