MECHANICS OF MACHINERY

Subject Code: ME 3 01

Module 1 contd…
College of Engineering Adoor 1
Topics to be discussed
Define Acceleration
-Linear, Rotational, Normal, Tangential, Coriolis
and Relative accelerations
Analysis of Acceleration in Mechanisms
[a] Graphical Method
[b] Analytical Method
Introduction
Acceleration analysis involves determining, the manner in which certain
points on the links of a mechanism are either speeding up or slowing
down. Since inertia force associated with a body is proportional to
acceleration, determining acceleration has definite significance in the
design of mechanisms and machine members.

Linear Acceleration
Linear acceleration of a point is the change of linear velocity of that point per unit
time. Since velocity is a vector quantity, a change in either the magnitude or
direction of velocity will produce acceleration.

Linear acceleration of Rectilinear motion

In the case of a point having straight line or rectilinear motion, only the magnitude
of velocity can change. Hence Acceleration can be mathematically expressed as

𝑑𝑅
, since 𝑉 =
𝑑𝑡
Linear Acceleration of a Point executing general path
The velocity of motion moving in a general path may change in two ways
1. The magnitude can change. This produces an acceleration along the path of
motion which is termed as tangential acceleration, 𝐴𝑡 .
2. The direction of velocity can change when the point undergoes rotational
motion. This produces centrifugal acceleration that acts perpendicular to the
direction of motion, which is termed as normal acceleration, 𝐴𝑛 .
Angular Acceleration of a Link executing general path
Angular acceleration, α of a link is the change in angular velocity of that link
per unit time. Mathematically this can be expressed as

𝑑𝜃
, since 𝜔 =
𝑑𝑡

Normal and Tangential Acceleration

Acceleration is the time rate of change of velocity. The velocity of a point moving in
a general path can change in two independent ways. The change in velocity as a
result of the change in the direction of the velocity vector creates the normal
component of acceleration whereas the tangential component of acceleration is the
result of change in magnitude of the velocity vector.
Tangential Acceleration [due to change in magnitude of velocity]

Normal Acceleration [due to change in direction of velocity]

𝑎𝑡

𝜔2
α2
Total Acceleration
Total Acceleration is the vector sum of tangential and normal components.
Mathematically it is expressed as
Example Problem
The mechanism shown is used to push boxes along a platform to a loading area.
The input link is driven by an electric motor, which has a velocity of 25 rad/s and
accelerates at a rate of 500 rad/𝑠 2 . The input link has a length of 250 mm.
Determine the instantaneous acceleration of the end of input link in the given
position.

Equivalent Kinematic Diagram

Solution:
To determine magnitude of tangential acceleration

The direction of the vector is in the direction of angular acceleration, thus

tangential acceleration is

To determine magnitude of normal acceleration

Normal acceleration is directed towards the center of rotation

Solution:

Total Acceleration is computed as,

Angle of total acceleration from normal component

Direction from the horizontal axis is = 40𝑜 + 38.7𝑜 = 78.7𝑜

Thus Total Acceleration can be written as

Relative Acceleration
Relative acceleration is the acceleration of one object as observed from another
reference object that is also moving.

Example Problem
The figure shows an electric motor rotating clockwise and drives a motor
crank, point B at a velocity of 12cm/s. Additionally the crank is accelerating at a
rate of 37 rad/𝑠 2. The top portion of the hacksaw is moving toward the left
with a velocity of 9.8cm/s and is accelerating at a rate of 82 cm/𝑠 2 . Determine
the relative acceleration of point C with respect to point B.
Example Problem

Equivalent Kinematic Diagram

Solution:

Determine the Tangential acceleration of Point B

𝑎𝐵 𝑡 = 𝑟𝐴𝐵 ×∝2 = (1.75𝑐𝑚)(37rad/𝑠 2 )= 64.75 cm/𝑠 2
𝐴𝐵 𝑡 = 64.75 cm/𝑠 2 600

Determine the Normal acceleration of Point B

𝑣 2 12 2
𝐵
𝑎𝐵 𝑛 = = = 82.29 𝑐𝑚/𝑠 2
𝑟𝐴𝐵 1.75
𝑐𝑚
𝐴𝐵 𝑛 = 82.29 30𝑜
𝑠2
𝑐𝑚
Acceleration of Point C, 𝐴𝐶 = 82 (𝑔𝑖𝑣𝑒𝑛)
𝑠2
Solution: