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
Oldham's coupling
Flexible coupling
Universal joint

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Theory of Machine
Crowning on pulleys helps

In increasing velocity ratio
Increase belt and pulley life
In decreasing the slip of the belt
For automatic adjustment of belt position so that belt runs centrally

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