ME 3507: Theory of Machines

Acceleration Analysis

Dr. Faraz Junejo

 Objective

• Determine the accelerations of links

and points on mechanisms
Introduction
 Introduction (contd.)
It is important to determine the acceleration
of links because acceleration produces inertia
forces in the link which stress the component
parts of the mechanism.

 Accelerations may be relative or absolute in

the same way as described for velocity.
 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).

  
Linear acceleration A  R  V

Angular 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
(ω) and an angular
acceleration ,
which need not
have the same
sense.
Acceleration of a point (contd.)
As a result of the differentiation, the tangential component is
multiplied by the (constant j) complex operator. This causes a
rotation of this acceleration vector through 90 ° with respect to the
original position vector.

 However, the tangential component is also multiplied by ,

which may be either positive or negative. As a result, the tangential
component of acceleration will be rotated 90° from the angle θ of
the position vector in a direction dictated by the sign of .
 The normal, or centripetal, acceleration component
is multiplied by j2, or -1.

This directs the centripetal component at 180° to the

angle θ of the original position vector, i.e., toward
the center (centripetal means toward the center).

 Substituting the Euler’s identity in above expression yields:

APA is absolute acceleration in this case i.e. APA = AP

Magnitudes of acceleration components

Length of link: p
AtPA
APA P APA   pe  i pe
2 i i

n t
APA APA
AnPA
, 

A

Magnitude of tangential component = p,

magnitude of normal component = p 2
 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:

 It is important to remember that the angular

acceleration, α, in equation must be expressed as
units of radians per squared time.
 Tangential Acceleration (contd.)
Tangential acceleration acts in the direction of
motion when the velocity increases or the
point accelerates.

Conversely, tangential acceleration acts in the

opposite direction of motion when the velocity
decreases or the point decelerates.
 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:

Using equation v = r ω, the relationships between the magnitude

of the linear velocity and angular velocity, the following equations for
the magnitude of the normal acceleration of a point can be derived:
 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.
1. Draw a Kinematic Diagram
• The kinematic diagram
for the transfer
mechanism is shown
below. Notice that it is
the familiar four-bar
mechanism.
2. Determine the Tangential Acceleration of Point A
• Because the input link (link 2) is in pure rotation, the
acceleration components of the end of the link can be readily
obtained. the magnitude of the tangential acceleration is
given by:

Because the link is accelerating, the direction of the vector is in the direction
of the motion at the end of the link, which is perpendicular to the link itself.
Thus, the tangential acceleration is
3. Determine the Normal Acceleration of Point A
Magnitude of the normal acceleration is given by:

Normal acceleration always occurs toward the center

of rotation. Thus, normal acceleration is calculated as:
4. Determine the Total Acceleration of Point A
 The magnitude of the total acceleration is computed as:

 The angle of the total acceleration

vector from the normal component
can be calculated as:

Therefore, direction of the total acceleration vector from the horizontal axis is
 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 β = 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 β =
60°.
Acceleration Difference / Relative Acceleration
• Next consider point A on a sliding block with link 2 in
pure rotation about point A

AP = AA + APA
 Acceleration Difference / Relative Acceleration
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

Please note vector AA has zero normal component in this

case, as it is in pure translation
Now consider the relative acceleration of two
independent bodies

If their independent accelerations i.e. AP and AA are known ,

then their relative acceleration can be found using
APA = AP - AA
Acceleration Difference / Relative Acceleration
(contd.)
Just as with velocity analysis, we will have two
cases:
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.
1. Draw a Kinematic Diagram
• The kinematic diagram
for the power hacksaw is
shown below. Notice that
it is the familiar slider-
crank mechanism.
2. Determine the Tangential Acceleration of Point B
• From the kinematic diagram, it should be apparent that point
B travels up and to the left as link 2 rotates counterclockwise.
• Because the motor crank (link 2) is in pure rotation, the
components of the acceleration at the end of the link can be
readily obtained. The magnitude of the tangential
acceleration is given by:

Because the link is accelerating, the direction

of the vector is in the direction of the motion
at the end of the link, which is perpendicular
to the link itself. Thus, the tangential
acceleration is
3. Determine the Normal Acceleration of Point B
Magnitude of the normal acceleration is given by:

Normal acceleration always occurs toward the center

of rotation. Thus, normal acceleration is calculated as:
4. Specify the Acceleration of Point C
 Point C is constrained to linear motion. Therefore, point C does
not experience a normal acceleration. The total acceleration is
given in the problem statement as:

