Theory of Machine
Lower pairs are those which have

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

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Theory of Machine
The relation l = (2/3).(j + 2) apply only to kinematic chains in which lower pairs are used. This may be used to kinematic chains in which higher pairs are used, but each higher pair may be taken as equivalent to

One lower pair and two additional links
Two lower pairs and two additional links
Two lower pairs and one additional link
Any one of these

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