Theory of Machine
When the elements of a pair are kept in contact by the action of external forces, the pair is said to be a

Self-closed pair
Force-closed pair
Higher pair
Lower pair

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

Each of the four pairs is a turning pair
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

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