Theory of Machine
Lower pairs are those which have

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

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Theory of Machine
The magnitude of velocities of the points on a rigid link is

Directly proportional to the distance from the points to the instantaneous center and is perpendicular to the line joining the point to the instantaneous center
Inversely proportional to the distance from the points to the instantaneous center and is perpendicular to the line joining the point to the instantaneous center
Directly proportional to the distance from the points to the instantaneous center and is parallel to the line joining the point to the instantaneous center
Inversely proportional to the distance from the points to the instantaneous center and is parallel to the line joining the point to the instantaneous center

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