Theory of Machine
Which of the following mechanism is an approximate straight line motion mechanism?

Robert's mechanism
Grasshopper mechanism
Watt's mechanism
All of these

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Theory of Machine
Two heavy rotating masses are connected by shafts of lengths l₁, l₂ and l₃ and the corresponding diameters are d₁, d₂ and d₃. This system is reduced to a torsionally equivalent system having uniform diameter d = d₁ of the shaft. The equivalent length of the shaft is

l₁ + l₂ + l₃
l = l₁ + l₂.(d₁/d₂)⁴ + l₃.(d₁/d₃)⁴
l = l₁ + l₂.(d₁/d₂)³ + l₂.(d₁/d₃)³
(l₁ + l₂ + l₃)/3

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