Theory of Machine
When the two elements of a pair have a surface contact when relative motion takes place and the surface of one element slides over the surface of the other, the pair formed is known as a

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

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Theory of Machine
In elliptical trammels

All four pairs are turning
One pair turning and three pairs sliding
Two pairs turning and two pairs sliding
Three pairs turning and one pair sliding

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