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A key is generally driven parallel to the shaft whereas a cotter is driven perpendicular to the shaft.
A key is subjected to torsion whereas a cotter is subjected to tensile and compressive forces.
A key resists shear over a longitudinal section whereas a cotter resists shear over two transverse sections.
A key joint is used to transmit a positive drive b/w two rotating parts whereas a cotter joint is used to transmit axial pull or push b/w to rods and they DO NOT rotate.
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