Acceleration Analysis

Chapter 3 Acceleration Analysis

Summary
(1) Acceleration is the derivatives of velocity with respect to time and is proportional to the slope of the tangent to the velocity-time curve for any instant. (2) The rate of change of velocity in the tangential direction of the motion of a particle is known as the tangential acceleration. (3) The rate of change of velocity along the radial direction is known as the centripetal or radial acceleration, the direction being towards the centre of rotation. (4) The angular acceleration of a link about one extremity is the same in magnitude and direction as the angular acceleration about the other and is found by dividing the tangential acceleration with the length of the link. (5) Acceleration images are helpful to find the accelerations of offset points of the links. The acceleration image of a link is obtained in the same manner as a velocity image. (6) Acceleration of a point on a link relative to a coincident point on a moving link is the sum of absolute acceleration of the coincident point, acceleration of the point relative to coincident point and the Coriolis acceleration.

Exercises
(1) What are centripetal and tangential components of acceleration? When do they occur? How are they determined? (2) Describe the procedure to draw velocity and acceleration diagrams of a four-link mechanism. In what way the angular accelerations of the output link and the coupler are found? (3) What is an acceleration image? How are they helpful in determining the accelerations of offset points on a link? (4) What is Coriolis acceleration component? In which cases does it occur? How is it determined? (5) Explain the procedure to construct Kleins construction to determine the velocity and acceleration of a slider-crank mechanism. (6) A crank and rocker mechanism ABCD has the following dimensions: Kinematics of Machines (141902) Department of Mechanical Engineering Om Shanti Engineering College, Rajkot. 1

Acceleration Analysis AB = 0.75 m, BC = 1.25 m, CD = 1 m, AD = 1.5 m BE = 437.5 mm, CE = 87.5 mm and CF = 500 mm E and F are two points on the coupler link BC. AD is the fixed link. BEC is read clockwise and F lies on BC produced. Crank AB has an angular velocity of 20.94 rad/s counterclockwise and a deceleration of 280 rad/s2 at the instant DAB = 60. Find (i) The instantaneous acceleration of C, E and F (ii) The instantaneous angular velocities and accelerations of links BC and CD. [(i) 166 m/s2, 330 m/s2, 161 m/s2 (ii) wbc = 5.92 rad/s cw, wcd = 11.5 rad/s ccw, rad/s2 ccw,
cd bc

= 229

= 100 rad/s2 ccw]

(7) Figure 3.23 shows a mechanism in which O and Q are the fixed centres. Determine the acceleration of the slider S and the angular acceleration of the link BQ for the given configuration. [14.5 m/s2 towards left; 114 rad/s2 cw]

Figure 3.23 (8) In a simple steam engine, the lengths of the crank and the connecting rod are 100 mm and 400 mm respectively. The weight of the connecting rod is 50 kg and its centre of mass is 220 mm from the cross-head centre. The radius of gyration about the centre of mass is 120 mm. If the engine speed is 300 rpm, determine for the position when the crank has turned 45 from the inner-dead centre, (i) the velocity and acceleration of the centre of mass of the connecting rod. (ii) the angular velocity and acceleration of the rod. (iii) the kinetic energy of the rod. [(i) 2.7 m/s, 80 m/s2 (ii) 5.7 rad/s, 173 rad/s2 (iii) 194 N.m]

Kinematics of Machines (141902) Department of Mechanical Engineering Om Shanti Engineering College, Rajkot. 2

Acceleration Analysis

(9) From the data of a reciprocating pump given in Example 2.3, find the linear acceleration of
the cross-head E and the angular accelerations of the links BCD and DE. [9.25 m/s2; 60.8 rad/s2; 5.12 rad/s2]

(10) Figure 3.24 shows a toggle mechanism in which the crank OA rotates at 120 rpm. Find the
velocity and the acceleration of the slider at D. [170mm/s; 830 mm/s2]

Figure 3.24

(11) In a crank and slotted-lever quick-return mechanism [Fig. 3.12(a)], the distance between the
fixed centres O and A is 250 mm. Other lengths are: OP = 100 mm, AR = 400 mm, RS = 150 mm and AOP = 120. Uniform speed of the crank is 60 rpm clockwise. Line of stroke of the ram is perpendicular to OA and is 450 mm from A. Calculate the velocity and the acceleration of the ram S. [0.64 m/s; 1.55 m/s2]

(12) For the inverted slider-crank mechanism of Example 2.11, determine the angular
acceleration of the link QR. [3.55 rad/s2] (13) In the pump mechanism shown in Fig.3.13 (a), the crank OA is 50 mm long and the piston rod AC 150 mm long. The lengths OQ and CQ are 250 mm and 80 mm respectively. The crank rotates at 300 rpm in the clockwise direction. Determine (a) the velocity if the piston relative to walls (b) the angular velocities of rod AC and the cylinder. (c) the sliding acceleration of the piston relative to cylinder. (d) the velocity of piston (absolute) (e) the angular acceleration of the piston rod BC. [(a) 1.51 m/s (b) 2.06 rad/s ccw of both, rod AC and cylinder Kinematics of Machines (141902) Department of Mechanical Engineering Om Shanti Engineering College, Rajkot. 3

Acceleration Analysis (c) 16 m/s2 (d) 1.5 m/s (e) 239 rad/s2 ccw]

Kinematics of Machines (141902) Department of Mechanical Engineering Om Shanti Engineering College, Rajkot. 4