Theory of Machine
The velocity of the reciprocating roller follower when it has contact with the straight flanks of the tangent cam, is given by (where ω = Angular velocity of the cam shaft)

ω (r₁ r₂) cosθ
ω (r₁ r₂) sinθ
ω (r₁ + r₂) sinθ sec2θ
ω (r₁ + r₂) cosθ cosec2θ

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Theory of Machine
Kinematic pairs are those which have

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

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