Theory of Machine
Kinematic pairs are those which have

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

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Theory of Machine
In a single slider crank chain

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

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