Acceleration Analysis

  
Linear acceleration A  R  V
Angular acceleration     
Acceleration of a point
i
RP  pe
VPA  pe i
 i   pe i 
i

APA  VPA  pei (i ) 2  pei  i 

  2 pei  i pei Acceleration has 2 components:
n t normal & tangential
APA APA
 Acceleration Analysis
Magnitudes of acceleration components

APA   2 pei  i pei

n t
APA APA

A  r ,
n 2
A  r
t

Magnitude of normal Magnitude of tangential

acceleration acceleration
 Acceleration Analysis
If point A is moving
AP  AA  APA
i i
 AA   pe  i pe
2

Graphically:
 Graphical Acceleration Analysis (3&4)

• Given linkage configuration, 2. Find 3 and 4

• Know AnA,AtA,AnBA,AnB, and direction of AtBA,AtB
• AB=AA+ABA AnB+AtB= AnA+AtA+AnBA+AtBA
AnA
AnB

AtB AtA
AtB line
AtBA
AnBA
AtBA line
 Acceleration of point C
• Now we know 3 from previous step
• AC=AA+AC/A=AnA+AtA+AnC/A+AtC/A
Enlarged scale

AnA
AC

AtA

At AnC/A
C/A
Analytical Acceleration Analysis (4bar)

Given 2. Find 3 and 4

Analytical Acceleration Analysis (4bar)

Write vector loop equation:

aei2  bei3  cei4  dei1  0

Take two derivatives:

i2aei2  i3bei3  i4cei4  0
 2 2 aei 2  i 2 aei 2  32bei3  i 3bei3  4 2cei 4  i 4cei 4  0
 Analytical Acceleration Analysis (4bar)
 2 2 aei 2  i 2 aei 2  32bei3  i 3bei3  4 2cei 4  i 4cei 4  0
Separate knowns and unknowns
 3bei3   4cei 4 
 2
2

aei 2  i 2 aei 2   32bei3   4 2cei 4
Z
i
Take conjugate
3bei3   4cei4  Z
 bei3 cei4   3   Z 
Put in matrix form  i     
  4   Z 
 
 be 3
 ce i 4

i4 1
Solve 3   be i3
ce   Z 
    i3  i4   
 4  be ce   Z 
 Coriolis Acceleration
Position of slider
i
Rp  pe .

Velocity of slider
Vp  pei i  pei
Transmission Slip
velocity velocity

Acceleration: Use the product rule

Ap  pe i  pe  i   pei i  pei  pei i
i i 2

Combining terms:
Ap   p  p   i  p  2 p   e a body has v and 
 2
 i Coriolis acc. cccurs when
slip
Slip Normal Tangential Coriolis
 Inverted Crank Slider
• Given 2. Find b , 3 and 4
 Inverted Crank Slider
• Write vector loop equation and take two derivatives
i 2 i3 i 4 i1
ae  be  ce  de  0
i2aei2  bei3  i3bei3  i4cei4  0 b varies with time
  2 2 aei 2   2 aei 2 i
 bei3  2bei3 i  32bei3   3bei3 i
  4 2cei 4   4cei 4 i  0
• Recall
3 4 
• so 3  4
3  4
 Inverted Crank Slider
 2 2 aei 2   2 aei 2 i  bei3  2bei3 i  32bei3   3bei3 i   4 2cei 4   4cei 4 i  0
• Group into knowns and unknowns, 3=4
 
bei3  i 3 bei3  cei 4   2 2 aei 2   2 aei 2 i  2bei3 i  32bei3   4 2cei 4
Z
• Take conjugate

bei3  i3 bei3  cei4  Z 
• Put in matrix form
 e i 3 bei 3  cei 4   b   Z 
  i 3  i 3  i 4    
e be  ce   3   Z 
• Solve
1
 b   ei 3 i 3
be  ce   Z  i 4
     i 3  i 3  i 4   
 3  e be  ce   Z 
Acceleration of any point on the mechanism
• Write the vector for RP
R p  aei 2  pei 3  3 
• Take derivative twice
V p  i2 aei 2  i3 pei 3  3 
Ap   2 2 aei 2  iaei 2  ia3 pei  3  3   32 pei 3  3 

• Similarly
RS  se i  2  2  VS  i2 sei 2  2 

AS  i 2 sei  2  2    2 2 sei  2  2 

RU  uei 4  4  RP

VU  i4uei 4  4 
AU  i 4uei  4  4    4 2uei  4  4 
 Inverted Crank Slider
..
• Given 2. Find 3 and d
 Common Values of Accelerations
• A ‘g’ is the acceleration of gravity =9.81m/s2
• Common values of acceleration:
 Human Tolerance for Acceleration
• Humans are limited in the level of acceleration they
can tolerate
• Machines are limited
by the stresses in the
parts, e.g. automobile
piston 40g’s at
idle, 700g’s at
highway 2000g’s
peak
 Jerk
• Jerk is the derivative
  ofacceleration

linear jerk J  R V  A
      
angular jerk
• High value of jerk causes stomach to go funny in
roller coaster or elevator starting to descend
High acceleration

High jerk
 Jerk Analysis of 4-bar Linkage
• Recall
i 2 i3 i 4 i1
ae  be  ce  de  0
i2aei2  i3bei3  i4cei4  0
 2 2 aei 2  i 2 aei 2  32bei3  i 3bei3  4 2cei 4  i 4cei 4  0

• Taking another derivative

i 2 aei 2  3 2 2 aei 2  i 23aei 2
 i 3bei3  3i 33bei3  i33bei 3
 i 4cei 4  3i 4 4cei 4   4 2cei 4  0