Theory of Machine
The natural frequency of free torsional vibrations of a shaft is equal to (where q = Torsional stiffness of the shaft, and I = Mass moment of inertia of the disc attached at the end of a shaft)

1/2π
(1/2π). √(q/I)
2π. √(q/I)
2π qI

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

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

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