Theory of Machine
The acceleration of the reciprocating roller follower when it has contact with the straight flanks of the tangent cam, is given by

ω². (r₁ - r₂). (1 - sin² θ)
ω². (r₁ r₂). (1 - cos² θ)
ω². (r₁ + r₂). (1 + cos² θ)
ω². (r₁ + r₂). [(2 - cos² θ)/cos³ θ]

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Theory of Machine
Higher pairs are those which have

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

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