Velocity & Acceleration

Some important Definitions

Displacement: All particles of a body move in

parallel planes and travel by same distance is
known, linear displacement and is denoted by ‘x’.

A body rotating about a fixed point in such a way

that all particles move in circular path angular
displacement and is denoted by ‘’.

P R Venkatesh Mech Dept

RVCE Bangalore
 Velocity: Rate of change of displacement is
velocity. Velocity can be linear velocity of angular
velocity.
Linear velocity is Rate of change of linear displacement
dx
V 
dt
Angular velocity is Rate of change of angular
displacement.
d

dt
P R Venkatesh Mech Dept
RVCE Bangalore
Relation between linear velocity and angular velocity.

x=r 


r


dx  d 
x  r ,  r   r
dt  dt 
P R Venkatesh Mech Dept
RVCE Bangalore
 VA
The linear velocity of a point is
directly proportional to its distance

from the centre of rotation.
VB
 Such that, Va  OA  

and Vb  OB  
Va OA
Hence 
 Vb OB

P R Venkatesh Mech Dept

RVCE Bangalore
Absolute velocity: Velocity of a point with respect
to a fixed point (zero velocity point).


V a    (OA ),

As the point O is fixed,

Va is called the absolute velocity

of A w.r.t 'O'

P R Venkatesh Mech Dept

RVCE Bangalore
Relative velocity: Velocity of a point with respect to
another point . (which is not fixed)

 V ab    (AB ),
Vab is called the relative velocity
of A w.r.t 'B'

V ab V ba in magnitude,
but opposite in direction.

B
P R Venkatesh Mech Dept
RVCE Bangalore
 Acceleration
It is defined as the rate of change of velocity.
Linear Acceleration : It is the rate of change of
linear velocity.
Angular Acceleration: It is the rate of change of
angular velocity denoted by ‘a’
d
Angular acceleration a 
dt
Total acceleration : It is the vector sum of the
normal (Centripetal) acceleration & tangential
acceleration.
P R Venkatesh Mech Dept
RVCE Bangalore
Let a link OA of length r, rotate in a circular path in
clockwise direction as shown in fig.
Let ‘’ be the angular velocity at the instant and an
angular acceleration.
In a short interval of time dt, let OA assume the
new position OA’ by rotating through an angle d.
Va
A V'a cos d
a d V'a sin d

a V'a
d 
ad
t

P R Venkatesh Mech Dept

RVCE Bangalore
 Va
A V'a cos d
a d V'a sin d

a V'a
d 
ad
t

(  ad t )r cos d   r
Acceleration of A ⊥ to OA a t =
dt
In the limit, as d t  0, cosd  1  a t  a r
The above component perpendicular to OA is called
tangential component of acceleration.
 Va Acceleration of A parallel to OA
A V'a cos d (  ad t ) r sin d  0
an =
a d dt
V'a sin d

a In the limit, as d t  0, sind  d
 V'a
d ad Ignoring product of small quantities
t
i.e. (d  d t )  0

d
 a n  r  r     2r
dt
v2
As v= r , a n 
r
The above component parallel to OA
is called centripetal or normal
component of acceleration

P R Venkatesh Mech Dept

RVCE Bangalore
 Va 
A at x
V'a cos d
a d d

V'a sin d an
a
d  V'a
ad
t
a

o'x = Tangential acceleartion
x a' = Normal acceleartion
o'a' = Total Acceleration

NORMAL & TANGENTIAL ACCELERATION

P R Venkatesh Mech Dept

RVCE Bangalore
 Summary
•The velocity vector of a point on a link is perpendicular to
the link and its magnitude is equal to the angular velocity of
the link & radius of rotation of the link.

•The total acceleration of a link is the sum of tangential

component (perpendicular to the link and magnitude ar)
and a normal component (Parallel to the link & directed
towards center of rotation and magnitude 2r or v2/r

•If the link has uniform angular velocity, a0, and hence the
link has only normal acceleration.

•The velocity (or acceleration) of a fixed link is zero, and

hence it is represented by a point in the velocity &
acceleration polygons.
 Problem 1
A four bar chain mechanism ABCD is made
up of four links, pin jointed at the ends. AD is
the fixed link which is 120 mm long. The
links AB, BC and CD are 60 mm, 80 mm and
80 mm respectively.
At a certain instant, the link AB makes an
angle of 600 with the link AD. If the link AB
rotates at a uniform speed of 10 rpm
clockwise, determine,
(i) Angular velocity of the link BC & CD
(ii) Angular acceleration of the link CD.
 C
80 mm

