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

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Theory of Machine
Open pairs are those which have

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

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