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

Knuckle joint
Flexible coupling
Oldham's coupling
Universal joint

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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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