Design of Machinery

ME 339
Chapter 7 Acceleration Analysis

FALL 2014
Prepared by:
Hamid Lankarani

Department of Mechanical Engineering

Wichita State University

Chapter 7
Acceleration Analysis
Acceleration analysis is performed on a mechanism right after the
position analysis and velocity analysis are completed.
Acceleration analysis is necessary in order to check a design on
Acceleration motion requirement
how much dynamic forces are generated; F = ma
How much stresses are transferred to the links and whether the system can withstand
static or fatigue failure

Methods:
Graphical
Acceleration polygons
Analytical
Loop-closure
Relative-acceleration / acceleration-difference method
Computer
Programs: LINKAGES (5th edition) or FOURBAR, SLIDER, FIVEBAR,
SIXBAR (4th edition)
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7.1 Definition of Acceleration

Definition:
Acceleration is the rate of change of velocity with respect to time
A

dV
dt

d
dt Angular Acceleration

Linear Acceleration

Pure rotation of a link:

is the angular velocity of the link

is the angular acceleration of the link

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Complex notation:
RPA = pej

; where p is the magnitude of RPA

dR PA
= jpej
dt
dVPA
APA =
= jpej 2pej
dt

VPA =

AtPA AnPA

AnPA Normal (centripetal) component of the acceleration difference.

It is directed towards center (same line of action of RPA but opposite
direction)
Its magnitude is 2p
AtPA Tangential component of the acceleration difference
It is perpendicular to the position vector
Its direction depends on the sign of
AnPA = 2 RPA
AtPA = RPA

Hence:
APA = AnPA + AtPA = 2 RPA + R
PA
In this case, point A is fixed, hence the absolute acceleration of point P is:
AP = APA = AnPA + AtPA = 2 RPA + RPA For pure rotation about A
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 Rotation and Translation of a link:

AtPA
APA
Y

AP

AnPA
2

VPA

RPA
AA

3
1

APA

AP
AA

AtPA

AnPA

AA known
A PA = AP AA
Acceleration Difference
AP = AA + APA
Acceleration of a point on a link is the acceleration of another
point plus the acceleration difference between them
AP = AA + AnPA + AtPA

AnP + AtP = AnA + AtA + AnPA + AtPA

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 Relative acceleration between two points in different bodies:

Auto 2 moving on a straight line and decelerating

Auto 1 turning and accelerating
APA = AP AA

Relative Acceleration

Relative acceleration between two points on two different bodies

Similar equation to the acceleration difference
Will use this concept in evaluation of acceleration of slip (rotating sliders)

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7.2 Graphical Acceleration Analysis by Acceleration Polygons

Can be performed at one instant only

Quick way of checking the analytical /computer solutions
Must be redone at different configurations
Y

Fourbar Mechanism

B
3

2
O2

4
4
O4

Position and velocity analyses have been completed

Given: 2 , 3 , 4 , 2 , 3 , 4 , and 2 (input)
Find:
3 , 4 , AA, AB, AP

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Acceleration Polygon

OA, O2, O4

AnA
AB

A
AP
A

t
BO4

n
BO4

2
AA

O2

AtA
A

AtBA
AnBA

AnPA

P
AtPA

B
Line of

Line of B

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 Steps -- Graphical Acceleration Analysis by Acceleration Polygons

1. Choosing a scale, draw AnAO2 = 22 RAO2 towards the center (OA)
Add AtAO2 = 2RAO2 to it to AnAO2 using sense of
locate A; measure AA
2. Draw AnBA = 32 RBA from A in direction of B towards A
Draw a line to AnBA on which B lies
3. Draw AnBO4 = 42 RBO4 from O4 in direction of B towards O 4
Draw a line to AnBO4 on which B lies
4. Locate B and measure AB

A t BA

5. Evaluate: 3
R BA and its sense: (CCW in this case)
A t BO4
6. Evaluate: 4 R
and its sense: (CCW in this case)
BO4
7. The final step for finding AP can be done following any one of the three ways
described below.
8.

Draw AnPA = 32 RPA from A towards P.

