The Grubler's criterion for determining the degrees of freedom (n) of a mechanism having plane motion is (where l = Number of links, and j = Number of binary joints)

A. n = (l -1) - j

B. n = 2(l - 1) - 2j

C. n = 3(l - 1) - 2j

D. n = 4(l - 1) - 3j

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