B 80 mm
60 mm

60°
D
A
120 mm
P R Venkatesh Mech Dept
RVCE Bangalore
 VELOCITY POLYGON
As the crank rotates with uniform speed of 10 rpm,
the angular velocity of link AB
2   10
ab = =1.047 rad/sec
60
Hence linear velocity of point B on link AB
Vab or Vb (As A is fixed) = ab  AB
Vb  1.047  60  62.82mm / sec
 VELOCITY POLYGON

1. Mark the point a, d , to represent fixed link AD

2. Draw vector ab perpendicular to link AB to represent Vb
3. From b, draw a line perpendicular to BC (free length)
4. From d (or a), draw a line perpendicular to CD (free length)
5. The inersection of the two give the point c.
6. Now the length bc represents Vcb
7.The length cd represents Vcd

P R Venkatesh Mech Dept

RVCE Bangalore
 C
c
80 mm
a,d

B 80 mm 62.
8 2
60 mm

60° b
D
Velocity diagram
A
120 mm

From the velocity diagram,

V cb =41.31 mm/sec
Vc =41.31 mm/sec
P R Venkatesh Mech Dept
RVCE Bangalore
From the velocity diagram,
Linear velocity of C w.r.t B=V cb  41.31mm/sec
Hence angular velocity of coupler BC
V cb 41.31
cb    0.52rad / sec
CB 80
Also linear velocity of link CD=41.31mm/sec
Hence angular velocity of CD
V cd 41.31
cd    0.52rad / sec
CD 80
P R Venkatesh Mech Dept
RVCE Bangalore
 ACCELERATION POLYGON
As the crank rotates with uniform speed of 10 rpm,
the angular acceleration of link AB a ab =0
Hence there is no tangential acceleration.
a tab  a ab  AB  0
Hence only normal acceleration exists.
But, for other links, both tangential
& normal acceleration will exist as per
the calculations shown in table.
P R Venkatesh Mech Dept
RVCE Bangalore
Sl.No Vector Magnitude Direction Sense

(Vab ) 2 (62.82) 2 parallel

1 n
a or a'b'
B   65.77 A
AB 60 toAB

(VCB ) 2 (41.31) 2 parallel

2 an
CB or b'x   21.33 B
CB 80 to BC

3 t
aCB or xc' Unknown  to BC

(VC ) 2 (41.31) 2 parallel D

  21.33
n
4 a or d'y
C
t
CD 80 to CD
5 a or yc'
C Unknown  to CD
P R Venkatesh Mech Dept
RVCE Bangalore
1. Mark the point a', d ', to represent fixed link AD
n
2. Draw vector a'b' parallel to link AB to represent a ab .
As a tab =0, the length a'b' represents the total acceleration of link AB.
n
3. From b' , draw a line b'x parallel to BC of length =a bc
5. From x, draw a line perpendicular to BC (free length)
6. Again, from point d', draw a line d'y parallel to CD of length =a cdn
7. From y, draw a line perpendicular to CD (free length) to meet the
perpendicular line from x, at the point c'. The length d'c' represents
the total acceleration of the point C. a',d'

21.33
y
c'

66
b'
3
x 21.3
 a',d'

21.33
C
80 mm
y
c'
B

66
80 mm
60 mm

60° b'
D 3
A
x 21.3
120 mm

Acceleration Diagram

P R Venkatesh Mech Dept

RVCE Bangalore
From the acceleration diagram,
tangential acceleration of link BC=32.52mm/sec 2
Hence angular acceleration of coupler BC
t
a 32.52
acb  
cb
 0.4065rad / sec 2

CB 80
2
Also, tangential acceleration of link CD=69 mm/sec
Hence angular acceleration of link CD
acdt 69
acd    0.8625rad / sec 2
CD 80

P R Venkatesh Mech Dept

RVCE Bangalore
 Problem 2
The fig shows a 4-bar mechanism.
Crank AB rotates at 200 rpm and an
angular acceleration of 150 rad/sec2 at
the instant when the crank makes an
angle of 450 with the horizontal. Find
the accelerations of the points B & E
and angular velocities and
accelerations of links 3 &4.
 40
90
C
3
B E

60
a
45

4
2 
45°

1 D
A
120
P R Venkatesh Mech Dept
RVCE Bangalore
 VELOCITY POLYGON
As the crank rotates with a speed of 10 rpm,
the angular velocity of link AB
2    200
ab = =20.944 rad/sec
60
Hence linear velocity of point B on link AB
Vab or Vb (As A is fixed) = ab  AB
Vb  20.944  45  94248m m / sec  0.9425m / sec

