Theory of Machine
The instantaneous center of a rigid thin disc rolling on a plane rigid surface is located at

The point of contact
The point on the circumference situated vertically opposite to the contact point
An infinite distance on the plane surface
The center of the disc

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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
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
Because of difficulty in manufacturing cam profile

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