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a) 1. Completely constrained motion: When the motion between a pair is limited to a definite direction irrespective of the direction of force applied, then the motion is said to be a completely constrained motion. For example, the piston and cylinder (in a steam engine) form a pair and the motion of the piston is limited to a definite direction (i.e.it will only reciprocate) relative to the cylinder irrespective of the direction of motion of the crank. Examples: 1. The motion of a square bar in a square hole 2. the motion of a shaft with collars at each end in a circular hole,

a) Kinematic link: Each part of a machine, which moves relative to some other part, is known as a kinematic link (or simply link) or element. Kinematic Chain: When the kinematic pairs are coupled in such a way that the last link is joined to the first link to transmit definite motion (i.e. completely or successfully constrained motion), it is called a kinematic chain.

a) Kinematic link: Each part of a machine, which moves relative to some other part, is known as a kinematic link (or simply link) or element. Kinematic Chain: When the kinematic pairs are coupled in such a way that the last link is joined to the first link to transmit definite motion (i.e. completely or successfully constrained motion), it is called a kinematic chain.

Crank and slotted lever quick return motion mechanism:

Each part of a machine, which moves relative to some other part, is known as a kinematic link.

When the kinematic pairs are coupled in such a way that the last link is joined to the first link to transmit definite motion (i.e. completely or successfully constrained motion), it is called a kinematic chain.

Elliptical trammel :