sliding pairs

turning pairs

rolling pairs

higher pairs

sliding pairs

turning pairs

rolling pairs

higher pairs

1 link with pin joints

2 links with pin joints

3 links with pin joints

4 links with pin joints

second inversion of double slider crank chain

third inversion of double slider crank chain

second inversion of single slider crank chain

third inversion of slider crank chain

is same as that of velocity

is opposite to that of velocity

could be either same or opposite to velocity

is perpendicular to that of velocity