Theory of Machine
In a single slider crank chain

Two are turning pairs and two are sliding pairs
Three are turning pairs and one is a sliding pair
One is a turning pair and three are sliding pairs
Each of the four pairs is a turning pair

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Theory of Machine
Higher pairs are those which have

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
Two elements that permit relative motion

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