5. Construct the Acceleration Polygon for the

Acceleration of C Relative to B
6. Solve for the Unknown Vector Magnitudes
• the acceleration AC/B can be found by separating the
vectors into horizontal and vertical components.
• Separate algebraic equations can be written for the
horizontal and vertical components as follows:

The magnitude of the acceleration can be found by

 Example: 2 (contd.)
• The direction of the vector can be determined
by

• Finally, the relative acceleration of C with

respect to B is
Graphical Acceleration analysis
 Graphical acceleration analysis for
one position of a fourbar linkage

Given θ2, θ3, θ4, ω2 ,ω3, ω4,α2 find:

– angular acceleration (α3 , α4) and
– linear accelerations (AA, AB and AC )
– Velocity analysis already performed
1. Start at the end of the
linkage about which you
have the most information.
Calculate the magnitude of
the acceleration of point A

2. Draw the acceleration AA

3. Move next to a point

which you have some
information, point B.
Draw the construction
line pp through B
perpendicular to BO4
4. Write the acceleration difference equation for point
B vs. A i.e.
AB = AA + ABA
 Now substituting the normal and tangential
components of each term in above expression:

 We will use point A as the reference point to find AB

because A is in the same link as B and we have
already solved for AtA and AnA .
 Knowing ω4 we can solve for AnB
 The term ABA represents the acceleration difference of B with
respect to A. This has two components. The normal component is
directed along the line BA because we are using point A as the
reference center of rotation for the free vector ω3, and its
magnitude can be calculated from equation:

5. Draw
construction
line qq through
point B and
perpendicular
to BA to
represent the
direction of AtBA
6. The vector equation
can be solve graphically by drawing the following vector diagram.

i. First draw acceleration vectors AtA and AnA tip to tail, carefully
to some scale, maintaining their directions. Note that the sum
of these two components is the vector AA.
ii. The acceleration difference equation in step 4 says to add ABA
to AA. We know AnBA (i.e. both magnitude & direction), so we
can draw that component at the end of AA.
iii. We also know AnB, but this component is on the left side of
equation, so we must subtract it. Draw the negative (opposite
sense) of AnB at the end of AnBA.
iv. This finishes components for which we know both magnitude
and direction. Our two remaining knowns are the directions of
AtB and AtBA which lie along the lines pp and qq, respectively.
v. Draw a line parallel to line qq (direction of AtBA )
across the tip of the vector representing minus AnB .
vi. The resultant, or left side of the equation, must
close the vector diagram, from the tail of the first
vector drawn (AA) to the tip of the last, so draw a
line parallel to pp (direction of AtB )across the tail of
AA.
vii. The intersection of these lines parallel to pp and qq
defines the lengths of AtB and AtBA.
viii.Vector AA was added to ABA, so their components
must be arranged tip to tail. Vector AB is the
resultant, so its component AtB must be from the
tail of the first to the tip of the last.
7. The angular accelerations of link 3 and 4 can now be
calculated

8. Solve for AC
• Since, magnitudes and directions of both AA and ACA are
known, the vector diagram using acceleration difference
equation (AC = AA + ACA)can directly be drawn as shown below.
• Following figure shows the calculated acceleration
vectors on the fourbar linkage diagram.
Example 1: Solve using a graphical approach
Example: 1 (contd.)
 Example: 1 (contd.)

From Vel.
Analysis, Ex. 1
VA = 300
mm/sec

Or
n
aA  (O2 A)2
2
 (30 mm)(10 rad / s ) 2
 3000 mm / s 2
Example: 1 (contd.)
Example: 1 (contd.)
 Example: 1 (contd.)

From Vel.
Analysis, Ex. 1
VB/A = 364
mm/sec

Or
n
aB / A  ( BA)3
2
  (100 mm)(3.64 rad / s ) 2
 1325 mm / s 2
Example: 1 (contd.)
 Example: 1 (contd.)

From Vel.
Analysis,
Ex. 1 VB =
184
mm/sec

Or a  (O B)   (90mm)(2.04rad / s)2  375mm / s 2

n 2
B 4 4
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.)

