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The lines of contact are equal, but the axes are neither parallel to each other, or the line of contact.

Lateral Sliding Contact

The lines of contact are equal, but the axes are neither parallel to each other, or the line of contact.

Theory of static equilibrium of mechanism, illustrated b Sir A.B.W. Kennedy.

Wheel Mechanism

Theory of static equilibrium of mechanism, illustrated b Sir A.B.W. Kennedy.