Theory of Machine
Kinematic pairs are those which have two elements that

Have surface contact
Are held together
Permit relative motion
Have line contact

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Theory of Machine
Oldham's coupling is the

Third inversion of slider crank chain
Third inversion of double slider crank chain
Second inversion of double slider crank chain
Second inversion of single slider crank chain

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

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

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