Theory of Machine
When the addenda on pinion and wheel is such that the path of approach and path of recess are half of their maximum possible values, then the length of the path of contact is given by (where r = Pitch circle radius of pinion, R = Pitch circle radius of wheel, and φ = Pressure angle)

[(r² + R²) sinφ]/2
[(r² + R²) cosφ]/2
[(r + R) sinφ]/2
[(r + R) cosφ]/2

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Theory of Machine
Lower pairs are those which have

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

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