Kennedy’s Theorem: According to this theorem the relative instantaneous centres on whichever three bodies that contain motion relative to each other are collinear.

Higher Pairs: The kinematic pairs in which links contain contact by a point or a line.

Equivalence of Higher Pairs: A higher pair is corresponding to two lower pairs and one link.

Klein’s Construction: It is an alternative method that was devised by Prof. Klein for finding acceleration of piston in slider crank mechanism.

Polygon: It is a closed figure made by various lines.