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

two links

three links

four links or more than four links

all of the above

2

3

4

5