Theory of Machine
The Ackerman steering gear mechanism is preferred to the Davis steering gear mechanism, because

Both (A) and (B)
Whole of the mechanism in the Ackerman steering gear is on the back of the front wheels
The Ackerman steering gear is most economical
The Ackerman steering gear consists of turning pairs

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Theory of Machine
Two heavy rotating masses are connected by shafts of lengths l₁, l₂ and l₃ and the corresponding diameters are d₁, d₂ and d₃. This system is reduced to a torsionally equivalent system having uniform diameter d = d₁ of the shaft. The equivalent length of the shaft is

(l₁ + l₂ + l₃)/3
l = l₁ + l₂.(d₁/d₂)⁴ + l₃.(d₁/d₃)⁴
l₁ + l₂ + l₃
l = l₁ + l₂.(d₁/d₂)³ + l₂.(d₁/d₃)³

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Theory of Machine
In a four bar chain or quadric cycle chain

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

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