Theory of Machine
Which one of the following is an exact straight line mechanism using lower pairs?

Peaucellier’s mechanism
Watt’s mechanism
Grasshopper mechanism
Robert’s mechanism

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Theory of Machine
In the below figure, PC is the connecting rod and OC is the crank making an angle θ with the line of stroke PO and rotates with uniform angular velocity at ω rad/s. The Klien's acceleration diagram for determining the acceleration of the piston P is shown by quadrilateral CQNO, the acceleration of the piston is _________ when the crank OC and connecting rod PC are at right angles to each other.

Any +ve value
Zero
Any -ve value
Infinity

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