Theory of Machine
Sense of tangential acceleration of a link

Is perpendicular to that of velocity
Could be either same or opposite to velocity
Is same as that of velocity
Is opposite to that of velocity

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Theory of Machine
Kinematic pairs are those which have

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

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