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

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Theory of Machine
Kinematic pairs are those which have

Two elements that permit relative motion
Surface contact between the two elements when in motion
Point or line contact between the two elements when in motion
Elements of pairs not held together mechanically

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