Theory of Machine
In a single slider crank chain

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

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Theory of Machine
In a mechanism, the fixed instantaneous centers are those centers which

Remain in the same place for all configurations of the mechanism
Moves as the mechanism moves, but joints are of permanent nature
None of the listed here
Vary with the configuration of the mechanism

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