Theory of Machine
The acceleration of a flat-faced follower when it has contact with the flank of a circular arc cam, is given by

ω² (R - r₁) cosθ
ω² R cosθ
ω² (R - r₁) sinθ
ω² r₁ sinθ

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Theory of Machine
The inversion of a mechanism is

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

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