Acceleration Analysis Method

Kinematic Analysis: Scope

• Need to know the dynamic forces to be able to compute stresses in the components.
• Dynamic forces are proportional to acceleration (Newton second law)
• Goal shifts to finding acceleration of all moving parts in the assembly.
• In order to calculate the accelerations:
▪ Need to find the positions of all the links, for all the increments in input motion.
▪ Differentiate the positions equations to find velocities, different again to get accelerations.

Acceleration – rate of change of velocity with respect of time.

• Definition of Acceleration
Angular acceleration = 𝜶 = rate of change in angular velocity
Linear acceleration = A = rate of change in linear velocity

v = velocity of the body at point P

v + 𝜹v = velocity of the body at point Q
r = radius of the circle
𝜹t = time taken by the body in moving from P to Q.
𝜹θ = angle covered by the body in moving from P to Q.

• The change of velocity, as the body moves from P to Q can be determined by drawing the vector
triangle opq, in which op and oq represrent the velocities at P and Q, respectively.
▪ pq – represent the change of velocity in time 𝛿t.
▪ pq can be resolved into two components, namely:
- px (parallel to op) px = ox – op = oq cos 𝛿θ – v = (v + 𝛿v) cos 𝛿θ – v
- Xq (perpendicular to op) xq = oq sin 𝛿θ = (v + 𝛿v) sin 𝛿θ

• The change of velocity (pq) has two components (px and xq) which are mutually perpendicular, hence,
the rate of change of velocity, that is, acceletation will also have two mutually perpendicular
components.
Tangential Acceleration at P will be:
𝑝𝑥 (v + 𝛿v) cos 𝛿θ−v
At = 𝛿𝑡 = 𝛿𝑡
𝛿𝑡 0 cos 𝛿θ 1
(v + 𝛿v)−𝑣 𝛿v 𝑑v 𝑑(𝜔𝑥𝑟) 𝑟𝑑𝜔
At = 𝛿𝑡
= 𝛿𝑡 = 𝑑𝑡
= 𝑑𝑡
= 𝑑𝑡
=rx𝜶

Normal Acceleration at P will be:

𝑥𝑞 (v + 𝛿v) sin 𝛿θ−v
An = 𝛿𝑡 = 𝛿𝑡
𝛿𝑡 0 sin 𝛿θ 𝛿θ
(v + 𝛿v) 𝛿θ 𝑣𝛿θ 𝛿𝑣𝛿θ 𝛿θ 𝑑𝜃 𝒗𝟐
An = 𝛿𝑡
= 𝛿𝑡 + 𝛿𝑡 = 𝑣 𝛿𝑡 =v 𝑑𝑡
= v x 𝝎 = (𝝎 x r) 𝝎 = 𝒓

• If the body moves with a uniform velocity, then dv/dt = d(w)/dt = α = 0; and the body has only
An.
• If the body moves on a straight path, r is infinite, and v2/r = 0; and the body has only At.

Straight Path – only tangential acceleration

Uniform Velocity – only centripetal acceleration

Acceleration Analysis: Graphical Method

• Consider a rigid link AB. If A is assumed to be fixed then the only possible motion for B is
rotation about A (as the center).
Acceleration Point of a Link
• The acceleration of B can be determine in magnitude and direction, graphically.

• Just direction is known, parallel to the path of B, so just draw aB parallel to VB.
• Just direction is known, perpendicular to the radial component, so just draw the direction.

• The vectors xb’ and o’b’ intersect at b’. Now the values of aB and 𝑎𝑡 BA maybe measured to be
scale. The vector a’x = 𝑎𝑟 BA = 𝑉 2 BA / AB.
• The value of VBA may be obtained by drawing the velocity diagram.
 • By joining the points a’ and b’ we may determine the total acceleration of B with respect to A,
aBA. The vector a’b’ is known as acceleration image of the link AB. The angular acceleration of
the link AB, 𝜶AB = 𝒂𝒕 BA / AB

Acceleration of Link in Pure Rotation

Magnitude of tangential component = p𝜶

Magnitude of normal component = p𝝎𝟐

Acceleration of Link, General Case:

AP = AA + APA

Acceleration in the Slider Crank Mechanism

VBO = VB = 𝜔BO x OB, acting tangentially
𝒂𝒓 BO = aB = 𝜔2 BO x OB = V2BO / OB 𝒂𝒓 BO = 0

• The acceleration of any other point on AB such as E maybe obtained by dividing the vector b’ a’
at e’ in the same ratio as E divides AB: a’e’ / a’b’ = AE / AB
• The angular acceleration of the connecting rod AB may be obtained: αAB = atAB / AB (Clockwise
about B)

