Mechanisms of Machinery

(MEng 3301)

Chapter 4
Acceleration Analysis of Linkages

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 4. Acceleration Analysis of
Linkages
4.1. Acceleration Analysis by Vector
Mathematics
• The acceleration of a point P moving in the x-y-z
system relative to the X-Y-Z system, is obtained by
   the
differentiating  velocity equation
V p = Vo + V + ω × R (1)

• Differentiating equation (1) yields

the acceleration Equation is
      
V p = Vo + V + ω × R + ω × R (2)

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• Each term on the right hand side of the acceleration
equation is evaluated as follows:
 
Vo = ao (3)
 d   
V=
dt
( )
x i + y j + z k

(     
)  
= xi + yj + zk +  x i + y j + z k  ( 4)
 
 j , k
i ,  
• Substituting for
   
V = ( xi + yj + zk ) + x(ω × i ) + y (ω × j ) + z (ω × k )
       (5)
let
( xi + yj + zk ) = a ( 6)

• Note
 that  
(   
)
x (ω × i ) + y (ω × j ) + z (ω × k ) = ω × x i + y j + z k
 
= ω ×V (7 )
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 
∴ The acceleration component
V can be written as:
   
V = a + ω ×V (8)
• The last term on the right hand side of the acceleration
  is
equation    
ω × R = ω × (V + ω × R )
    
= ω × V + ω × (ω × R) (9)

• Substituting
  the    values
 corresponding   in the acceleration
p = ao + a + ω × R + 2ω × V + ω × (ω × R )
aequation (10)

  
2ω × V V
• The different acceleration components are:

ao is Coriolis’ component of acceleration, sense normal to ;

a is acceleration of the origin of x-y-z system relative to X-Y-Z
system;
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is acceleration of P relative to x-y-z system;
  : is the tangential acceleration of a point fixed
ω×R
on the x-y-z system coincident with P as the
system rotates about O;
   : is the normal component of acceleration
ω ×ω × R
of the point coincident with P

Where:

ω : is angular velocity of x-y-z system related to

VX-Y-Z system
 : is velocity of P relative to x-y-z system; and
R
: is position vector of P.

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 4.2. Acceleration Analysis Using Equations of Relative
Motion
4.2.1 Acceleration of points on a common link
• Consider a link AB rotating with an angular velocity ω and
angular acceleration α as shown.
 relative
• The  acceleration
 equation is:
a A = aB + a A / B (11)

aA =
Where aB = acceleration of point A
acceleration of point B

aA/ B
Where the acceleration term
   
(has ) n =components:
a A / Btwo ω × ω × RAB

  the link from A to B

along
( a A / B ) t = α × RAB

in the direction perpendicular to AB

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4.2.2 Acceleration analysis of a block sliding on a
rotating link
• Block A slides on the rotating link O2B as shown.
• At time t angular position of link 2 is θ and at t+dt, θ+dθ .
• The acceleration of the block is found by considering the
radial and tangential components of the change in velocity
of the block.

• The rotating coordinate system r - θ is attached to link O2B.7

• The radial component of the velocity is V at time t, and
• The components of dV in the radial and tangential
directions are:
(dV)r in the radial direction,
Vd θ in the tangential (transverse) direction.
• Similarly the change in the transverse component of the
velocity in time dt is dVθ as shown.
• The components of dVθ are:
-ωrdθ in the radial direction, and
ωdr + rdω in the transverse direction, neglecting
higher order differentials
• Thus the total change of velocity is
dV - ωrdθ in the radial direction, and
Vdθ + ωdr + rdω in the tangential direction.
∴ the radial component
1 of acceleration of block A is
ar = ( dV − ωrdθ )
dt
= a − rω 2 (12)
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or, in vector notation,
    
ar = a + ω × ω × r (13)
The tangential component of the acceleration is
1
aθ = (Vdθ + ωdr + rdω )
dt
= 2ωV + rα (14)
Vectorially, the tangential acceleration is written as
    
aθ = 2ω × V + α × r (15)
∴ the acceleration of the block sliding on the rotating link is
given
 by:       
a A = ω × ( ω × r ) + α × r + 2ω × V + a (16)

where V
 is the sliding velocity of the block along link O2B,
a
and

is the sliding acceleration of the block along the 9

link O B.
• If a point A2 fixed on link O2B is coincident with A for the
position shown, the acceleration equation can be written as:
  
a A = a A2 + a A / A2 (17)

• The terma A / A 2 is the relative acceleration b/n two
moving points,   
a A / A 2 = 2ω × V + a (18)

    
• If a
A / A2 2ω ×a V
the link=were + an link:
curved + at (19)

• a
In ( ) ( )
 therelativevelocityequation
 general
= a
A + a
A2 n + 2ω × V + a + a
A2 t
 is
( )n ( )t (20)
where ( a ) = ω × ( ω × r )
   
A2 n

(a ) = α × r
  
A2 t
 
and , 2ω × V is the coriolis’ component of acceleration 10
 4.3. Acceleration Analysis by Complex
Numbers
• Consider the mechanism shown below.
• Replace the elements of the mechanism by position vector
such that their sum is zero yields the acceleration equation
on two successive differentiations with respect to time.

R1 + R 2 − R 4 = 0 (25)

• Differentiating the vector sum with respect to time, and

ir2ω2 e iθ 2 − ir4ω
introducing the
4 e iθ 4
− r

complex
4 e iθ 4
= notation
0 (26)
yield the equation
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• Again differentiating equation (26) yield the acceleration
equation
2 iθ 2 iθ 4 iθ 4 iθ 4 2 iθ 4
r2ω2 e + r4 e + i 2r4ω4 e + ir4ω 4e − r4ω4 e =0 (27)

• Separating the real and imaginary parts of the 2 equation (27)

r2ωyield
2 cos θ 2 + r4 cos θ 4 − 2r4ω 4 sin θ 4 − r4ω 4 sin θ 4 − r4ω 4 cos θ 4 = 0
2
  
r2ω22 sin θ 2 + r4 sin θ 4 − 2r4ω4 cos θ 4 − r4ω 4 cos θ 4 − r4ω42 sin θ 4 = 0 (28)

• Solving equations (28) simultaneously, the required

= r4ω42 − r2ωare
r4accelerations 2
2 cos(θ 4 − θto2 )be:
obtained (29)
r2ω22 [ cos(θ 4 − θ 2 ) − cos θ 2 ]
α4 = (30)
2r4 sin θ 4

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Example 1

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Example 2

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Solution

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Example 3

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