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

Spherical pair
Rolling pair
Sliding pair
Turning pair

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Theory of Machine
In the below figure, PC is the connecting rod and OC is the crank making an angle θ with the line of stroke PO and rotates with uniform angular velocity at ω rad/s. The Klien's acceleration diagram for determining the acceleration of the piston P is shown by quadrilateral CQNO, if N coincides with O, then

Acceleration and velocity of the piston P is zero
Acceleration of the piston P is maximum and its velocity is zero
Acceleration and velocity of the piston P is maximum
Acceleration of the piston P is zero and its velocity is maximum

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