Theory of Machine
The velocity of a flat-faced follower when it has contact with the flank of a circular arc cam, is given by

ωr₁ sinθ
ω(R - r₁) sinθ
ω(R - r₁) cosθ
ωR cosθ

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Theory of Machine
Lower pairs are those which have

Elements of pairs not held together mechanically
Point or line contact between the two elements when in motion
Two elements that permit relative motion
Surface contact between the two elements when in motion

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