Theory of Machine
The magnitude of linear velocity of a point B on a link AB relative to point A is, (Where ω = Angular velocity of the link AB)

(ω × AB)²
ω × (AB)²
ω × AB
ω² × AB

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Theory of Machine
Higher pairs are those which have

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

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