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) 2r
(ω₁ + ω₂) r
(ω₁ - ω₂) r
ω₁.ω₂.r

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Theory of Machine
A system of masses rotating in different parallel planes is in dynamic balance if the

Resultant force is equal to zero
Resultant couple is equal to zero
Resultant force and resultant couple are both equal to zero
Resultant force is numerically equal to the resultant couple, but neither of them need necessarily be zero

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