The natural frequency of free torsional vibrations of a shaft is equal to (where q = Torsional stiffness of the shaft, and I = Mass moment of inertia of the disc attached at the end of a shaft)
(1/2π). √(q/I)
When the two elements of a pair have __________ when in motion, it is said to a lower pair.
A combination of kinematic pairs, joined in such a way that the relative motion between the links is completely constrained, is called a