From Vel. Analysis, Ex. 1

VC/A = (33.1 mm) *
((5mm/s)/mm)

Scale used in Vel. Analysis

Or
n
aC / A  ( AC ) 3
2
  ( 45.6 mm)( 3.64 rad / s ) 2
 604.2 mm / s 2
Example: 1 (contd.)
Analytical Acceleration Analysis
 Acceleration Analysis of Fourbar
Linkage using Vector Loop Method
• Step 1: From Position analysis the associated
vector loop equation is:
 2. Represent Each Vector using Complex Number
Notation

3. To get an expression for velocity, differentiate above

equation w.r.t. time

 Note that θ1 has dropped out, b/c it is a constant, and

hence its derivative is zero.
4. To get an expression for accelerations in the linkage,
differentiate above equation w.r.t. time

Now simplifying above expression yields

Above equation contains the tangential and normal components

of the accelerations of points A and B and of the acceleration
difference of B to A. Note that these are the same relationships
which we used to solve this problem graphically earlier. It is in fact,
the acceleration difference equation
Where;

5. Now solving above equation for 3 and 4

6. Substitute Euler Identity into above equation

7. Now multiply throughout by complex operator ‘j’

8. Above equation can now be separate into real and imaginary
parts, and each set to zero, while dividing imaginary
equation throughout by complex operator ‘j’

8. Solving above two equations simultaneously yields:

Where;
• Once, we have solved for 3 and 4, we can solve for
the linear accelerations by substituting the Euler
Identity into acceleration difference equation
 Example
• Calculate the angular acceleration of Link 4, α4,
when the input angular acceleration, α2 = 0
rad/s2, ω2 = 1 rad/s and θ2 = 30°
Example (contd.)
 Example (contd.)
We need to know values of output variables (θ3, θ4) and
output velocities (ω3,ω4) before we can proceed
• Get these values by performing complete position
analysis (Chapter 4) and velocity analysis (Chapter 6)
• For Open Configuration:
– From Chapter 4: When θ2 = 30° → θ3 = 35.4° and
θ4 = 84.4°
– From Chapter 6: When θ2 = 30° and ω2 = 1 rad/s
→ ω3 = -0.54 rad/s and ω4 = -0.075 rad/s
 Example (contd.)

Assignment: Repeat the same steps to obtain values

for the Cross Configuration.
Acceleration Analysis of Offset Slider-
Crank Linkage
 From Position analysis the associated vector loop equation is:
R2 - R3 - R4 - R1 = 0
Letting the vector magnitudes (link lengths) be represented by
a, b, c, d as shown, we can substitute the complex number
equivalents for the position vectors.
Eq: 4.14b
Simplifying above expression;

 A careful attention will show that above eq. is

acceleration difference equation, given by;

Where;

What do you
notice ?
Note that in this mechanism, link 4 is in pure translation
and so has zero ω4 and zero 4. The acceleration of link
4 has only a "tangential" component of acceleration
along its path.

The two unknowns in above vector equation are the

angular acceleration of link 3,  3, and the linear
acceleration of link 4, d double dot. To solve for them,
substitute the Euler identity,
 Previous equation can now be separate into real and
imaginary parts, and each set to zero, while dividing
imaginary equation throughout by complex operator ‘j’

 Imaginary part eq. can be solved for 3, and substituting that
into real part eq. will yield d double dot.
 Example
• The mechanism shown in Figure is used to
feed cartons to a labeling machine and, at the
same time, to prevent the stored cartons from
moving down.
• At full speed, the driveshaft rotates clockwise
with an angular velocity of 200 rpm. At the
instant shown, determine the acceleration of
the ram and the angular acceleration of the
connecting rod.
1. Draw a Kinematic Diagram
The portion of the mechanism that is under consideration includes
the drive crank, the pusher ram, and the link that connects these
two. Once again, notice that this is the common in-line, slider-crank
mechanism.
 2. Developing strategy for solving problem

• The acceleration of the ram (link 4) is strictly

translational motion and is identical to the motion of
point C.

• The acceleration of point C, which also resides on link

3, can be determined from knowing the acceleration
of point B.

• Point B is positioned on both links 2 and 3. Therefore,

the acceleration of point B can be determined from
knowing the motion of the input link, link 2.
3. Analyze the Mechanism Geometry
• The angle between link 3 and the horizontal sliding
surface of link, can be determined from the law of
sines.

4. Determine the Velocity of Points B and C

• Since, given ω2 = 200 rpm = 20.9 rad/sec.
Therefore

The direction of VB is perpendicular to link 2

and consistent with the direction of ω2, down
and to the right.
• The velocity of point C is parallel to the horizontal sliding surface, and the
velocity of C with respect to B is perpendicular to the link that connects
points B and C. Calculating this angle,

Now knowing the directions of the vectors of interest, a velocity polygon can be
assembled. The magnitude of the third angle in the velocity polygon can be
determined because the sum of all angles in a triangle is 180°.

