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

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Theory of Machine
A point B on a rigid link AB moves with respect to A with angular velocity ω rad/s. The total acceleration of B with respect to A will be equal to

Vector sum of tangential component and Coriolis component
Vector difference of radial component and tangential component
Vector sum of radial component and tangential component
Vector sum of radial component and Coriolis component

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