Theory of Machine
The Grubler's criterion for determining the degrees of freedom (n) of a mechanism having plane motion is (where l = Number of links, and j = Number of binary joints)

n = 2(l - 1) - 2j
n = 3(l - 1) - 2j
n = (l -1) - j
n = 4(l - 1) - 3j

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Theory of Machine
In a cam drive with uniform velocity follower, the sharp corners of the displacement diagram are rounded off at the beginning and at the end of each stroke. This is done

Because the uniform velocity motion is a partial parabolic motion
Because of difficulty in manufacturing cam profile
In order to have acceleration in beginning and retardation at the end of stroke within the finite limits
Because of loose contact of follower with cam surface

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Theory of Machine
Angle of descent of cam is defined as the angle

Through which the cam rotates during the period in which the follower remains in the highest position
Of rotation of the cam for a definite displacement of the follower
Moved by the cam from the instant the follower begins to rise, till it reaches its highest position
During which the follower returns to its initial position

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Theory of Machine
The displacement of the reciprocating roller follower, when it has contact with the straight flanks of the tangent cam, is given by (where r₁ = Minimum radius of the cam, r₂ = Radius of the roller follower, and θ = Angle turned by the cam from the beginning of the follower displacement)

(r₁ + r₂) [(1 - cosθ)/cosθ]
(r₁ - r₂) [(1 - cosθ)/cosθ]
(r₁ - r₂) (1 - cosθ)
(r₁ + r₂) (1 + cosθ)

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