Theory of Machine
The example of successfully constrained motion is a

Piston reciprocating inside an engine cylinder
Motion of an I.C. engine valve
All of these
Motion of the shaft between a footstep bearing

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Theory of Machine
Crowning on pulleys helps

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

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