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

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

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Theory of Machine
In a four bar chain or quadric cycle chain

Each of the four pairs is a turning pair
One is a turning pair and three are sliding pairs
Two are turning pairs and two are sliding pairs
Three are turning pairs and one is a sliding pair

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