Theory of Machine
The type of coupling used to join two shafts whose axes are neither in same straight line nor parallel, but intersect is

Flexible coupling
Oldham's coupling
Universal coupling
Chain coupling

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Theory of Machine
The relation l = (2/3).(j + 2) apply only to kinematic chains in which lower pairs are used. This may be used to kinematic chains in which higher pairs are used, but each higher pair may be taken as equivalent to

Two lower pairs and two additional links
Two lower pairs and one additional link
Any one of these
One lower pair and two additional links

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