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mechanical engineering theory of machines
1. The Grubler's criterion for determining the degrees of freedom (n) of a mechanism having plane motion is (where l = Number of links, and j = Number of binary joints)
(A): n = (l - 1) - j
(B): n = 2(l - 1) - 2j
(C): n = 3(l - 1) - 2j
(D): n = 4(l - 1) - 3j
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