Theory of Machine
The acceleration of the reciprocating roller follower when it has contact with the straight flanks of the tangent cam, is given by

ω². (r₁ r₂). (1 - cos² θ)
ω². (r₁ - r₂). (1 - sin² θ)
ω². (r₁ + r₂). [(2 - cos² θ)/cos³ θ]
ω². (r₁ + r₂). (1 + cos² θ)

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Theory of Machine
The frictional torque transmitted in a flat collar bearing, considering uniform pressure, is (where r₁ and r₂ = External and internal radii of collar respectively)

(2/3). μ W [(r₁³ - r₂³)/(r₁² - r₂²)]
(2/3). μ W (r₁ + r₂)
(1/2). μ W [(r₁³ - r₂³)/(r₁² - r₂²)]
(1/2). μ W (r₁ + r₂)

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Theory of Machine
In a single slider crank chain

Two are turning pairs and two are sliding pairs
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

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