Theory of Machine
Sense of tangential acceleration of a link

Is same as that of velocity
Could be either same or opposite to velocity
Is perpendicular to that of velocity
Is opposite to that of velocity

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Theory of Machine
The inversion of a mechanism is

Turning its upside down
Obtained by reversing the input and output motion
Obtained by fixing different links in a kinematic chain
Changing of a higher pair to a lower pair

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