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Link 1, rotating about fixed axis A, is connected by a four-motion kinematic pair to link 2. This pair consists of spherical surface a of link 2 which contacts internal cylindrical surface b of link 1. Link 2 is connected by turning pair D to link 3 which rotates about fixed axis B. The mechanism transmits rotation between any two arbitrarily located axes A and B. $571$LW,4L$

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