Theory of Machine
In the below figure, PC is the connecting rod and OC is the crank making an angle θ with the line of stroke PO and rotates with uniform angular velocity at ω rad/s. The Klien's acceleration diagram for determining the acceleration of the piston P is shown by quadrilateral CQNO, if N coincides with O, then

Acceleration and velocity of the piston P is maximum
Acceleration and velocity of the piston P is zero
Acceleration of the piston P is maximum and its velocity is zero
Acceleration of the piston P is zero and its velocity is maximum

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

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

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