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) 2r
(ω₁ + ω₂) r

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

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

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