Theory of Machine
In a single slider crank chain

One is a turning pair and three are sliding pairs
Two are turning pairs and two are sliding pairs
Three are turning pairs and one is a sliding pair
Each of the four pairs is a turning pair

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Theory of Machine
In a cam drive with uniform velocity follower, the sharp corners of the displacement diagram are rounded off at the beginning and at the end of each stroke. This is done

Because the uniform velocity motion is a partial parabolic motion
Because of loose contact of follower with cam surface
Because of difficulty in manufacturing cam profile
In order to have acceleration in beginning and retardation at the end of stroke within the finite limits

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