Theory of Machine
The natural frequency of free torsional vibrations of a shaft is equal to (where q = Torsional stiffness of the shaft, and I = Mass moment of inertia of the disc attached at the end of a shaft)

(1/2π). √(q/I)
2π. √(q/I)
1/2π
2π qI

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Theory of Machine
Higher pairs are those which have

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

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