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

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Theory of Machine
In a mechanism, the fixed instantaneous centers are those centers which

Vary with the configuration of the mechanism
None of the listed here
Moves as the mechanism moves, but joints are of permanent nature
Remain in the same place for all configurations of the mechanism

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