Theory of Machine
Higher pairs are those which have

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

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Theory of Machine
In a four bar chain or quadric cycle chain

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
Two are turning pairs and two are sliding pairs

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