=
A
A
A
13
General approach for acceleration
analysis (4.5)
Acceleration of P = Acceleration of P +
Acceleration of P seen from observer moving with
rod+Coriolis acceleration of P
P, P (colocated points at
some instant), P on
slider, P on bar
14
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 Coriolis acceleration.
15
Coriolis acceleration
V
Pslip
P
O
A
P
t
A
P
coriolis
A
P
n
A
P
slip
A
P
A
P
slip
: acceleration of P as seen by observer moving with rod
16
Coriolis acceleration
Coriolis acceleration=2eV
slip
Coriolis acceleration is normal
to the radius, OP, and it
points towards the left of an observer moving with the
slider if rotation is counterclockise. 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.
A
P
=acceleration of P+acceleration of P seen from
observer moving with rod+Coriolis
acceleration=A
P
+A
P
slip
+A
P
Coriolis
17
Application: crank-slider mechanism
B
2
, B
3
O
2
Link 3, b
u
2
Link 2, a
e
2
, o
2
B
2
on link 2
B
3
on link 3
These points
coincide at the instant
when the mechanism
is shown.
When u
2
=0, a=d-b
d
u
3
, e
3
, o
3
Unknown quantities marked in blue
.
normal to crank
18
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
19
Position analysis
2
2 2 2
2
sin cos u u d b d a =
) sin ( sin
2
1
3
u u
b
a
=
Make sure you consider the correct quadrant for u
3
20
Velocity analysis
B
2
on crank,
B
3,
on slider
O
2
rocker
crank
V
B2
crank
V
B3B2
// crank
V
B3
rocker
.
V
B3
= V
B2
+ V
B3B2
21
Velocity analysis
) cos(
1
3 2
2
3
u u
e
e
=
b
a
) cos(
) sin(
2 3
2 3
2
u u
u u
e
= a a
a
is the relative velocity of B
3
w.r.t. B
2
22
Acceleration analysis
) cos(
sin cos
3 2
3 3
u u
u u
+
=
C B
a
) cos(
sin cos
3 2
2 2
3
u u
u u
o
=
b
B C
3
2
3
2
2
2
2 2 2 2
cos cos sin sin 2 u e u e u o u e b a a a B + + =
Where:
3
2
3
2
2
2
2 2 2 2
sin sin cos cos 2 u e u e u o u e b a a a C + =
23
Relation between accelerations of B
2
(on
crank) and B
3
(on slider)
B
2
, B
3
A
B3
slip
// crank
Slip
B
Coriolis
B
B B
3 3
2 3
A A A A + + =
.
Crank
Rocker
24
Rolling acceleration (4.7)
R
r
e (absolute)
P
C
O
C
O
e (absolute)
O
First assume that angular acceleration, o, is zero
No slip condition: V
P
=0
O
25
Find accelerations of C and P
e=-O(R-r)/r (Negative sign means that CCW
rotation around center of big circle, O, results in
CW rotation of disk around its own center)
V
C
= O(R-r) (Normal to radius OC)
A
n
C
=V
C
2
/(R-r) (directed toward the center O)
A
n
P
=V
C
2
/(R-r)+ V
C
2
/r (also directed toward the
center O)
Tangential components of acceleration of C and P
are zero
26
Summary of results
A
C
, length V
C
2
/(R-r)
P
C V
C,
length O(R-r)
r
V
P
=0
R
A
P
, length V
C
2
/(R-r)+ V
C
2
/r
27
Inverse curvature
e=O (R+r)/r
V
C
=O(R+r) (normal to OC)
A
n
C
=V
C
2
/(R+r) (directed toward the center O)
A
n
P
=V
C
2
/r - V
C
2
/(R+r) (directed away from the
center O)
Tangential components of acceleration are zero
28
Inverse curvature: Summary of results
A
C
, length V
C
2
/(R+r)
P
A
P
, length V
C
2
/r -V
C
2
/(R+r)
C
V
C,
length O(R+r)
r
V
P
=0
R
29
Now consider nonzero angular
acceleration, o=0
The results for zero angular acceleration are
still correct, but
A
C
t
=or (normal to OC)
A
P
t
is still zero
These results are valid for both types of
curvature