Theory of Machine
Kinematic pairs are those which have

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

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Theory of Machine
Crowning on pulleys helps

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

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