Mechanics of Machines

MDB3043

Lecture 11:
Acceleration Analysis
 Outline

Acceleration Analysis
 Acceleration of a Rotating Link
 Normal & Tangential Acceleration
 Relative Acceleration
 4-bar Linkage Example
 Stages in Dynamic Analysis
The forces generated due
to the motion of any link
Position Analysis
of a mechanism might be
constrained by the
Velocity Analysis design specification.
Normally, maximum
force (and thus
Acceleration Analysis acceleration) are of
interest to the designers
Force Analysis

Example: The ink stamping mechanism has to stamp ink on

the carton with a force of between 10 N to 20 N.
 Definitions

 Acceleration:
 The rate of change of velocity with respect
to time
 Acceleration Analysis:
 A mathematical technique by which
accelerations of parts of a mechanism are
determined.
 Human Tolerance to Motion

 Human body does not sense velocity except with the

eyes
 Human body is sensitive to acceleration
 Human body might be damaged at high accelerations
 Machines with human interface must consider human
tolerance to acceleration
 Accelerations Limits in Mechanisms
without Human
 Acceleration of any parts on a mechanism is limited
by the stress induced, especially at the joints, which
can lead to failure.
 As a comparison, a typical car engine with 4 cylinders
might have its piston at these accelerations:
 40 g at idle speed
 700 g at 100 km/hr travel
 2000 g at max engine speed
 Normal Acceleration of a Rotating Link
Link AB is rotating about joint A at a constant angular speed ω .
As Link AB rotates, any point on the link (except at A) will experience a
linear acceleration towards the centre of rotation, A. This acceleration
component is defined as the normal acceleration.
The normal acceleration at point B is denoted by aBn.
B
aBn aBn = ω2 rAB
rAB ω
A

Copyright © Azman Zainuddin 2004,2006

 Tangential Acceleration of a Rotating Link
At the instant shown, link AB is rotating about joint A at an
angular speed ω and an angular acceleration α.

As Link AB rotates, any point on the link (except at A) will

experience a linear acceleration tangential to the rotation.

This acceleration component is defined as the

B aBt tangential acceleration.

α
rAB ω The tangential acceleration at

A point B is denoted by aBt.

aBt = α rAB
Copyright © Azman Zainuddin 2004,2006
 Acceleration Vector Direction of a
Rotating Link

The normal acceleration always directed towards the centre of

rotation.
The direction of the tangential acceleration depends on whether
the link rotation is gaining, losing speed or at constant speed.
t
B a B B B
aBn aBn t aBn
aB
α >0 α α =0 α
ω ω α <0 ω
A A A

Copyright © Azman Zainuddin 2004,2006

Total Acceleration of a Rotating Link
At the instant shown, link AB is rotating about joint A at an
angular speed ω and an angular acceleration α.

The linear acceleration of point B is a combination of normal and

tangential acceleration components.

t
aB = aBn + aBt Note the
B aB
aBn aB notation:
aBn superscript
α
ω aBt
follows the
aBt subscript.
A or
aBn
aB

Copyright © Azman Zainuddin 2004,2006

 Acceleration of a Rotating Complex Link
Points A , B and C are on the a complex link that rotates at an
angular velocity ω and acceleration α about A.

aB aC t
aBn
B aBt aC aCn
C aBt
aBn aCt
aCn aB = aBn + aBt aC = aCn + aCt

α rAC Acceleration of point C relative to B

rAB
ω aC = aB + aC/B
A Relative aB
acceleration aC
Note: All absolute acceleration
vectors start from the same point. aC/B
Copyright © Azman Zainuddin 2004,2006
 Components of Acceleration
aC = aB + aC/B aCn + aCt = aBn + aBt + aC/Bn + aC/Bt

Note: These are vectors. So they

START should not be added as scalars
aCt
aB
aC/Bn

aCn
aBn aC/Bt
aC
aC/B aBt

END Copyright © Azman Zainuddin 2004,2006

 Acceleration of a Link
If Link 1 is rotating clockwise at a velocity of 25 rad/s
and accelerates at 500 rad/s2 …..

200 mm
B
C

2
α
1 3
ω
40˚

290 mm
… what is the acceleration of point B ?
Copyright © Azman Zainuddin 2004,2006
Normal & Tangential Acceleration Components
ω1 = 25 rad/s CW α1 = 500 rad/s2 CW
rBA = 0.25 m
B
Normal acceleration aBn = ω12r
40O 50O
ω12rBA = 252 x 0.25 = 156.25 m/s2 40O
aB t Tangential acceleration aBt = α1 rBA
aB n α1 rBA = 500 x 0.25 = 125 m/s2 50O
1
40O aB = aBn + aBt
A aBn
Measuring the line from the
aB
acceleration diagram and converting aBt
the value into acceleration unit,
aB = 200 m/s2 78o

Copyright © Azman Zainuddin 2004,2006

 Acceleration Analysis
If Link 1 is rotating clockwise at a velocity of 25 rad/s at the
instant shown and accelerates at 500 rad/s2 …..

200 mm
B
C

2
α … what are the
1
ω 3 accelerations of
• point C ?
40O
• point C relative to
point B ?
290 mm • link 2 (angular)?
• link 3 (angular?
Copyright © Azman Zainuddin 2004,2006
 Copyright © Azman Zainuddin 2004,2006

Acceleration Analysis :Relative Acceleration

Given α1 and ω1, aC = aB + aC/B known
determine α2 and α3 aC/Bt
B 2 C
a n+ a t= a n+a t + a n+ a t
O 30 O C C B B C/B C/B
40O 50 a n
C/B
aB aB
n t
aCn aCt
1 known line of action
3 unknown magnitude
O 60 O
A 40
D
aBt
t a n aBn n
vC = vB + vC/B aB = α1 rAB
t a C C
aCt a C

vC aBn = ω12rAB
aC/Bt
aC = ω3 rCD
n 2
aBn
t
a B
t
a C/B
vB
vC/B aC/B = ω2 rBC
n 2

ω2 and ω3 can be aC/Bn

aC/Bn
ω2= vC/B / rCB determined from
ω3= vC / rCD velocity analysis α2= aC/Bt /rCB α3= aCt / rCD
Acceleration Analysis :Relative Acceleration
aC/Bt
aC = aB + aC/B
B 2 C
30O aCn + aCt = aBn + aBt + aC/Bn + aC/Bt
40O 50O aC/Bn
aBn aBt aCn aCt
1 What if Link 1 turns at
3 constant speed?
40O 60O α1 = 0  aBt = α1 rAB = 0
A D

Copyright © Azman Zainuddin 2004,2006

vC = vB + vC/B aCt aBn aBn
aCn aCn
vC aC/Bt aCt

vB aC/Bn aBt
vC/B aC/Bt
ω3= vC / rCD
ω2= vC/B / rCB aC/Bn