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
Higher pair
Lower pair
Force-closed pair

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Theory of Machine
In elliptical trammels

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

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