Theory of Machine
The example of completely constrained motion is a

Motion of a square bar in a square hole
Motion of a shaft with collars at each end in a circular hole
Motion of a piston in the cylinder of a steam engine
All of these

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Theory of Machine
In elliptical trammels

All four pairs are turning
One pair turning and three pairs sliding
Three pairs turning and one pair sliding
Two pairs turning and two pairs sliding

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