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

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

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Theory of Machine
In a single slider crank chain

Two are turning pairs and two are sliding pairs
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

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