Theory of Machine
The relation between number of links (l) and number of joints (j) in a kinematic chain is

l = (1/2).(j + 2)
l = (2/3).(j + 2)
l = j + 4
l = (3/4).(j + 3)

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Theory of Machine
Two pulleys of radii r₁ and r₂ and at distance x apart are connected by means of a cross belt drive. The length of the belt is

π (r₁ + r₂) + [(r₁ + r₂)²/x] + 2x
π (r₁ + r₂) + [(r₁ - r₂)²/x] + 2x
π (r₁ - r₂) + [(r₁ - r₂)²/x] + 2x
π (r₁ - r₂) + [(r₁ + r₂)²/x] + 2x

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