P R Venkatesh Mech Dept

RVCE Bangalore
1. Mark the point a, d , to represent fixed link AD
2. Draw vector ab perpendicular to link AB to represent Vb
3. From b, draw a line perpendicular to BC (free length)
4. From d (or a), draw a line perpendicular to CD (free length)
5. The inersection of the two give the point c.
6. Now the length bc represents Vcb
7.The length cd represents Vcd
8.Mark point e on the vector bc using the condition
be BE  BE 
  be     bc
bc BC  BC 
Then connect e to a (or d) measure ae which gives
absolute velocity of point E.
 40
C
Velocity Diagram
90
3 Vcd c
a,d
B E

60
Ve Vbc
45 a 4
2 
e
45°

1 D Vb
A
120
b

From the velocity diagram;

Velocity of point C w.r.t B= Vcb=0.7227 m/sec
Absolute velocity of point C =Vc=0.4414 m/sec
Absolute velocity of point E on link BC =Ve=0.674 m/sec
P R Venkatesh Mech Dept
RVCE Bangalore
From the velocity diagram,
Linear velocity of C w.r.t B=V cb  0.7227m/sec
Hence angular velocity of coupler BC
V cb 0.7227
cb    8.03rad / sec
CB 0.09
Also linear velocity of link CD=0.4414 m/sec
Hence angular velocity of CD
V cd 0.4414
cd    7.34rad / sec
CD 0.06
P R Venkatesh Mech Dept
RVCE Bangalore
Sl.No Vector Magnitude Direction Sense

(V ab ) 2 (0.9425) 2
1 abn or a'x   19.74 to AB A
AB 0.045

2 aabt or xb' a ab  AB  150  0.045  6.75  to AB

(V bc ) 2 (0.723) 2
3 acbn or b'y   5.81 to BC B
BC 0.09

4 acbt or yc' Unknown  to BC

(V cd ) 2 (0.441)2
5 acdn or d'z   3.24 to CD D
CD 0.06

6 acdt or zc' Unknown  to CD

 Acceleration Polygon
1. Mark the point a', d ', to represent fixed link AD
n
2. Draw vector a'x parallel to link AB to represent a ab
3. From x, draw a line perpendicular to AB equal to a tab to get b'.
The length a'b' represents the total acceleration of link AB.
n
4. From b' , draw a line b'y parallel to BC of length =a bc
5. From y, draw a line perpendicular to BC (free length)
6. Again, from point d', draw a line d'z parallel to CD of length =a cdn
7. From z, draw a line perpendicular to CD (free length) to meet the
perpendicular line from y, at the point c'. The length d'c' represents
the total acceleration of the point C.
8. Now the length b'c' represents the total acceleration of C w.r.t.B
9.Use the following condition to mark the point e' on acceleration polygon,
b 'e BE  BE 
'  b 'e '     b 'c '
b 'c ' BC  BC 
Then connect e' to a (or d) measure a'e' which gives
absolute acceleration of point E.
a',d'
ancd
c' atcd z

anab
e'
atbc x
atab

b'
P R Venkatesh Mech Dept y anbc
RVCE Bangalore
 a',d'
40
90
C ancd
3 c' atcd z

B E anab

60
45 a 4 e'

2  atbc x
45°

D atab
1
A b'
y anbc
120

From the acceleration diagram, we get;

Total acceleration of C w.r.t B= 18.22 m/sec2
Tangential acceleration of BC=17.27 m/sec2
Tangential acceleration of link CD=20.26 m/sec2
Acceleration of point E=18.63 m/sec2

P R Venkatesh Mech Dept

RVCE Bangalore
From the acceleration diagram,
tangential acceleration of link BC=17.27m/sec 2
Hence angular acceleration of coupler BC
t
a 17.27
acb  
cb
 192rad / sec 2

CB 0.09
2
Also, tangential acceleration of link CD=20.26 m/sec
Hence angular acceleration of link CD
acdt 20.26
acd    338rad / sec 2
CD 0.06

P R Venkatesh Mech Dept

RVCE Bangalore
 Problem 3
The slider crank mechanism shown in fig has
crank OC=300 mm & connecting rod CP=1.5 m.
The crank rotates clockwise at 450 rpm. For the
position shown, determine the velocity &
acceleration of the piston P, angular velocity &
angular acceleration of CP.
Also locate the point on the connecting rod, which
has least absolute velocity.
1.5m C
0.3 m

45°
P
O
 VELOCITY POLYGON
As the crank rotates with uniform speed of 450 rpm,
the angular velocity of link OC
2    450
oc = =47.13 rad/sec
60
Hence linear velocity of point C on link OC
Voc or Vc (As O is fixed) = oc OC
Vc  47.13  0.3  14.14m / sec
 VELOCITY POLYGON
1. Mark the point o, to represent fixed link.
2. Draw vector oc perpendicular to crank OC to represent Vc
3. From c, draw a line perpendicular to CP (free length)
4. From o, draw a horizontal line to represent linear
velocity of the piston (free length) to meet the  to CP at p.
5. Now the length cp represents velocity Vcp
6.The length op represents the linear velocity of P, Vp
7. To locate point of least absolute velocity, draw  to cp
from o to meet cp at 'd'. Join od which is the shortest distance
cd CD
from o to cp. Using  , locate the position of D on CP.
cp CP
 c

