Theory of Machine
It is required to connect two parallel shafts, the distance between whose axes is small and variable. The shafts are coupled by

Flexible coupling
Oldham's coupling
Universal joint
Knuckle joint

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Theory of Machine
Higher pairs are those which have

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

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