Theory of Machine
The two elements of a pair are said to form a higher pair, when they

Have a surface contact when in motion
Permit relative motion
Are kept in contact by the action of external forces, when in motion
Have a line or point contact when in motion

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Theory of Machine
In a single slider crank chain

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

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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)

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

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