Vpc
Vc

Vd d

o p
Vp

From the velocity diagram;

Velocity of point C w.r.t P= Vcp=10.1 m/sec
Linear Velocity of piston P =Vp=11.43 m/sec
P R Venkatesh Mech Dept
RVCE Bangalore
From the velocity diagram,
Linear velocity of C w.r.t P=V cp  10.1m/sec
Hence angular velocity of connecting rod CP
V cp 10.1
cp    6.73rad / sec
CP 1.5
Also linear velocity of Piston P
V p  11.43m / sec
Position of least velocity point D on CP
cd CD 84.84 CD
    CD  1.26m
cp CP 101 1.5
 ACCELERATION POLYGON
As the crank rotates with uniform speed of 450 rpm,
the angular acceleration of link OC aoc =0
Hence there is no tangential acceleration.
a toc  aoc  OC  0
Hence only normal acceleration exists.
But, for the connecting rod, both tangential & normal acceleration
will exist as per the calculations shown in table.
For the piston, only linear acceleration will exist.

P R Venkatesh Mech Dept

RVCE Bangalore
Sl.No Vector Magnitude Direction Sense

(V oc ) 2 (14.14) 2
1 acn or o'c'   666.46 to OC O
OC 0.3

(V cp ) 2
(10.1) 2
2 acpn or c'x   68 to CP C
CP 1.5

3 acpt or xp' Unknown  to CP

4 a p or o'p' Unknown to OP O
 Acceleration Polygon
1. Mark the point o' to represent fixed link.
n
2. Draw vector o'c' parallel to link OC to represent a oc
3. From c', draw a line c'x parallel to CP equal to a cpn
4. From x , draw a line xp'  to CP (free length)
5. From o', draw a horizontal line parallel to
line of stroke of piston.
6. The two lines meet at p'. Now o'p' represents the
linear acceleration of piston.
7. The line xp' represents the tangential component
of acceleration of CP.
 ap p'
o'

anc t
a
pc

nx
c' a pc

From the acceleration diagram, we get;

Tangential acceleration of C w.r.t P= 466.4 m/sec2
Linear acceleration of P=472.7 m/sec2
P R Venkatesh Mech Dept
RVCE Bangalore
From the acceleration diagram,
2
tangential acceleration of link CP=466.4 m/sec
Hence angular acceleration of coupler CP
t
a 466.4
acp  cp
  311rad / sec 2

CP 1.5
Linear acceleration of piston a p  472.7m / sec2 .

P R Venkatesh Mech Dept

RVCE Bangalore
 Problem 4
In a mechanism shown in fig, crank 2 rotates at
3000 rpm. Find the acceleration of the point C in
magnitude, direction & sense. Find also the
acceleration of link 3.
C
75 mm
125 mm
A
3
50 mm 2
175 mm
60°

4 B
O
1 1
 VELOCITY POLYGON
As the crank rotates with uniform speed of 3000 rpm,
the angular velocity of link OA
2    3000
oa = =314.16 rad/sec
60
Hence linear velocity of point A on link OA
Voa or Va (As O is fixed) = oa OA
Va  314.16  0.05  15.71m / sec
 VELOCITY POLYGON
1. Mark the point o, to represent fixed link.
2. Draw vector oa perpendicular to crank OA to represent Va
3. From a, draw a line perpendicular to AB (free length)
4. From o, draw a horizontal line to represent linear
velocity of the piston (free length) to meet the  to AB at b.
5. Now the length ab represents velocity Vab
6.The length ob represents the linear velocity of B, Vb
7. To locate point c, draw  to AC from c &  to CB from b
The two lines meet at c. Join oc which gives velocity of point C.
 o Vb b

Vc
c V bc
Va

From the velocity polygon;

Velocity of B w.r.t A Vba =8.11 m/sec
Linear velocity of the piston Vb=15.61 m/sec
Velocity of point C, Vc=13.1m/sec
P R Venkatesh Mech Dept
RVCE Bangalore
 ACCELERATION POLYGON
As the crank rotates with uniform speed of 3000 rpm,
the angular acceleration of link OA aoa =0
Hence there is no tangential acceleration.
a toa  aoa  OA  0
Hence only normal acceleration exists.
But, for the connecting rod, both tangential & normal acceleration
will exist as per the calculations shown in table.
For the piston, only linear acceleration will exist.

