Two techniques for reducing friction forces are presented. The techniques are applied to the generalized problem of reducing the friction between kinematic pairs which connect a movable link to a frame. The basic principles are: (a) Let the movable link be supported by two bearings where the relative velocities of the link with respect to each bearing are of opposite directions. Thus the resultant force (torque) of friction acting on the link due to the bearings is approximately zero. Then, additional perturbation of motion parallel to the main motion of the movable link will require only a very small force. (b) Let the perturbation in motion be perpendicular to the main motion. Equations are developed which explain these two methods. The results are discussed in relation to friction in geared couplings, gyroscope gimbal bearings, and a rotary conveyer system. Design examples are presented.

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