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

Force-closed pair
Lower pair
Higher pair
Self-closed 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
One is a turning pair and three are sliding pairs
Three are turning pairs and one is a sliding pair
Two are turning pairs and two are sliding pairs

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Theory of Machine
The displacement of the reciprocating roller follower, when it has contact with the straight flanks of the tangent cam, is given by (where r₁ = Minimum radius of the cam, r₂ = Radius of the roller follower, and θ = Angle turned by the cam from the beginning of the follower displacement)

(r₁ - r₂) (1 - cosθ)
(r₁ + r₂) [(1 - cosθ)/cosθ]
(r₁ - r₂) [(1 - cosθ)/cosθ]
(r₁ + r₂) (1 + cosθ)

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