P R Venkatesh Mech Dept

RVCE Bangalore
Sl.No Vector Magnitude Direction Sense
2 2
(
V ) (15.71)
1 aoan or o'a' oa
  4936 to OA O
OA 0.05
(V ab ) 2 (8.11) 2
2 aabn or a'x   376 to AB A
AB 0.175

3 aabt or xb' Unknown  to AB

to OB
4 ab or o'b' Unknown
(Horizontal)
 Acceleration Polygon
1. Mark the point o' to represent fixed link.
n
2. Draw vector o'a' parallel to link OA to represent a oa
n
3. From a', draw a line a'x parallel to AB equal to a ab
4. From x , draw a line xb'  to AB (free length)
5. From o', draw a horizontal line parallel to
line of stroke of piston.
6. The two lines meet at b'. Now o'b' represents the
linear acceleration of piston.
7. The line xb' represents the tangential component
of acceleration of AB.
 a
b' b
o' From the acceleration diagram, we
get;
a Tangential acceleration of B w.r.t A
c
t atab= 4316 m/sec2
a ab n
c' a Linear acceleration of piston
oa
a b=1764 m/sec2

To locate point c '

x
n c 'b ' a 'b ' c ' a ' a 'b '
a a' Using  and 
ab
CB AB CA AB
We get absolute velocity of C w.r.t O
represented by length o'c'=4534m/sec 2

P R Venkatesh Mech Dept

RVCE Bangalore
From the acceleration diagram,
2
tangential acceleration of link AB=4316 m/sec
Hence angular acceleration of coupler AB
t
a 4316
a ab  ap
  24663rad / sec 2

AB 0.175

P R Venkatesh Mech Dept

RVCE Bangalore
 Problem 5
The fig shows a toggle mechanism.
Crank OP rotates at a uniform speed of
120 rpm in clockwise direction.
Determine the velocity & acceleration
of the slider S. The lengths of the
various links are OP=80 mm, PR=180
mm, QR=240 mm & SR=270 mm.
 240 mm
Scale : 1:2
P

120 rpm

45°
O
OP=80 mm
PR=180 mm
QR=240 mm
SR=270 mm
200 mm

S Q

TOGGLE MECHANISM
P R Venkatesh Mech Dept
RVCE Bangalore
 VELOCITY POLYGON
As the crank rotates with uniform speed of 120 rpm,
the angular velocity of link OP
2   120
op = =12.57 rad/sec
60
Hence linear velocity of point P on link OP
Vop or Vp (As O is fixed) = op  OP
Vp  12.57  0.08  1.005 metres / sec
 VELOCITY POLYGON
1. Mark the point o, q to represent fixed links.
2. Draw vector op perpendicular to crank OP to represent Vp
3. From p, draw a line perpendicular to PR (free length)
4. From q, draw a line  QR to meet the  to PR at r
5. Now the length pr & qr represents the velocities Vpr &V qr
6.From r, draw a line  RS to meet the horizontal from q at s.
7.Now, the length rs represents Vsr & the length qs represents
the linear velocity of the slider S
(Vqs or Vs as the point Q is fixed.)
 240 mm

P
Vs o,q
120 rpm
s

45°
O
OP=80 mm
PR=180 mm
QR=240 mm
SR=270 mm
200 mm

R
Vsr Vqr
VP
S Q

r
TOGGLE MECHANISM
Vpr
p
VELOCITY POLYGON
From the velocity polygon;
Vpr=0.92 m/sec , Vqr=0.53m/sec
Vsr=0.52m/sec, Vs=0.34 m/sec

P R Venkatesh Mech Dept

RVCE Bangalore
 ACCELERATION POLYGON
As the crank rotates with uniform speed of 120 rpm,
the angular acceleration of link OP aop =0
Hence there is no tangential acceleration.
a top  aop OP  0
Hence only normal acceleration exists.
But, for the remaining links PR, QR & RS both tangential
& normal acceleration will exist as per the calculations shown
in table.For the slider, only linear acceleration will exist.

P R Venkatesh Mech Dept

RVCE Bangalore
Sl .No V ector Magnitude Direction Sense

V op21.0052
1 o'p'   12.63 to OP O
OP 0.08
V pr2 0.922
2 p 'x   4.7 to PR P
PR 0.18

3 xr ' Unknown  to PR

V qr20.532
4 q 'y   1.17 to QR Q
QR 0.18

5 yr ' Unknown  to QR

V sr2 0.522
6 r 'z   1.001 to SR S
SR 0.27

7 zs ' Unknown  to RS

8 qs ' Unknown Horizontal

From the acceleration diagram,
Linear acceleration of Slider a s o'q' a n
s' qr
a s = q's' = 1.8m / sec 2 y
Tangential acceleration of links; t
t 2 a rs
PR =a =8.4m/sec
pr n
a op
RS =a trs =6.1m/sec 2 at
QR =a tqr =6.1m/sec 2 x t qr
apr

n z
a pr r' an
rs

p'

