Theory of Machine
For a kinematic chain to be considered as mechanism

There is no such criterion
None of the links should be fixed
One link should be fixed
Two links should be fixed

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Theory of Machine
The frictional torque transmitted in a truncated conical pivot bearing, considering uniform wear, is

(1/2). μ W cosec α (r₁ + r₂)
(2/3).μ W cosec α (r₁ + r₂)
(2/3). μ W cosec α [(r₁³ - r₂³)/(r₁² - r₂²)]
(1/2). μ W cosec α [(r₁³ - r₂³)/(r₁² - r₂²)]

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