Theory of Machine
Rectangular bar in a rectangular hole is the following type of pair

Completely constrained motion
Partially constrained motion
Freely constrained motion
Incompletely constrained motion

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

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

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