The magnitudes of the velocities can be found

from the law of sines.
5. Calculate Acceleration Components
• The next step is to construct an acceleration diagram that
includes points B and C.
• Calculate the magnitudes of the known accelerations using the
following equations:
6. Using Vector Methods, Solve the Relative Acceleration Equation
• The relative acceleration equation for points B and C can be
written as

In forming an acceleration diagram,

vector placement arbitrarily starts on
the right side of the equation.
At the origin of the acceleration
diagram, vector AnB, which is completely
known, is placed. Because no tangential
component of the acceleration of point
B exists, AtB is ignored.
AtC/B is directed perpendicular to the
Vector AnC/B , which is also completely normal component, AnC/B , and thus,
known, is placed at the end of AnB. perpendicular to the line that connects B
At the end of AnC/B, the vector AtC/B is and C. The angle has been calculated as
placed; however, only the direction of 9
this vector is known.
• The first term on the left
side of the equation can
be ignored because there
is no normal component
of the acceleration of
point C (b/c no change in
orientation). Therefore,
the vector representing
the tangential
acceleration of point C is
placed at the origin.

However, only the direction of this vector AtC or Ac is known: It is

parallel to the horizontal surface that link 4 is constrained to slide
upon.

The unknown vector magnitudes, AtC/B and AtC or Ac , can be

determined using the graphical or analytical methods.
Solving analytically, first, each vector can be
separated into horizontal and vertical components,
as shown in Table.

Separate algebraic equations can be written for the

horizontal and vertical components
 The vertical component equation can be solved algebraically
to give the magnitude

 This result can then be substituted into the horizontal

equation to give the magnitude

Therefore, Motion of the ram (link 4) is

Notice that because the acceleration
is in the opposite direction of the ram
movement and velocity, the ram
is decelerating.
7. Calculate the Angular Acceleration
Finally, the motion of the connecting rod is calculated

where the direction is consistent with the velocity of C

relative to B, counterclockwise.
 Also

where the direction is consistent with the tangential

acceleration of C relative to B, counterclockwise
 Exercise: 3
• The mechanism shown in Figure
is a common punch press
designed to perform successive
stamping operations. The
machine has just been powered
and at the instant shown is
coming up to full speed. The
driveshaft rotates clockwise
with an angular velocity of 72
rad/s and accelerates at a rate of
250 rad/s2. At the instant
shown, use graphical method
determine the acceleration of
the stamping die, which will
strike the workpiece.
Acceleration of Any Point on a
Linkage
Acceleration of point S
Acceleration of point P
Acceleration of point P (contd.)
Acceleration of point P (contd.)
Acceleration of Point P: Example
 Human Tolerance of Acceleration
Human body does not sense velocity (except
with eyes), but is very sensitive to acceleration
Dynamic forces are produced within the
human body in response to acceleration
Acceleration in headward direction will starve
the brain of blood blackout
Acceleration in footward direction will flood
the brain with blood redout
 Redout: A condition experienced by pilots and astronauts in
which blood is forced to the head and results in a reddening
of the field of vision during rapid deceleration or in
maneuvers that produce a negative gravity force.

 Number of G’s is a convenient unit of measure of acceleration.

Our weight, felt on our feet, is defined by our mass times the
acceleration due to gravity or mg.

Thus an imposed acceleration of 2 g's, will be felt as a doubling

of our weight.

 At 6 g's we would feel six times as heavy as normal and would

have great difficulty even moving our arms against that
acceleration.
Acceleration tolerance values must not be exceeded in
mechanisms designed for human occupation
 A useful benchmark when designing machinery for human
occupation is to relate the magnitudes of the accelerations which
you commonly experience to your calculated values of the
potential design.

Machinery which does not carry humans has its accelerations

limited by stresses within its components.  Need to know mass
of parts to use F = ma
 Jerk
Rate of change of
acceleration with respect
to time. Also known as
shock or pulse

High value of jerk causes stomach to go funny in

roller coaster or elevator starting to descend

High acceleration

High jerk
 Jerk (contd.)
Controlling and minimizing jerk in machine
design is often of interest especially if low
vibration is desired

Large magnitudes of jerk will excite natural

frequencies of vibration of the machine or
structure to which it is attached and cause
increased vibration and noise levels.