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

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

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Theory of Machine
In a single slider crank chain

Each of the four pairs is a turning pair
Two are turning pairs and two are sliding pairs
One is a turning pair and three are sliding pairs
Three are turning pairs and one is a sliding pair

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