Theory of Machine
Whirling speed of the shaft is the speed at which

Torsional vibrations occur
Combination of transverse and longitudinal vibration occurs
Shaft tends to vibrate vigorously in transverse direction
Shaft tends to vibrate in longitudinal direction

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Theory of Machine
The inversion of a mechanism is

Obtained by reversing the input and output motion
Obtained by fixing different links in a kinematic chain
Turning its upside down
Changing of a higher pair to a lower pair

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Theory of Machine
The magnitude of velocities of the points on a rigid link is

Directly proportional to the distance from the points to the instantaneous center and is parallel to the line joining the point to the instantaneous center
Directly proportional to the distance from the points to the instantaneous center and is perpendicular to the line joining the point to the instantaneous center
Inversely proportional to the distance from the points to the instantaneous center and is parallel to the line joining the point to the instantaneous center
Inversely proportional to the distance from the points to the instantaneous center and is perpendicular to the line joining the point to the instantaneous center

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