Theory of Machine
The tractive force in a locomotive with two cylinders is given by (where c = Fraction of reciprocating parts per cylinder, m = Mass of reciprocating parts, ω = Angular speed of crank, r = Radius of crank, and θ = Angle of inclination of crank to the line of stroke)

m.ω².r (cosθ - sinθ)
m.ω².r sinθ
(1 - c).m.ω².r (cosθ - sinθ)
m.ω².r cosθ

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Theory of Machine
In a circular arc cam with roller follower, the acceleration in any position of the lift will depend only upon

Mass of cam follower linkage, spring stiffness and cam speed
Total lift, total angle of lift, minimum radius of cam and cam speed
Radius of circular arc, cam speed, location of centre of circular arc and roller diameter
Total lift, centre of gravity of the cam and cam speed

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Theory of Machine
Kinematic pairs are those which have

Point or line contact between the two elements when in motion
Elements of pairs not held together mechanically
Surface contact between the two elements when in motion
Two elements that permit relative motion

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