Theory of Machine
Kinematic pairs are those which have two elements that

Have line contact
Permit relative motion
Have surface contact
Are held together

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Theory of Machine
Two heavy rotating masses are connected by shafts of lengths l₁, l₂ and l₃ and the corresponding diameters are d₁, d₂ and d₃. This system is reduced to a torsionally equivalent system having uniform diameter d = d₁ of the shaft. The equivalent length of the shaft is

l = l₁ + l₂.(d₁/d₂)³ + l₂.(d₁/d₃)³
(l₁ + l₂ + l₃)/3
l₁ + l₂ + l₃
l = l₁ + l₂.(d₁/d₂)⁴ + l₃.(d₁/d₃)⁴

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Theory of Machine
Kinematic pairs are those which have

Point or line contact between the two elements when in motion
Elements of pairs not held together mechanically
Surface contact between the two elements when in motion
Two elements that permit relative motion

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