Theory of Machine
Kinematic pairs are those which have

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

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Theory of Machine
Two heavy rotating masses are connected by shafts of lengths l₁, l₂ and l₃ and the corresponding diameters are d₁, d₂ and d₃. This system is reduced to a torsionally equivalent system having uniform diameter d = d₁ of the shaft. The equivalent length of the shaft is

l = l₁ + l₂.(d₁/d₂)³ + l₂.(d₁/d₃)³
(l₁ + l₂ + l₃)/3
l = l₁ + l₂.(d₁/d₂)⁴ + l₃.(d₁/d₃)⁴
l₁ + l₂ + l₃

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