03/11/2016

Kinematics of Mechanisms 6
Acceleration
Latifah Nurahmi
Latifah.nurahmi@gmail.com
Room C.250

Acceleration analysis

Acceleration analysis:
Determine the manner in which
certain points on the mechanism
are either speeding up or
slowing down.

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Linear acceleration
Linear acceleration
A = rate of change in linear velocity

Because:

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Angular acceleration
Angular acceleration
= rate of change in angular velocity

Because:

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Assignment 1

The grinding wheel will speed up to 1800

rpm in 2s when the motor is tuned on.
Assuming that the speed up is at constant
rate, determine:
- Angular acceleration
- Angular displacement from intial.

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Assignment 1

In constant acceleration, we determine:

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Assignment 1

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Acceleration of general points

Velocity of points moving in general fashion,

may change in 2 ways:
The magnitude of velocity changes.
It produces acceleration along the path,
named tangential acceleration .
The direction of velocity changes.
It produces centrifugal acceleration,
perpendicular to the path, named normal
acceleration .

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Acceleration in pure rotation

AtPA
Length of link: p
APA P

Magnitude of tangential acceleration

, AnPA At = p

Magnitude of normal acceleration

An = p 2
A

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Acceleration Analysis of
Four-Bar Mechanism

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Four bar mechanism

Velocity loop equation
Let us recall:

Derive w.r.t time:

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Four bar mechanism

Solution:
Given value of and , find and Then find
sin
=
sin

Then find
sin
=
sin

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Four bar mechanism

Acceleration loop equation
Derived again w.r.t time

Normal Normal Normal

Tangential acceleration An Tangential acceleration An Tangential acceleration An
acceleration At acceleration At acceleration At

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Assignment 2

The mechanism shown below, is used in a

distribution center to push boxes along a
platform. The input link is driven by an electric
motor with angular velocity 25 rad/s and
accelerates at a rate of 500rad/s2. Determine:
1. The instantaneous acceleration at the end
of the input link!
2. The angular accelerations of coupler and
rocker!

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Assignment 2

1. The instantaneous acceleration at the end of the input link, point A

An
y At

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Assignment 2

2. The angular accelerations of coupler and rocker, link 3 and link 4

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Assignment 2
Steps to solve:
1. Find the coupler angle and rocker angle y
( and ).
2. Derive the position loop vector
3. Derive the velocity loop vector x

4. Solve coupler velocity and rocker

velocity ( and ).
5. Derive the acceleration loop vector
6. Solve coupler acceleration and rocker
accelerations ( and ).
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Relative acceleration
AtPA

APA P Point A belongs to the slider and the link

Point A has absolute acceleration VA.

, AnPA
Point A has relative acceleration w.r.t point P

A VA
AA

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Acceleration Analysis of
Slider Crank Mechanism

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Slider crank mechanism

Velocity loop equation
Let us recall:

Derive w.r.t time:

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Slider crank mechanism

Solution:
Given value of and , find Then find
sin( )
=
cos

Then find
cos
=
sin( )

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Slider crank mechanism

Acceleration loop equation
Derived again w.r.t time

Normal Normal
Tangential acceleration An Tangential acceleration An Tangential
acceleration At acceleration At acceleration At

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Slider crank mechanism

Acceleration loop equation
Derived again w.r.t time

Relative acceleration

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Assignment 3

The figure shows a hackshaw. The lectric motor drives the free end of the motor crank (point B) at a
velocity of 12 in/s. The crank is accelerating at a rate of 37 rad/s2. The saw move to the left with velocity
9.8 in/s and is accelerating at a rate of 82 in/s2. Determine the relative acceleration of point C w.r.t point B.

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Assignment 3

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