- Draw AtPA = 3 RPA to AnPA and using the sense of 3 .
- Locate point P.
- Measure AP .
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or instead:
8. Draw AnPA = 32 RPA from A towards P.
- Draw a line to AnPA on which P lies.
- Draw AnPB = 32 RPB from B towards P.
- Draw a line to AnPB on which P lies.
- Locate point P from the intersection of the two lines.
- Measure AP .
or instead:
8. Imaging technique: measure the two angles angle PAB and angle PBA
from position diagram of linkage.
- Use these two angles in acceleration polygon to locate point P.
- Measure AP .
B

=>

3
A

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10

 Notes:

Angular acceleration, , is a free vector and is a property of an entire body (link), not a
point.
AnBA is normal acceleration difference between two points A and B on the same body; it is
always directed from B to A (towards center). When A and B are not on the same body, AnBA
is not directed towards center.

General comments on Acceleration Polygon:

Source: Theory of Machines and Mechanisms, Shigley and Uicker, Oxford Press.

1. The acceleration image of each rigid link is a scale reproduction of the shape of the
link in the acceleration polygon.
2. The letters identifying the vertices of each link are the same as those in the
acceleration polygon and they progress around the acceleration image in the same
order and in the same angular direction as around the link.
3. The ratio of the size of the acceleration image of a link and the size of the link itself
depends on the rotation of the link. In general, it is not the same for different links
in a mechanism.
4. The point OA in the acceleration polygon is the image of all points with zero absolute
acceleration. It is the acceleration image of the fixed link.
5. The absolute acceleration of any point on any link is represented by the line from OA
to the image of point in the acceleration polygon. The acceleration difference
between two points say P and Q, is represented by the line from image point P to
point Q.
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Fourbar Example

2
120
0

10

x1

Scale diagram of four-bar linkage

Source: Theory of Machines and Mechanisms, Shigley and Uicker, Oxford Press.

Given:

2 = 1200
2 = 900 rpm CCW = 94.2 rad/s CCW = constant

Find:

All accelerations

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OA, A,
D

AF

AnCD

AE
E

10

t
CD

From position and velocity analyses:

0

AC

2=constant

AB

2 =120 , 3 =20.9 , 4 = 64.0

C t
A CB

B
AnCB

Scale

2 = 94.2 rad/s CCW

3 = 25.6 rad/s CCW
4 = 49.6 rad/s CCW
1)

n
t
A B = A A + A BA
+ A BA

A n BA = 2 2 R BA =(94.2) 2 (4)= 35,500 in/s 2

A t BA = 2 R BA = (0)(4) = 0
Locate B

5000 in/s2

Acceleration Polygon

2)

n
t
A C = A B + A CB
+ A CB

A n CB = 32 R CB = (25.6) 2 (18) = 11,800 in/s 2

Line to it; Line of C
n
t
A C = A D + A CD
+ A CD

A n CD = 4 2 R CD = (49.6) 2 (11) = 27,000 in/s 2

Line to it; Line of C
Locate C
3)

3 =

A t CB

4 =

R CB

A t CD
R CD

2,500
=
18

19,000
= 1,730 rad/s 2
11

4)

C
280
3

220

138 rad/s 2 CCW

CW

=>

C 280

A B = 35,500 in/s 2 @ 60 0
A C = 32,500 in/s 2 @ 80 0
A E = 31,000 in/s 2 @ 700
A F = 22,500 in/s 2 @ 2550

250

380

220

Locate E

5)

=>
F

25

Locate F

380

Slider-Crank Example
The offset slider-crank is driver by a constant velocity of slider VC = 10 m/s to
the left. Find 2, 3, AD at this instant.
Velocity Polygon
B
Image of link 3 D

O V, A

Source: Theory of Machines and Mechanisms, Shigley and Uicker, Oxford Press.

Solution:
From velocity analysis:
2 = 200 rad/sec, CCW
3 = 53.6 rad/sec, CW

1. AC = 0,
2. A B = AC + AnBC + AtBC = AA + AnBA + AtBA
AnBC = 32 RBC = ( 53.6)2 (0.140) = 402 m/s2
AnBA = 22 RBA = ( 200)2 (0.050) = 2000 m/s2
Locate B; AB = 2,850 m/s2
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AtBA

1000 m/s2

Acceleration Polygon

Scale

15

3.

A t BC
2300
3 =
=
= 16,400 rad/s 2 CCW
R BC
0.140
A t BA 1260
2 =
=
= 25,200 rad/s 2
R BA 0.050

4.

