Theory of Machine
The two links OA and OB are connected by a pin joint at O. If the link OA turns with angular velocity ω₁ rad/s in the clockwise direction and the link OB turns with angular velocity ω₂ rad/s in the anticlockwise direction, then the rubbing velocity at the pin joint O is (where r = Radius of the pin at O)

(ω₁ + ω₂) r
(ω₁ - ω₂) r
ω₁.ω₂.r
(ω₁ - ω₂) 2r

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Theory of Machine
Cam angle is defined as the angle

Of rotation of the cam for a definite displacement of the follower
Through which, the cam rotates during the period in which the follower remains in the highest position
Moved by the cam from the instant the follower begins to rise, till it reaches its highest position
During which the follower returns to its initial position

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