The number of joints (j) which constitutes a kinematic chain can be expressed in terms of number of links (l) as ________.

A

$$ j = \frac{3}{4} l - 2 $$

B

$$ j = \frac{3}{2} l + 2 $$

C

$$ j = \frac{3}{2} l - 2 $$

D

$$ j =l - \frac{2}{3} $$