Theory of Machine
The Klein's diagram is used when

Crank has nonuniform angular velocity
Crank has nonuniform angular acceleration
Crank has uniform angular velocity
Crank has uniform angular acceleration

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Theory of Machine
Higher pairs are those which have

Point or line contact between the two elements when in motion
Surface contact between the two elements when in motion
Elements of pairs not held together mechanically
Two elements that permit relative motion

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Theory of Machine
The secondary unbalanced force due to inertia of reciprocating parts in a reciprocating engine is given by (where m = Mass of reciprocating parts, ω = Angular speed of crank, r = Radius of crank, θ = Angle of inclination of crank with the line of stroke, and n = Ratio of the length of connecting rod to radius of crank)

m.ω².r (sin 2θ/n)
m.ω².r cosθ
m.ω².r sinθ
m.ω².r (cos 2θ/n)

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