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

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Theory of Machine
Crowning on pulleys helps

Increase belt and pulley life
For automatic adjustment of belt position so that belt runs centrally
In decreasing the slip of the belt
In increasing velocity ratio

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