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
Surface contact between the two elements when in motion
Elements of pairs not held together mechanically

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Theory of Machine
Pitch point on a cam is

Any point on pitch circle
The point on cam pitch curve having the minimum pressure angle
The point on cam pitch curve having the maximum pressure angle
Any point on pitch curve

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Theory of Machine
In a four bar chain or quadric cycle chain

Three are turning pairs and one is a sliding pair
Two are turning pairs and two are sliding pairs
One is a turning pair and three are sliding pairs
Each of the four pairs is a turning pair

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