Theory of Machine
Sense of tangential acceleration of a link

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

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Theory of Machine
The velocity of piston in a reciprocating steam engine is given by (where ω = Angular velocity of crank, r = Radius of crank pin circle, θ = Angle turned by crank from inner dead center, and n = Ratio of length of connecting rod to the radius of crank)

ω²r [cos θ + (cos 2θ/n)]
ωr [sin θ + (sin 2θ/n)]
ωr [cos θ + (cos 2θ/n)]
ω²r [sin θ + (sin 2θ/n)]

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Theory of Machine
Oldham's coupling is the

Second inversion of single slider crank chain
Second inversion of double slider crank chain
Third inversion of slider crank chain
Third inversion of double slider crank chain

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