CW

3
D

Locate D:

=>
D

AD = 1300 m/s2

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 Example:
For the mechanism shown at this instant, the crank has a constant angular
velocity at 2 rad/s CW. Determine the angular acceleration of the rotating
links using the graphical method.
6
OV ,O2

VD

VB
1

370

VBA

B
3

10 units
Scale
O2
2

Scale

VA
A

370

330

VDC

10 unit/s

330

Velocity Polygon

Velocity Analysis:
VA = 2 RAO2 = (2)(22) = 44 units/s
VB = VA+VBA ;
VB

sliding;

; locate A

Line of B
Line of B

Locate B

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VC = VA+ VCA ;

Line of C

VC = VB+ VCA ;

Line of C

VD = VC+ VDC ;

Line of D

VD

sliding;

Locate C

Line of D

3 = VBA/RBA = (28) / (46) = 0.6 rad/s CCW

Locate D

5 = VDC/ RDC = (50) / (42) = 1.2 rad/s CW

C
OA ,O2

Acceleration Analysis:
n
A

AnBA

t
A

1. A A =A + A ;
A n A = 2 2R AO2 = 2 2 (22) = 88
A

BA

AB

= 3 R BA=0.6 (46) =16.5 unit/s

AAB
AtBA

unit/s 2

n
t
2. A B =A A + A BA
+ A BA
; 3 and A B are unknowns
n

AA

; line to it

AD

AnDC
AB
B

Acceleration Polygon

AtDC
10 units/s2
Scale

line of B ; Locate B ; A B = 35 units/s 2

A t BA
74
3. 3 =
=
= 1.6 rad/s 2 CW
R BA
46
4. Connect A to B; Scale ABC by measuring angles to locate C
n
t
5. A D =A C + A DC
+ A DC
; 5 and A D are unknowns

A n DC = 5 2 R DC = 1.22 (42) = 60.5 unit/s 2

AD

line of D;

; line to it

Locate D

A D = 15 unit/s 2
A t DC
5
6. 5 =
=
= 0.12 rad/s 2 CW
R DC
42

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7.3 Analytical Acceleration Analysis

1.

2.

Loop-closure method:
- More complex formulation
- Easy to program
- Not configuration dependent.
Relative acceleration/ Acceleration difference Method:
- Easy to formulate
- Configuration dependent.

Fourbar Mechanism

Known: 2 , 3 , 4 , 2 , 3 , 4 ( Position and Velocity Analyses Completed )

2 (input)
Find:

3 , 4
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Loop closure:

R2 + R3 R4 R1 = 0
aej2 + bej3 c ej4 dej0 = 0

Velocity equation:a j2ej2 + b j3ej3 c j4ej4 = 0

Acceleration:

(a j2ej2 a 22ej2) + (b j3 ej3 b32 ej3) (c j4ej4 c 42ej4) = 0

AA
+
ABA

AB
=0

Real part (X-component):

a 2 sin 2 a 2 2 cos 2 b 3 sin 3 b32 cos 3 + c 4 sin 4 + c 4 2 cos 4 = 0

Imaginary part (Y-component):

a 2 cos 2 a 2 2 sin 2 +b 3 cos 3 b32 sin3 c 4 cos 4 + c 4 2sin 4 = 0

2 linear equations in 2 unknowns 3 , 4 .

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Solving the 2 linear equations in the 2 unknowns 3 , 4 :

A = c sin 4
B = b sin 3
C = a 2 sin 2 a 2 2 cos 2 b32 cos3 c 4 2 cos 4

D = c cos 4
E = b cos3
F = a 2 cos 2 a 2 2sin 2 b32sin 3 + c 4 2sin 4

C D A F
A E BD

C E B F
A E BD

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SliderCrank Mechanism
Loop closure:

R2 R3 R4 R1 = 0

Components:

a cos 2 b cos 3 d = 0
a sin 2 b sin 3 c = 0
Velocity equations:
a2sin 2 + 3 b sin 3 d&= 0
a 2 cos 2 3 bcos 3 = 0

Acceleration equations:
a 2 sin 2 a 2 2 cos 2 + b 3sin 3 + b 3 2 cos 3 &
d&= 0
a 2 cos 2 a 2 2 sin 2 b 3 cos 3 + b 3 2 sin 3 = 0
Solution:
3 =

a 2 cos 2 a 2 2 sin 2 +b 3 2sin 3

b cos 3

&
d&= VB = a 2sin 2 a 2 2 cos 2 + b 3 sin 3 + b 3 2 cos 3
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Rotating Sliders (Coriolis Acceleration)

When we have a sliding joint between two bodies and neither of them is grounded
(i.e. when we have slip velocity), an additional component of acceleration, called
Coriolis acceleration is present.