Graphical Acceleration Analysis

• Four Bar Linkage:

Clockwise acceleration of crank

 • Problem Definition: Given the positions of the links, their angular velocities and the accelerations
of the input link (links 2), find the linear accelerations of A and B and the angular accelerations of
links 2 and 3.
Solutions:
a. Find the velocity of A
b. Solve graphically equation
AB = AA + ABA AtB + AnB = AtBA + AnBA
c. Find the angular accelerations of links 3 and 4.
Graphical Solutions:
AB = AA + ABA

Steps:
1. Draw AA, AnBA, -AtBA
2. Draw line normal to link 3 starting from tip of -AnB
3. Draw line normal to link 4 starting from origin of AA
4. Find intersection and draw AtB and AtBA
Guidelines:
1. Start from the link for which you have most information
2. Find the acceleration of its points
3. Continue with the next link, formulate and solve equation: acceleration of one end = acceleration
of other end + acceleration difference
4. We always know the normal components of the acceleration of a point if we know the angular
velocity of the link on which it lies.
5. We always know the direction of the tangential components of the acceleration

Algebraic Acceleration Analysis

Given: Dimension, positions and velocities of links and angular acceleration of crank, find angular
accelerations of coupler and rocker and linear accelerations of nodes A and B.
Loop equation:
R2 + R3 – R4 – R1 = 0
This equation means:
AnA + AtA + AnBA + AtBA – AtB – AnB = 0

Solutions:
𝐶𝐷−𝐴𝐹 𝐶𝐸−𝐵𝐹
𝜶𝟑 = 𝐴𝐸−𝐵𝐷 𝜶𝟒 = 𝐴𝐸−𝐵𝐷
Where: A = c sin θ4 B = b sin θ3
C = aα2 sin θ2 + a𝜔2 2 cos θ2 + b𝜔2 3 cos θ3 - c𝜔2 4 cos θ4
D = c cos θ4
E = b cos θ3
F = aα2 cos θ2 - a𝜔2 2 sin θ2 - b𝜔2 3 sin θ3 + c𝜔2 4 sin θ4
AA = -𝜔2 2 a𝑒 𝑗𝜃2 + a𝑒 𝑗𝜃2 jα2
AB = -𝜔2 4 c𝑒 𝑗𝜃4 + c𝑒 𝑗𝜃4 jα4

Acceleration Analysis: Coriolis Analysis

• When a point on one link slides along another rotating link, then a component of acceleration,
called Coriolis component of acceleration comes into play.
General Approach for Acceleration Analysis:

• Acceleration of P = Acceleration of P’ + Acceleration of P seen from observer moving with rod +

Coriolis acceleration of P’.

Coriolis Acceleration
• Whenever a point is moving on a path and the path is rotating, there is an extra component of
the acceleration due to coupling between the motion of the point on the path and the rotation
of the path. This component is called the Coriolis acceleration.
slip
AP = acceleration of P as seen by observer moving with rod.
 • Coriolis acceleration = 2 𝜔 Vslip
• Coriolis acceleration is normal to the radius, OP, and it points towards the left of an observer
moving with the slider if rotation is counterclockwise. If the rotation is clockwise it points to the
right.
• To find the acceleration of a point, P, moving on a rotating path: Consider a point, P’, that is
fixed on the path and coincides with P at a particular instant. Find the acceleration of P’,
and add the slip acceleration of P and the Coriolis acceleration of P.
▪ AP=acceleration of P’+acceleration of P seen from observer moving with rod+Coriolis
acceleration=Ap’+ Ap slip + Ap Coriolis

Application of Slider Crank Mechanism

General approach for kinematic analysis:

• Represent links with vectors. Use complex numbers. Write loop equation.
• Solve equation for position analysis
• Differentiate loop equation once and solve it for velocity analysis
• Differentiate loop equation again and solve it for acceleration analysis
Position analysis:
a = d cos θ2 - √𝑏 2 − 𝑑2 𝑠𝑖𝑛2 𝜃2
𝑎
θ3 = sin-1( 𝑠𝑖𝑛𝜃2 )
𝑏
Note: Make sure you consider the correct quadrant for θ3
Velocity Analysis

Velocity Analysis
 𝑎𝜔2 1 sin(𝜃 −𝜃 )
𝝎𝟐 = 𝑏 cos(𝜃2 −𝜃3 )
𝒂̇ = 𝑎𝜔2 cos(𝜃3 −𝜃2 ) 𝒂̇ = is a relative velocity of B3
3 2

