1) Completely Constrained Motion- when the motion between a pair is limited to a definite direction irrespective of the direction of force applied. Example- the motion of a square bar in a square hole.
2) Incompletely Constrained Motion- when the motion between a pair can take place in more than one direction. Example- a circular bar in a circular hole where the bar can either rotate or slide in the hole.
3) Successfully constrained motion- when the motion between a pair is such that the constrained motion is not completed by itself but by some other means. Example- piston reciprocating inside an engine cylinder."