What is the condition of driving shaft and driven shaft having equal speed in Hooke's Joint?

Here, θ = angle through which the driving shaft turns, α = angle of inclination of the driving and driven shaft

1
cos θ  = sin α 
2
sin θ = + \(\sqrt{\tan \alpha}\)
3
tan θ  = + \(\sqrt{\cos \alpha}\)
4
cot θ  = cos α 

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