Theory of Machine
The relation l = (2/3).(j + 2) apply only to kinematic chains in which lower pairs are used. This may be used to kinematic chains in which higher pairs are used, but each higher pair may be taken as equivalent to
The two rigid links have no linear velocity relative to each other at the instantaneous centre.
A rigid link rotates instantaneously relative to another link at the instantaneous centre for the configuration of the mechanism considered.
All of these
The velocity of the instantaneous centre relative to any third rigid link is same whether the instantaneous centre is regarded as a point on the first rigid link or on the second rigid link.