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

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

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Theory of Machine
The frictional torque transmitted in a truncated conical pivot bearing, considering uniform pressure, is

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

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