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

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Theory of Machine
When the belt is stationary, it is subjected to some tension known as initial tension. The value of this tension is equal to the

Tension in the tight side of the belt
Tension in the slack side of the belt
Sum of the tensions on the tight side and slack side of the belt
Average tension of the tight side and slack side of the belt

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