VP3/2 =V
slip3/2
P2, P3

2
1

AtP2
3

AP2

3
VP2

RP

AtP3/2

P2 , P 3

AnP2

RP

ACP3P2

2
X

Consider two coincident points P2 (on the rod) and P3 (on the slider)
2 DOF; rotation of link (2, 2, 2) and the motion of slider (Vslip = VP3/2)
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R P3 = R P = pe j 2
& j 2
VP3 = VP = j2 pe j 2 + pe
VP2

VP3/2 Vslip32 ( Apparent/Relative Velocity )

& j2 2 2 pe j2 ) + (j2 pe
& j 2 + &
& j 2 )
A P3 = A P = (j 2 pe j 2 + j2 pe
pe
& j 2 + &
& j 2
A P3 = A P = j 2 pe j 2 2 2 pe j 2 + 2j2 pe
pe

A P2 t

A P2 n

A P3P2 c
Coriolis
Acceleration

A P3/2 t
Relative Tangential
Acceleration
ACP3P2
AtP3/2
AP2
AtP2

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AP3
AnP2

24

 When the slider is moving on a curved slot, a AnP3/2 also exists.

Hence:
AP3 = AP2 + ACP3P2 + AnP3/2 + AtP3/2
where:
Coriolis Accel.:
Normal Relative Accel.:

A CP3P2 = 22 VP3/2 Use right-had rule for direction of A CP P

3 2

A n P3/2 =

VP3/2 2

P3/2
& &
=V
s&

Tangential Relative Accel.: A t P3/2

P3/2 is radius of curvature

P3/2

Coriolis acceleration occurs due to

Change of direction of VP3/2
Change of magnitude of 2r
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 Example (by Acceleration Polygon):

2

Perform acceleration analysis on the

linkage at this instant. The crank has a
constant input speed of 18 rad/s CW.

300
O2
1

O2 A = 8 in

O2 B = 10 in

Velocity analysis:

B
OV , O2 , B4

1.

VA = 2R

2.

VB3 = VA + VB3A ;
VB3 = VB4 + VB3/4 ;

3.

8
= 12 ft/s;
12
line of B3

AO 2= (18)

line of B3

Locate A

B3

; locate B3

R B3A

VB3A

Scale

VB3A = 10 ft/s
VB3A

VA

5 ft/s

VB3/4 = 6.5 ft/s

3 = 4 =

VB3/4

10(12)
= 7.78 rad/s
15.6
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CW

26

Acceleration analysis:
n
t
1. A A = A O2 + A AO
+ A AO
;
2
2

8
2
= 216 ft/s
12

A n AO2 = 2 2R AO2 = (18) 2

2. A B3 =A A + A

n
B3 A

+A

t
B3A

ACB3B4

B3

AnB3A
A

A C B3B4 = 24 VB3/4 = 2(7.78)(6.5) = 101 ft/s 2

A

B3/4

V 2 B3/4

6.52
=
=0

B3/4

&
A t B3/4 = V
B3/4

AA
100 ft/sec2

3. A B3 =A B4 + A CB3B4 + A nB3/4 + A Bt 3/4

OA , O2 , B4

AB3

AtB3A

15.6
2
A B3A = 3 R BA= (7.78)
= 78.7 ft/s
12
line to it;
line of B3 .
n

AtB3/4

; Locate A

Scale

ACB3B4

VB3/4

along VB3/4 (along slider relative motion)

4. Locate B3 ;
A

B3 A = 16 ft/ s

A t B3/4 = 103 ft/s 2

A B3A t

3 = 4 =

A B3 144 ft/s 2
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R BA

16(12)
= 12.3 rad/s 2
15.6

27

 Example: Inverted Slider-Crank (Analytical)

Y
4
R2

Vector-loop:

R 2 R 3 R1 = 0

O2

Position Analysis:

