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

Oldham's coupling
Flexible coupling
Knuckle joint
Universal joint

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Theory of Machine
The frictional torque transmitted in a flat collar bearing, considering uniform wear, is (where r₁ and r₂ = External and internal radii of collar respectively)

(2/3) μ W [(r₁³ - r₂³)/(r₁² - r₂²)]
(1/2) μ W [(r₁³ - r₂³)/(r₁² - r₂²)]
(2/3) μ W (r₁ + r₂)
(1/2) μ W (r₁ + r₂)

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