Theory of Machine
Which of the following mechanisms produces mathematically an exact straight line motion?

Peaucellier's mechanism
Tchebicheff mechanism
Watt mechanism
Grasshopper mechanism

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Theory of Machine
In a mechanism, the fixed instantaneous centers are those centers which

None of the listed here
Vary with the configuration of the mechanism
Remain in the same place for all configurations of the mechanism
Moves as the mechanism moves, but joints are of permanent nature

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