Higher Pairs-2 Names Typical form Degree of Comments freedom Ball rolls without slipping. Rolling ball Ball can rotate about any axis Ball in through its center and slides along cylinder axis. cylinder Body can rotate about any axis Spatial point through the contact point and slide in any direction in the tangent contact plane. Planar VS Spatial Close VS Open In a planar mechanism,all of A spherical mechanism is one the relative motions of the rigid in which each link has some bodies are in one plane or in point that remain stationary as parallel planes. the linkage moves and in which the stationary points of all links lie at a common location 88 Higher Pairs-2 Planar VS Spatial Close VS Open In a planar mechanism, all of the relative motions of the rigid bodies are in one plane or in parallel planes. A spherical mechanism is one in which each link has some point that remain stationary as the linkage moves and in which the stationary points of all links lie at a common location