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

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

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Theory of Machine
The contact ratio is given by

(Length of the path of approach)/(Circular pitch)
(Length of path of recess)/(Circular pitch)
(Length of the arc of approach)/cosφ
(Length of the arc of contact)/(Circular pitch)

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