3
a P

R3

d
R1

4
O4

ae j 2 se j 4 de j0 0
Velocity Analysis:
aj2 e j 2 s&
e j 4 sj4e j 4 0
VP2

VP4/2 VP4

Acceleration Analysis:
&j4 s&
(aj 2 e j 2 a2 2 e j2 ) (&
se
j4 e j 4 ) ( s&
j4 e j4 sj 4 e j 4 s4 2e j 4 ) 0
&j 4 ) 0
(aj 2 e j 2 a2 2 e j 2 ) ( sj 4 e j4 s4 2 e j 4 ) (2 s&
j4 e j 4 ) (&
se
(A P2 t + A P2 n )
A P2

(A P4 t +

A P4 n )

(24 VP4/2 ) A P4/2 t 0

A P4
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A P4 P2 c

A P4/2

28

 In terms of Algebraic equations:

acos 2 s cos 4 d = 0
asin 2 s sin 4 = 0
Velocity:
a2sin 2 s&cos 4 + s 4sin 4 = 0
a2 cos 2 s&sin 4 s 4 cos 4 = 0

Acceleration:
&
&
-a 2sin 2 a 2 2 cos 2 &
s&
cos 4 + s
4sin 4 s
4 sin 4 s 4sin 4 + s 4 cos 4 = 0
2a
a
cos

2
2

&
&
sin
ssin
2

& 4 cos 4 s 4 cos

s& 4 cos
4 s
4 + s =3sin
0
4

2 linear equations in &

s&, 4 .

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7.4 Acceleration Analysis of

Geared Fivebar
b
a

Vector-Loop:
R2 + R3 R4 R5 R1= 0

c
d

Algebraic equations:
a cos 2 +b cos 3 c cos 4 d cos 5 (r2 +r5 ) = 0
a sin 2 +b sin 3 c sin 4 d sin 5 = 0
5 = 2 + ,

where: is gear ratio, is phase difference

Velocity equations:
a 2sin 2 b3 sin 3 + c 4sin 4 + d5sin 5 = 0
a 2 cos 2 + b 3cos 3 c 4cos 4 d 5 cos 5 = 0

5 = 2

Acceration equations:
(a 2sin 2 a 2 2cos 2) (b 3 sin 3 b 3 2cos 3)+(c 4sin 4+c 4 2cos 4 )+(d 5sin5 d5 2 cos5 ) = 0

( a 2cos 2 a2 2sin 2 ) + (b 3cos 3 b3 2sin 3 ) (c 4cos 4 c4 2 sin4 ) (d 5 cos5 d5 2 sin5 ) = 0

5 = 2
3 linear equations in 3 unknowns: 3 , 4 , 5 .

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7.5 Acceleration of Any Point on a Linkage

Fourbar Mechanism example

Point S:
R SO2 = se j (2 2 )
= sj2 e j ( 2 2 )

VS

A S = sj 2 e j ( 2 2 ) s2 2 e j ( 2 2 )
Point U:
R UO4 = ue j (4 4 )
VU = uj4 e j ( 4 4 )
A U = uj 4 e j ( 4 4 ) u4 2 e j ( 4 4 )
Point P:
R P = R A + R PA
= ae j 2 pe j (3 3 )
VP = aj2 e j 2 pj3e j (3 3 )
A P = ( aj 2 e j 2 a2 2 e j 2 ) ( pj 3e j (3 3 ) p3 2e j3 )

Note: Acceleration analysis is performed by programs LINKAGES (5th edition)

or FOURBAR, SLIDER, FIVEBAR, and SIXBAR (4th edition)
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Analytical Acceleration Analysis using Acceleration Difference Method

( can be performed only one instant at a time, not general)
B

Y
Example:
2
3
Given: VC = 10 m/s (constant) to the left,
450
E
Measured distances:
A
1
AB = 50 mm; BC = 140 mm;
3 X
4
BE = 80 mm: ED = 50 mm;
F
C
AF = 20 mm
Find:
2 , 3 , AB, AD
VC = 10 m/s = const.
D
Solution:
From position and velocity analyses:
2 = 45; 3 = 156.7; d = 163.9 mm
2 = 200 rad/s CCW; 3 = 53.6 rad/s CW; VC = 10 m/s @1800 ; VD = 12 m/s @ 1600
B

Accelerations:

