Theory of Machine
The driving and driven shafts connected by a Hooke's joint will have equal speeds, if

tanθ = ± cosα
cosθ = sinα
sinθ = ± tanα
cotθ = cosα

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

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

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