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

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Theory of Machine
The maximum fluctuation of energy is the

Variations of energy above and below the mean resisting torque line
Difference between the maximum and minimum energies
Ratio of the mean resisting torque to the work-done per cycle
Sum of the maximum and minimum energies

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