4.

Acceleration Analysis
Lecture

JB Kim

Mechanism Design

Acceleration in Pure Rotation

RPA p e
VPA
APA

d RPA

j p e j
dt
d VPA
j d
dt

j p(e

dt

j e

d
)
dt

j p e j p 2 e j
t
APA

Tangential

n
APA

Normal

Regardless of the
direction of

APA in this case is absolute acceleration

JB Kim

Mechanism Design

Acceleration Difference

AP AA APA

A A A A
t
P

JB Kim

n
P

t
A

n
A

A A
t
PA

n
PA

Mechanism Design

Relative Acceleration

JB Kim

Mechanism Design

Graphical Accel. Analysis

[Example 7-1]

AAt

AB

Given 2 ,3 , 4 , 2 , 3 , 4 , 2 ,

ABn

AA

t
B

Find 3 , 4 , AA , AB , AC

A
t
BA

AAn
ABA
n
ABA

AA AAn AAt
______

| A | O2 A 22
n
A

______

| A | O2 A 2
t
A

AB AA ABA
A A AA A A
n
B

AB A A
n
B

______

| A | O4 B
n
B

______

t
B

JB Kim

n
BA

t
BA

______

_____

AB

_____

| A | AB 32
n
BA

2
4

| A | O4 B 4 ? O4 B
t
B

t
B

t
| ABA
|

______

t
| ABA
| ? AB

| ABt |
_____

BO4
Mechanism Design

ACA

??

JB Kim

Mechanism Design

Analytical Accel. Analysis

R2 R3 R4 R1 0
1 0o , d constant

JB Kim

Mechanism Design

R2 R3 R4 R1 0
d
dt
d
dt

ae

j 2

be

j 3

ce

j 4

de

j 1

1 0o , d constant

ja 2 e j 2 jb3 e j 3 jc4 e j 4 0

( j 2 a22 e j 2 ja 2 e j 2 ) ( j 2b32 e j3 ja 3e j3 ) ( j 2 c42 e j 4 jc 4 e j 4 ) 0

(a22 e j 2 ja 2 e j 2 ) (b32 e j3 jb 3e j3 ) (c42 e j 4 jc 4 e j 4 ) 0

( AAn

AAt )
AA

n
( ABA

t
ABA
)

ABA

Eulers identity, Separate Re & Im, Solve..

JB Kim

( ABn

ABt ) 0
AB

Do it yourself!
Mechanism Design

JB Kim

Mechanism Design

R2 R3 R4 R1 0
d
dt
d
dt

a e j 2 b e j 3 c e j 4 d e j 1 0

ja 2 e

j 2

jb3 e

j 3

0d 0

(a22 e j 2 ja 2 e j 2 ) (b32 e j 3 jb 3e j 3 ) d 0
( AAn

AAt )
AA

n
( AAB

t
)
AAB

AAB

AB

AB

Eulers identity, Separate Re & Im, Solve..

JB Kim

Mechanism Design

Eulers identity

Separate Re & Im

Solve

JB Kim

Mechanism Design

Coriolis Acceleration
RP p e j2

dR P
j 2
VP
jp2 e p e j2
dt

JB Kim

trans
p

Mechanism Design

slip
p


dR P
VP
jp2 e j2 p e j2
dt

d
dt

V
AP jp 2 e
APt
JB Kim

j 2

trans
p

p e
2
2

APn

j 2

slip
p

2 j p 2 e
APCoriolis

j 2

pe j 2 0
APslip

Mechanism Design

[Whirling direction of typhoon due to the Coriolis force ]

[North Hemi-sphere: C.C.W. direction]

JB Kim

[South Hemi-sphere: C.W.]

Mechanism Design

[Human Tolerance of Acceleration]

JB Kim

Mechanism Design

Angular-rate Sensor (Gyroscope)

Micromachined gyroscopes rely on a

vibrating mechanical structure.
Secondary oscillation in either the
same structure or in a second one is
induced due to the Coriolis force.
The amplitude of the secondary
oscillation is proportional to the
angular rate signal to be measured.
JB Kim

Mechanism Design