Acceleration Polygon
From the acceleration diagram,
Linear acceleration of Slider a s = q's' = 1.8m / sec 2
Tangential acceleration of links;
PR =a tpr =8.4m/sec 2 , RS =a trs =6.1m/sec 2 , QR =a tqr =6.1m/sec 2
Hence, angular acceleration of links
a tpr 8.4
a pr    46.67 rad / sec 2
PR 0.18
arst 6.1
a rs    22.6rad / sec 2
RS 0.27
aqrt 6.1
aqr    25.42rad / sec 2
QR 0.24
Coriolis component of acceleration
If a point in one body moves along a
path on a second body, and if the path
is rotating, then the acceleration of the
point in the first body relative to the
coincident point on the second body
will have a Coriolis component.
Ex: Quick return mechanisms.
P R Venkatesh Mech Dept
RVCE Bangalore
 P
Q B1 P1

B2
d

A on link OP A1
B on slider
d

CORIOLIS COMPONENT OF ACCELERATION

 P In the fig, let B be a point on the slider
B1 P1
Q & A be a fixed point on the rotating link OP.
B2
d Let A & B be coincident at the instant.
After an interval of time 'dt', the motion of
A1
A on link OP
B on slider
the slider from B to B2 comprises of;
d
(i) B to A1 due to rotation of link OP

(ii) A1 to B 1 due to outward velocity Vba
O
(iii) B1 to B2 due to acceleration  to link OP
CORIOLIS COMPONENT OF ACCELERATION
which is known as the
"Coriolis component of acceleration"
 P Considering the third component B1 B 2 :
B1 P1
From the fig, Arc B1B 2  Arc QB 2  Arc QB 1
Q
B2
d
 Arc B1B 2  Arc QB 2  Arc AA1
A on link OP A1 = OQ.d  OA.d
=d (OQ  OA)
B on slider
d


=AQ.d  A1B1.d
O
But A1B 1 V ba  dt & d     dt
CORIOLIS COMPONENT OF ACCELERATION Substituting,
Arc B1B 2 V ba    (dt ) 2
1
Comparing the above with s= u(dt)+ a (dt ) 2
2
we get, coriolis component of acceleration
a ba
c
= 2 × ω ×V ba
The direction of coriolis acceleration is obtained by rotating the velocity vector Vba
by 900 in the direction of angular velocity of the path.
(i) In fig (a), the slider moves upward & the link rotates in cw direction .
(ii) In fig (b), the slider moves upward & the link rotates in ccw direction
(iii) In fig (c), the slider moves downward & the link rotates in cw direction .
(iv) In fig (d), the slider moves downward & the link rotates in ccw direction

2V 2V
 
V V
V 
V

2V 2V
(a) (b) (c) (d)
 Problem 6
O
2 The fig shows a quick
 
return mechanism. Link
 2 rotates uniformly at 20
OC=350 mm
OA=150 mm A on link 2
rad/sec in clockwise
CB=250 mm B on link 3 direction. Determine
the angular acceleration

of link 3.

C

SPACE DIAGRAM
 VELOCITY POLYGON
As the crank rotates with uniform speed of 20 rad/sec,
Linear velocity of point A on link OA
Voa or Va (As O is fixed) = oa  OA
Va  20  0.15  3 metres / sec

1. Mark the point o, c to represent fixed link.

2. Draw vector oa perpendicular to crank OA to represent Va
3. From a, draw a line to CB (free length)
4. From o, draw a  to OB to meet the to CB at b
5. Now the length ab represents velocity Vab
6.The length ob represents the linear velocity of B, Vb
 
O b
2 Vb
 o.c
OC=350 mm
OA=150 mm  Vab
CB=250 mm
A on link 2
B on link 3
Va


a
Velocity Polygon
SPACE DIAGRAM From the velocity polygon,
C
 Vab  2.6m / sec
V cb  1.5m / sec
V cb 1.5
Hence cb =   6rad / sec 2
CB 0.25
 ACCELERATION POLYGON
As the crank rotates with uniform speed of 20 rad/sec,
the angular acceleration of link OA, aoa =0
Hence there is no tangential acceleration.
a toa  aoa  OA  0
Hence only normal acceleration exists.
For the remaining link CB both tangential &
normal acceleration will exist as per the calculations shown.
For the coincident points A & B on slider, linear acceleration
and Coriolis component of acceleration will exist.
 Magnitude
Sl .No V ector 2
Direction Sense
(m / sec )
2 2
V 3
1 o 'a ' aoan  oa   60 to OA O
OA 0.15
aabc  2cbV ab
2 a 'x  to link CB
 2  6  2.6  31.2
2 2
V 1.5
3 c 'y acbn  cb  9 to CB C
CB 0.25

