Acceleration Analysis
Objective
Determine the accelerations
of links and points on
mechanisms
Introduction
Introduction (contd.)
It is important to determine the
acceleration
of
links
because
the
link
which
stress
the
in
the
same
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.)
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:
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:
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.
AP = A A +
APA
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
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.
Example: 2 (contd.)
The direction of the vector can be
determined by
Graphical Acceleration
analysis
5. Draw
construction
line qq through
point B and
perpendicular
to BA to
represent the
direction of AtBA
8. Solve for AC
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.)
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.