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

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Theory of Machine
A point B on a rigid link AB moves with respect to A with angular velocity ω rad/s. The total acceleration of B with respect to A will be equal to

Vector difference of radial component and tangential component
Vector sum of radial component and Coriolis component
Vector sum of radial component and tangential component
Vector sum of tangential component and Coriolis component

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