4 yb ' acbt , Unknown  to link CB

5 xb ' aab , Unknown to link CB

 x
ac
ab
a'
2v
a
ab Direction of coriolis
component

anoa
b'

ab

atcb
o'c'
an
cb
y
Acceleration Diagram
From the acceleration diagram,
Linear acceleration of Slider ab = o'b' = 83.65m / sec 2
Tangential acceleration of links CB
a tcb =83.15m /sec 2
Hence, angular acceleration of link CB (link 3)
a tcb 83.15
a cb    332.6 rad / sec 2
CB 0.25
 D
Problem 7
C

For the crank & slotted

E on OC
lever mechanism
B
OA=250 mm shown in fig, determine
A AB=100 mm
the velocity &
450 mm

OC=400 mm
120

CD=150 mm acceleration of D. The

°

crank rotates uniformly

at 60 rpm clockwise.
Space Diagram

O
 VELOCITY POLYGON
By construction, we get the length of the link
OE=312.5 mm
As the crank rotates with uniform speed of 60 rpm,
Angular velocity of point B on link AB
2  60
ab   6.283rad / sec
60
 Vab or Vb (As A is fixed) = ab  AB
Vb  6.283  0.1  0.6283 metres / sec
 VELOCITY POLYGON

1. Mark the point o, a to represent fixed link.

2. Draw vector ab perpendicular to crank AB to represent Vb
3. From b, draw a line to OC (free length)
4. From o, draw a  to OC to meet the to OC at e
oe OE
5. Using the condition  mark the point c
oc OC
6.From c, draw a  to link CD.
7. From o, draw a horizontal to represent the motion of the point D
It will meet the  to CD drawn from e at d.

P R Venkatesh Mech Dept

RVCE Bangalore
 b
D

C Vb Vbe

E on OC e c
Vc
B
OA=250 mm d
A AB=100 mm o,a Vd
450 mm

OC=400 mm
120

CD=150 mm
°

Velocity Diagram
From the velocity polygon,
Vbe  0.4356m / sec
Space Diagram
V c  0.58m / sec
0.58
 oc   1.45rad / sec
0.4
O V d  0.6356m / sec
V cd  0.18m / sec
 ACCELERATION POLYGON
As the crank AB rotates with uniform speed of 60 rpm,
the angular acceleration of link AB, a ab =0
Hence there is no tangential acceleration.
a tab  a ab  AB  0
Hence only normal acceleration exists.
The remaining links may have both tangential &
normal acceleration as per the calculations shown.
For the coincident points B & E on slider, linear acceleration
and Coriolis component of acceleration will exist.
Sl .No V ector Magnitude (m / sec 2 ) Direction Sense

V b2 0.62832
1 a 'b ' a 
n
ab   3.95 to AB A
AB 0.1
abec  2ocV be
2 b 'x  to OC
 2  1.45  0.4356  1.263

3 xe ' abe  Unknown to OC

V e2 0.4527 2
4 o 'y a 
n
oe   0.66 to OE O
OE 0.3122

5 ye ' aoet  Unknown  to OE

V cd2 0.182
6 c 'z a 
n
cd   0.216 to CD C
CD 0.15

7 zd ' acdt  Unknown  to CD

8 o 'd ' ad  Unknown Horizontal

 D
2 v
Direction of Coriolis
OA=250 mm
C AB=100 mm component
OC=400 mm
CD=150 mm
E on OC
B
A o'a' d'
t
450 mm

a
e' cd c'
12

an
0°

oe z ancd
y t
aoe

an
ab
a
be
Space Diagram
b'
ac
From the acceleration diagram, x be

Linear acceleration of D Acceleration

a d = o'd' = 1.664m / sec 2 diagram
 O2
Problem 8
1 For the rotary engine
mechanism shown in
O4 fig, determine the
2 angular acceleration of
900 rpm link 2. Take O2O4=75
mm, O2A=250 mm. The
30° link 4 rotates at 900 rpm
4 clockwise.

