Theory of Machine
The type of pair formed by two elements which are so connected that one is constrained to turn or revolve about a fixed axis of another element is known as

Turning pair
Spherical pair
Sliding pair
Rolling pair

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Theory of Machine
In a single slider crank chain

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

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