50

n
t
n
t
A B = A C + A BC
+A BC
=A A + A BA
+A BA
;
2
A
+BC
R 3 = BC

C R
3

2 ,3 unknowns

+2 R
2
BA
2
BA
{0} ( 53.6) 2{ 0.14 cos(23.30 ) i + 0.14 sin(23.30 )j }

45 h
0

20

14
0

23.3
16.5

78. 1

) { 0.14 cos(23.30 ) i + 0.14 sin(23.30 )j }

+ ( 3 k
= (200) 2 {0.05 cos(450 ) i + 0.05 sin(450 )j }
) {0.05 cos(450 ) i + 0.05 sin(450 )j }
+ ( 2 k
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+
k

32

solution:
2 = 25,200 rad/s 2

CW

3 = 16,400 rad/s 2

CCW

n
t
A D = A C + A DC
+A DC
2
= A
+DCR 3
C R3

DC

= {0} ( 53.6) 2{ 0.078 cos(16.50 ) i 0.078 sin(16.50 )j }

+ (16,400 k ) { 0.078 cos(16.50 ) i 0.078 sin(16.50 )j }
= 549.4 i 1178.2 j
= 1200 m/s 2 @ 65

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7.6 Human Tolerance to Acceleration

Human body does not sense velocity, but is very sensitive to acceleration
A measure of acceleration is Gs
1G = 9.81 m/s2 = 32.2 ft/s2 = 384.6 in/s2

(at sea level)

When designing machinery for human occupation, e.g. elevators, cars, aircraft, amusement rides,
etc.
Evaluate the accelerations (peak) for the potential design
Compare with the commonly experienced ones.
Common values of acceleration in human activities (with comfort)
Automobile acceleration

0.1 0.5 Gs

Jet aircraft take off

0.3 Gs

Panic auto stop

0.7 Gs

Fast auto cornering

0.8 Gs

Roller Coaster

3.5 Gs

F-16 jet

9.0 Gs

Acceleration thresholds (limits of injury) are also very important in addition to comfort
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 Example:
Compute the acceleration in Gs of the occupants of an amusement ride, if the boom is at
16 feet in length with a radial velocity of 15 in/s and radial acceleration of 100 in/s 2 both
outward. The boom is rotating at 18 rpm CCW and at this instant is 45 degree above
horizontal. Gravity is downward. To prevent over speed, brakes are applying a 500 rpm2
deceleration.

p&= 15 in/s

P
16

fe

et

&
p&= 100 in/s 2

3
g
2
2=45

Known:

O2

2 = 45

2 = 18 rpm CCW = 18 (2 )/(60) = 1.88 rad/s CCW

2 = 500 rpm 2 CW = 500 (2 )/(60) 2 = 0.87 rad/s 2 CW
R p = p = 16 ft = 16(12) = 192 in
VP3/2 = p&= 15 in/s

outward

& =&
V
p&= 100 in/s 2 outward
P3/2
Find:

A P3 in G's.
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1. A P2 = A O2 +A Pn2O2 + A Pt 2O2
A n P2 O2 = 2 2R P2O2 = (1.88) 2 (192)= 678 in/s 2 [
A t P2 O2 = R P2 O2 = (0.87) (192)= 167 in/s 2 ]

479 j479 i n/s 2

118 j118 in/s 2

A P2 = 361 j 597 in/s 2

2. A P3 = A P2 + A CP3P2 + A Pn3/2 + A Pt 3/2 + A Gravity
A C P3P2 = 22 VP3/2 = 2(1.88)(15) = 56.4 in/s 2 ^
A

p3/2

VP3/2 2

52
=
=0

& =&
=V
p& 100 in/s Z
P3/2
2

P3/2

40 j 40 in/s 2

70.7 j 70.7 in/s

100 in/sec2
2

Scale

A Gravity 32.2 ft/s 2 386.4 in/s 2 j 386.4 in/s 2

OA , O 2

Hence:
A P3 = ( 361 j597) ( 40 j 40) (0) (70.7 j70.7) ( j386.4)
= 330 j873 in/s 2
AnP2O2

= 933.1 in/s 2 @249

= (933.1) /(386.4) G's

AP3

A P3 = 2.4 G

AtP3/2
AtP2O2

ACP3P2
P2

AGravity

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36

 Exercise:
Redo the amusement ride problem for the case when the radial velocity and radial
acceleration are both inward.

p&= 15 in/s

P
16

fe

et

&
p&= 100 in/s 2

3
g
2
2=45

Known:

O2

2 = 45

2 = 18 rpm CCW = 18 (2 )/(60) = 1.88 rad/s CCW

2 = 500 rpm 2 CW = 500 (2 )/(60) 2 = 0.87 rad/s 2 CW
R p = p = 16 ft = 16(12) = 192 in
VP3/2 = p&= 15 in/s

inward

& =&
V
p&= 100 in/s 2 inward
P3/2
Find:

A P3 in G's.
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Human Tolerance to Impact

Dynamic forces produced within the human body in response to acceleration (Newtons second law:
F = mA) can be harmful, if excessive.

