1.1 A link is a part of a machine that has motion relative to another part. A mechanism is a system of links connected together to transmit motion or perform work.
ωo = ωi × (N1 / N2)
where n is the number of links, f is the number of kinematic pairs, and h is the number of higher pairs.
DOF = 3(n-1) - 2f - h
where N1 and N2 are the number of teeth on the input and output gears, respectively.