ME 3507: Theory of Machines

Acceleration Analysis

Dr. Faraz Junejo

Objective
Determine the accelerations
of links and points on
mechanisms

Introduction

Introduction (contd.)
It is important to determine the
acceleration

of

links

because

acceleration produces inertia forces

in

the

link

which

stress

the

component parts of the mechanism.

Accelerations may be relative or
absolute

in

the

same

described for velocity.

way

as

Acceleration
Acceleration is rate of change of
velocity with respect to time
Acceleration can be linear A (rate of
change in linear velocity) or angular
(rate of change in angular velocity).

A R V
Angular acceleration
Linear acceleration

Acceleration of a point
Figure 7-1 shows
a link PA in pure
rotation, pivoted
at point A in the
xy plane.
We are interested
in the
acceleration of
point P when the
link is subjected
to an angular
velocity () and
an angular
acceleration ,
which need not
have the same
sense.

Acceleration of a point
(contd.)

As a result of the differentiation, the tangential

component is multiplied by the (constant j) complex
operator. This causes a rotation of this acceleration
vector through 90 with respect to the original
position vector.
However, the tangential component is also
multiplied by , which may be either positive or
negative. As a result, the tangential component of
acceleration will be rotated 90 from the angle of the
position vector in a direction dictated by the sign of .

 The normal, or centripetal, acceleration

component is multiplied by j2, or -1.
This directs the centripetal component at 180
to the angle of the original position vector,
i.e., toward the center (centripetal means
toward the center).
Substituting the Eulers identity in above expression
yields:

APA is absolute acceleration in this case i.e.

APA = AP

Tangential Acceleration
Recall that the instantaneous velocity of a
point on a rotating link is perpendicular to a
line that connects that point to the center of
rotation.
Any change in the magnitude of this
velocity creates tangential acceleration,
which is also perpendicular to the line that
connects the point with the center of
rotation.

Tangential Acceleration
The magnitude of the tangential acceleration
of point A on a rotating link 2 can be expressed as:

It is important to remember that the angular

acceleration, , in equation must be expressed

as units
of radians per squared time.

Tangential Acceleration (contd.)

Tangential acceleration acts in the
direction of motion when the velocity
increases or the point accelerates.
Conversely, tangential acceleration
acts in the opposite direction of
motion when the velocity decreases
or the point decelerates.

Normal acceleration
Any change in velocity direction creates normal
acceleration, which is always directed toward the
center of rotation.
Because acceleration is defined as the time rate of
velocity change, both sides should be divided by
time:

Using equation v = r , the relationships between

the magnitude of the linear velocity and angular
velocity, the following equations for the magnitude of
the normal acceleration of a point can be derived:

Magnitudes of acceleration components

A PA

Length of link: p

APA

P
AnPA

r
2
i
i
APA pe i pe
n
APA

A
Magnitude of tangential component = p,
magnitude of normal component = p 2

t
APA

Example: 1
The mechanism shown in Figure is used in a
distribution center to push boxes along a platform and
to a loading area. The input link is driven by an electric
motor, which, at the instant shown, has a velocity of
25 rad/s and accelerates at a rate of 500 rad/s2.
Knowing that the input link has a length of 250 mm,
determine the instantaneous acceleration of the end of
the input link in the position shown.

1. Draw a Kinematic Diagram

The kinematic
diagram for the
transfer mechanism is
shown below. Notice
that it is the familiar
four-bar mechanism.

2. Determine the Tangential Acceleration of Point

A

Because the input link (link 2) is in pure rotation,

the acceleration components of the end of the
link can be readily obtained. the magnitude of the
tangential acceleration is given by:

Because the link is accelerating, the direction of the vector is

in the direction of the motion at the end of the link, which is
perpendicular to the link itself. Thus, the tangential
acceleration is

3. Determine the Normal

Acceleration of Point A
Magnitude of the normal acceleration is
given by:
Normal acceleration always occurs
toward the center of rotation. Thus, normal
acceleration is calculated as:

4. Determine the Total Acceleration of Point A

The magnitude of the total acceleration is computed as:

The angle of the total

acceleration vector from
the normal component can be
calculated as:
Therefore, direction of the total acceleration vector from the
horizontal axis is

Acceleration Difference / Relative

Acceleration

Next consider point A on a sliding block

with link 2 in pure rotation about point A

AP = A A +
APA

Acceleration Difference / Relative

Acceleration

AP = APA + AA

i.e. Absolute
acceleration of
point P is equal
to acceleration
of P relative to
A (acceleration
difference) plus
acceleration of
A relative to
ground

Please note vector AA has zero normal

component in this case, as it is in pure

Now consider the relative acceleration

of two independent bodies

If their independent accelerations i.e. AP and AA

are known , then their relative acceleration can
be found using

Acceleration Difference / Relative

Acceleration (contd.)
Just as with velocity analysis, we will
have two cases:

Case 1
Two points in the same body
acceleration difference
Case 2
Two points in the different bodies
relative acceleration

Example: 2
Figure shows a power hacksaw. At this instant, the
electric motor rotates counterclockwise and drives the
free end of the motor crank (point B) at a velocity of 12
in./s. Additionally, the crank is accelerating at a rate of
37 rad/s2.
The top portion of the hacksaw is moving toward the left
with a velocity of 9.8 in./s and is accelerating at a rate
of 82 in./s2. Determine the magnitude of relative
acceleration of point C with respect to point B.

1. Draw a Kinematic Diagram

The kinematic
diagram for the power
hacksaw is shown
below. Notice that it is
the familiar slidercrank mechanism.

