What is cam and follower mechanism higher pair or lower pair
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explains that lower pairs are connections between two objects where the contact is over an extended area, whereas a higher pair is connected at a line contact (or a point contact). The cam and the follower touch only at a point in your two-dimensional diagram, so they form a higher pair
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Higher pairs
For example, the contact between a cam and its follower is a higher pair called a cam joint. Similarly, the contact between the involute curves that form the meshing teeth of two gears are cam joints, as is a wheel rolling on a surface.
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