Acceleration Analysis
𝐵 cos 𝜃3 +𝐶 sin 𝜃3 𝐶 cos 𝜃2 −𝐵 sin 𝜃2
𝒂̈ = α3 =
cos(𝜃2 −𝜃3 ) −𝑏 cos(𝜃2 −𝜃3 )
Where: B = 2𝑎̇ 𝜔2 𝑠𝑖𝑛𝜃2 + 𝑎𝛼2 𝑠𝑖𝑛𝜃2 + α𝜔2 2 𝑐𝑜𝑠 𝜃2 - 𝜔2 3𝑏 𝑐𝑜𝑠𝜃3
C = -2𝑎̇ 𝜔2 𝑐𝑜𝑠𝜃2 - 𝑎𝛼2 𝑐𝑜𝑠𝜃2 + α𝜔2 2 𝑠𝑖𝑛 𝜃2 - 𝜔2 3𝑏 𝑠𝑖𝑛 𝜃3

Relation between accelerations of B2 (on crank) and B3 (on slider)

Rolling Acceleration
▪ First assume that angular acceleration, α, is zero

No slip condition: VP = 0

Acceleration Analysis: Coriolis Component

▪ When a point on one link slides along another rotating link, then a component of acceleration,
called Coriolis component of acceleration comes into play.
 Acceleration components of the slider B with respect to the coincident point C on the rotating link 2
Change of velocity: Along & perpendicular to OA due to:
Stage I: Acceleration components of the slider B with respect to the origin (pivot O)

Linear (Sliding) Velocity

a. Radial components of the acceleration of the slider B with respect to O on the link OA, acting radially
outwards from O to A.
𝛿𝑣− 𝜔𝑟𝛿𝜃 𝑑𝑣 𝑑𝜃 𝒅𝒗
arBO = Lt = - 𝜔𝑟 𝑥 = - 𝝎𝟐 𝒓
𝛿𝑡 𝑑𝑡 𝑑𝑡 𝒅𝒕

b. Tangential component of acceleration of the slider B with respect to O on the link OA, acting
perpendicular to OA and towards right.
𝑣𝛿𝜃+(𝜔𝛿𝑟+ 𝑟𝛿𝜔) 𝑑𝜃 𝑑𝜔 𝑑𝑟
atBO = Lt 𝛿𝑡
= 𝑣 𝑑𝑡 + 𝑟 𝑑𝑡
+ 𝜔 𝑑𝑡 = 2v𝜔 + r𝛼

Stage II: Acceleration components of the coincident point (C) on the rotating link 2 with respect to origin
(pivot O)

Tangential (Rotational) Velocity

a. Radial component of acceleration of the coincident point C with respect to O, acting in a direction
from C to O
arCO = −𝜔2 𝑟

b. Tangential component of acceleration of the coincident point C with respect to O, acting in a

 direction perpendicular to CO and towards right.
atCO = αr

Subtracting Stages 2 from Stages 1 and arrived to Coriolis Component:

𝑑𝑣 𝒅𝒗
arBC = arBO - arCO = 𝑑𝑡 - 𝜔2 𝑟 - (−𝜔2 𝑟) = 𝒅𝒕
atBC = atBO – atCO = 2v𝜔 + r𝛼 – αr = 2v𝝎
Note: The tangential component of acceleration of the slider B with respect to the coincident point C on
the rotating link is known as Coriolis component of acceleration and is always perpendicular to
the link.

Note: Direction of Coriolis component of acceleration is obtained by rotating V at 900, about its origin, in
the direction of 𝜔.

Sample Problem:
A mechanism of a crank and slotted lever quick return motion is shown in the figure. If the crank rotates
counter clockwise at 120 r.p.m, then for the configuration shown, determine:
• The velocity and acceleration of the ram
• The angular acceleration of the slotted lever
Given:
a. Crank AB = 150 mm
b. Link CD = 200 mm
c. Slotted arm OC = 700 mm

Velocity AB BB’ B’0 CD OD

Radial - VBB’ // BB’ - - -
 Tangential VBA ⊥ AB - VB’0 ⊥ B’O VCD ⊥ CD VD = VD0 //
motion

Acceleration AB BB’ B’0 CD OD

Radial M+D - - - -
Tangential α - - - -

AB = 150 mm = 0.15 m OC = 700 mm = 0.7 m CD = 200 mm = 0.2 NBA = 120 rpm

𝝎𝑩𝑨 = 2𝜋NBA = 2𝜋 (120/60) = 12.57 rad/s
VBA = 𝜔𝐵𝐴 x AB = 12.57 (0.15) = 1.9 m/s