3 A on link 4
B on link 2
 VELOCITY POLYGON
By construction of the space diagram, we get
the length of O 4 A as 182 mm =0.182 metres
As the link O 4 A rotates with uniform speed of 900 rpm,
the angular velocity of link O 4 A
2    900
o 4a = =30 rad/sec
60
Hence linear velocity of point A on link O 4 A
Vo 4a or Va (As O 4 is fixed) = o 4a  O 4 A
Va  30  0.182  17.15 metres / sec
 O2
a
V
1 ab Va

O4 V
2 b
900 rpm
30° Velocity Polygon O2 , O 4
4

From the velocity polygon,

A on link 4
3
B on link 2 Vab  2.572m / sec
V b  17m / sec
Space Diagram
Vb 17
Hence o 2b =   68rad / sec 2
O 2 B 0.25
 ACCELERATION POLYGON
As the link O 4 A rotates with uniform speed of 900 rpm
the angular acceleration of link O 4 A, ao 4a =0
Hence there is no tangential acceleration.
a to 4a  ao 4a  O 4 A  0
Hence only normal acceleration exists.
For the remaining link O 2 B both tangential &
normal acceleration will exist as per the calculations shown.
For the coincident points A & B on slider, linear acceleration
and Coriolis component of acceleration will exist.
 Magnitude
Sl .No V ector 2
Direction Sense
(m / sec )
V a2 17 2
1 o 4' a ' aon4a    1588 to O 4 A  O4
O 4 A 0.182
aabc  2o 2bV ab
2 a 'x  to link O 4 A
 2  68  2.572  349.8

3 xb ' aab  Unknown to O 2 B

2 2
V 17
4 o 2' y aon2b = b   1156 to link O 2 B  O2
O 2 B 0.25

5 yb ' aot 2b = Unknown  to link O 2 B

 O2
x
ac
ab
1
a
ab a' 2 v
b' ato
O4 2b
2 y
900 rpm
an Direction of
30° o2 b an Coriolis component
o4 b
4

3 A on link 4
B on link 2

Space Diagram O' O'

,
2 4

Acceleration Diagram
From the acceleration diagram,
Linear acceleration of Slider a ab = xb' = 472m / sec 2
Tangential acceleration of links O 2 B
t 2
a o 2b =178.6m/sec
Hence, angular acceleration of link O 2B (link 2)
a to 2b
178.6
a2    714.4rad / sec 2
O 2B 0.25
 R
P on slider
Q on AR
Problem 9
For the rotary engine
mechanism shown in
fig, determine the
acceleration of the
slider inside the cylinder
O & angular acceleration
of link OP. Take
OA=200 mm, OP=520
30°
mm. The body of the
engine consisting of the
cylinders rotate at 400
A rpm clockwise.
 VELOCITY POLYGON
By construction of the space diagram, we get
the length of AQ as 683.5 mm =0.6835 metres
As the link AQ rotates with uniform speed of 400 rpm,
the angular velocity of link AQ
2    400
aq = =41.89 rad/sec
60
Hence linear velocity of point Q on link AQ
Vaq or Vq (As A is fixed) = aq  AQ
Vq  41.89  0.6835  28.63 metres / sec
 VELOCITY POLYGON
1. Mark the point a, q to represent fixed link.
2. Draw vector aq perpendicular to crank Q to represent Vq
3. From q, draw a line to AQ (free length)
4. From o, draw a  to OP to meet the to AQ at p
5. Now the length op represents velocity Vop
6.The length pq represents the linear velocity of P
with coincident point Q on the slider.
 R
P on slider
Q on AR
o.a

Vq

Vp
O
q
Vpq
30° Velocity Polygon
p

From the velocity polygon,

Velocity of P w.r.t Q Vpq  5.61m / sec
A
Velocity of P w.r.t O Vp  29.17m / sec
 ACCELERATION POLYGON
As the link AQ rotates with uniform speed of 400 rpm
the angular acceleration of link AQ , a aq =0
Hence there is no tangential acceleration.
a taq  a aq  AQ  0
Hence only normal acceleration exists.
For the remaining link OP both tangential &
normal acceleration will exist as per the calculations shown.
For the coincident points P & Q on slider, linear acceleration
and Coriolis component of acceleration will exist.
 Magnitude
Sl .No V ector 2
Direction Sense
(m / sec )
V q2 28.632
1 a 'q ' aaqn    1199 to AQ A
AQ 0.6835
acpq  2aqV pq
2 q 'x  to link AQ
 2  41.89  5.61  470

3 xp ' a pq  Unknown to AQ

V p2 29.17 2
4 o 'y aopn =   1636 to link OP O
OP 0.52

5 yp ' t
aop = Unknown  to link OP
 o', a'
2 v
R
P on slider
Q on AR

Vpq

an
aq

x c an
a op
a aq
O aq
q'
p'
30°
at
op y Acceleration Polygon

From the acceleration polygon,

A
Linear acceleration of P w.r.t Q a pq  381m / sec2
Tangential acceleration of OP a top  162.2m / sec
From the acceleration polygon,
Linear acceleration of P w.r.t Q a pq  381m / sec 2

Tangential acceleration of OP a t
op  162.2m / sec

Hence, angular acceleration of link OP

t
a 162.2
aop  
op
 312rad / sec 2

OP 0.52