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

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

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Theory of Machine
The contact ratio is given by

(Length of the arc of contact)/(Circular pitch)
(Length of the path of approach)/(Circular pitch)
(Length of path of recess)/(Circular pitch)
(Length of the arc of approach)/cosφ

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