2. Determine the Tangential Acceleration of Point B

From the kinematic diagram, it should be

apparent that point B travels up and to the left as
link 2 rotates counterclockwise.
Because the motor crank (link 2) is in pure
rotation, the components of the acceleration at
the end of the link can be readily obtained. The
magnitude of the tangential acceleration is given
by:
Because the link is accelerating, the
direction of the vector is in the
direction of the motion at the end of
the link, which is perpendicular to
the link itself. Thus, the tangential
acceleration is

3. Determine the Normal Acceleration of Point B

Magnitude of the normal acceleration is

given by:

Normal acceleration always occurs

toward the center of rotation. Thus, normal
acceleration is calculated as:

4. Specify the Acceleration of Point C

Point C is constrained to linear motion. Therefore,
point C does not experience a normal acceleration.
The total acceleration is given in the problem
statement as:

5. Construct the Acceleration Polygon

for the Acceleration of C Relative to B

6. Solve for the Unknown Vector Magnitudes

the acceleration AC/B can be found by separating
the vectors into horizontal and vertical components.

 Separate algebraic equations can be

written for the horizontal and vertical
components as follows:

The magnitude of the acceleration can be

found by

Example: 2 (contd.)
The direction of the vector can be
determined by

Finally, the relative acceleration of C

with respect to B is

Graphical Acceleration
analysis

Graphical acceleration analysis for

one position of a fourbar linkage

Given 2, 3, 4, 2 ,3, 4,2 find:

angular acceleration (3 , 4)
and
linear accelerations (AA, AB and AC
)
Velocity analysis already

1. Start at the end of the

linkage about which you
have the most information.
Calculate the magnitude of
the acceleration of point A

. Draw the acceleration AA

3. Move next to a
point which you
have some
information, point B.
Draw the
construction line pp
through B

4. Write the acceleration difference equation

for point B vs. A i.e.
AB = AA + ABA
Now substituting the normal and
tangential components of each term in
above expression:

We will use point A as the reference point

to find AB because A is in the same link as
B and we have already solved for AtA and
AnA .
Knowing 4 we can solve for AnB

The term ABA represents the acceleration difference

of B with respect to A. This has two components. The
normal component is directed along the line BA
because we are using point A as the reference center
of rotation for the free vector 3, and its magnitude
can be calculated from equation:

5. Draw
construction
line qq through
point B and
perpendicular
to BA to
represent the
direction of AtBA

6. The vector equation

can be solve graphically by drawing the following
vector diagram.
i. First draw acceleration vectors AtA and AnA tip to
tail, carefully to some scale, maintaining their
directions. Note that the sum of these two
components is the vector AA.
ii. The acceleration difference equation in step 4 says
to add ABA to AA. We know AnBA (i.e. both
magnitude & direction), so we can draw that
component at the end of AA.
iii. We also know AnB, but this component is on the
left side of equation, so we must subtract it. Draw
the negative (opposite sense) of AnB at the end of
AnBA.
iv. This finishes components for which we know both

v. Draw a line parallel to line qq (direction of

AtBA ) across the tip of the vector
representing minus AnB .
vi. The resultant, or left side of the equation,
must close the vector diagram, from the
tail of the first vector drawn (AA) to the tip
of the last, so draw a line parallel to pp
(direction of AtB )across the tail of AA.
vii.The intersection of these lines parallel to
pp and qq defines the lengths of AtB and
AtBA.
viii.Vector AA was added to ABA, so their
components must be arranged tip to tail.
Vector A is the resultant, so its

7. The angular accelerations of link 3 and 4

can now be calculated

8. Solve for AC

 Since, magnitudes and directions of both A A and ACA are

known, the vector diagram using acceleration difference
equation (AC = AA + ACA)can directly be drawn as shown
below.

 Following figure shows the calculated

acceleration vectors on the fourbar linkage
diagram.

Example 1: Solve using a graphical approach

Example: 1 (contd.)

Example: 1 (contd.)
From Vel.
Analysis,
Ex. 1 VA =
300 mm/sec

Or

2
2

(
O
A
)

(
30
mm
)(
10
rad
/
s
)

3000
mm
/
s
aA
2
2
n

Example: 1 (contd.)

Example: 1 (contd.)

Example: 1 (contd.)
From Vel.
Analysis,
Ex. 1 VB/A
= 364
mm/sec

Or

2
2

(
BA
)

(
100
mm
)(
3
.
64
rad
/
s
)

1325
mm
/
s
aB/ A
3
n

Example: 1 (contd.)

Example: 1 (contd.)
From
Vel.
Analysi
s, Ex. 1
VB =
184
mm/sec

Or

2
2

(
O
B
)

(
90
mm
)(
2
.
04
rad
/
s
)

375
mm
/
s
aB
4
4
n

Example: 1 (contd.)

Example: 1 (contd.)

Example: 1 (contd.)

Example: 1 (contd.)

Example: 1 (contd.)

Example: 1 (contd.)

Example: 1 (contd.)

Example: 1 (contd.)

Example: 1 (contd.)

From Vel. Analysis,

Ex. 1
VC/A = (33.1 mm) *
((5mm/s)/mm)

Scale used in Vel. Analysis

Or

2
2

(
AC
)

(
45
.
6
mm
)(
3
.
64
rad
/
s
)

604
.
2
mm
/
s
3
aC / A
n

Example: 1 (contd.)

Exercise: 1
Link 2 is isolated
from
a
kinematic
diagram and shown
in Figure. The link is
rotating
counterclockwise at a
constant rate of 300
rpm. Determine the
total
linear
acceleration of points
A and B. Use y = 50
and = 60.

Exercise: 2
Link 2 is isolated from
a kinematic diagram
and shown in Figure.
The link is rotating
counterclockwise at a
rate of 200 rpm, and
accelerating at 400
rad/s2. Determine the
total linear
acceleration of points
A and B. Use y = 50
and = 60.