Bodys tolerance of acceleration as a function of its direction, its magnitude and its duration:

Human body tolerance to acceleration in different directions

In all directions, as we approach impact conditions, higher Gs and smaller duration are experienced.
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 Earliest studies of the effects of impact accelerations or loads on the human body are primarily from the
field of aviation and aerospace medical impact research.
The first well-documented series of human volunteer tests were conducted in 1954 in the desserts of
New Mexico at Holloman Air Force Base. Test subject was Colonel John Stapp who sustained, without
serious complaints, a velocity change of 632 mph (1000 km/hr) during 1.4 sec (stopping in 690 ft) on a
rocket propelled sled device. The maximum deceleration was astonishingly 46G.
For comparison, the average deceleration during a 50 km/h (31 mph) vehicle crash test against a brick wall
is about 25G, and this deceleration usually does not take longer than 0.1 sec.

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 Military subject tests were also conducted at Naval Biodynamics Laboratory (NBDL) in New Orleans,
mostly to quantify the head-neck responses to impact conditions in 60s and 70s.

NBDL sample GX 15G impact test

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 Human body tolerance to impact decreases with increasing pulse duration.

The limit of voluntary exposure is about 40G for +GX.
The tolerance in GX impacts is in the same order of magnitude.
For Z-direction impacts, the tolerable levels is lower, in particular the level
of voluntary exposure (about 15G in case of +GZ and 10G for GZ).
Tolerance in -GZ impacts has had very limited study since the human body
is hardly exposed to accidents in this loading direction.
In lateral direction (GY) much less data appear to be available. Impact
tolerances in this direction are reported to be much lower than in G X or
+GZ direction.
Body acts as an amplification device. Different tolerances exists for limits

Superior

of acceleration for different body parts.

Head: A < 60G

for t=36 ms

A < 100G

for t=10ms

2
1
HIC ={ (t 2 t 1) [
A(t)dt]2.5 }max

(t 2 t1 ) t1
Head Injury Criteria (HIC):

HIC36 < 1000 ;

Lateral
Anterior

HIC15 < 700

Chest: Frontal 3-msec Chest Acceleration A < 60G

Human body with coordinate system

Lateral Avg. Chest Acceleration A < 85G

Lateral Pelvic Acceleration A < 130G
Tibia: Acceleration < 150G

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7.7 Jerk (Pulse, Shock)

Rate of change of acceleration with respect to time
dA

J = dt

d
= dt

Linear Jerk
Angular Jerk

Jerk: result of rapidly changing accelerations/forces

Excites natural frequencies of vibration of machine or structure
Increases vibration and noise
Need to minimize jerk in machine design
(Does not have to be continuous, but should have an upper limit)
Jerk control is important in cam design
(Two surfaces in contact; rapidly changing acceleration may occur)

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Fourbar mechanism
Y
P
B

p
A
a

c
R4

R2

R3

d
R1

X
O4

O2

Known: 2 , 3 , 4
2 , 3 , 4
2 , 3 , 4
2 (input)
Find:

3 , 4 , JA , JB , JP

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Loop-closure:

R2 + R3 R4 R1 = 0
aej2 + bej3 cej4 dej0 = 0

Velocity:

aj2ej2 + bj3ej3 cj4ej4 = 0

Acceleration:

(aj2ej2 a22ej2) + (bj3ej3 b32ej3) (cj4ej4 c42ej4) =0

Jerk equation:

(aj2ej2 a22ej2 2a22ej2 a23jej2) +

(bj3ej3 b33ej3 2b33ej3 b33jej3) (cj4ej4 c44ej4 2c44ej4 c43jej4) = 0

Subdivide into X (real) and Y (imaginary) components 2 linear equations in 3 , 4
JA =

d 3 (ae j2 )
dt 3

d 3 (ce j4 )
JB =
dt 3

d 3 (ae j2 pe j (3 3 ) )
JP =
dt 3

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