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)?

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  1. n = ($$l$$ - 1) - j
  2. n = 2($$l$$ - 1) - 2j
  3. n = 3($$l$$ - 1) - 2j
  4. n = 4($$l$$ - 1) - 3j

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Answer: Option 3

Let'

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