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

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

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Theory of Machine
The frictional torque transmitted in a flat collar bearing, considering uniform wear, is (where r₁ and r₂ = External and internal radii of collar respectively)

(2/3) μ W [(r₁³ - r₂³)/(r₁² - r₂²)]
(1/2) μ W (r₁ + r₂)
(2/3) μ W (r₁ + r₂)
(1/2) μ W [(r₁³ - r₂³)/(r₁² - r₂²)]

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