AME 352 GRAPHICAL ACCELERATION ANALYSIS

6. GRAPHICAL ACCELERATION ANALYSIS

In kinematic analysis of mechanisms, acceleration analysis is usually performed following a

velocity analysis; i.e., the positions and orientations, and the velocities of all the links in a
mechanism are assumed known. In this chapter we concentrate on one graphical method for
acceleration analysis of planar mechanisms.
We start this chapter with some exercises to ensure that the fundamentals of acceleration
analysis are well understood. You may review these fundamentals in Chapter 2 of these notes.

Exercises

In these exercises take direct measurements from the figures for link lengths and the
magnitudes of velocity and acceleration vectors. If it is stated that the angular velocity and
acceleration are known, assume ω = 1 rad/sec CCW and α = 1 rad/sec2 CW unless it is stated
otherwise. Write the position, velocity, and acceleration vector equations, and then graphically
determine the unknown acceleration(s).
P.1 P.2
Known: A A , α and ω Known: A A and A B
Determine: A Determine: α
B

AB
A B
AA A B
AA

P.3 P.4
Known: A A , α , and ω Known: A A and A B
Determine: A B , A C and A BC Determine: A C
B B
A
B
AA

AA
C C A
A
P.5 P.6
Known: A A , α , and ω Known: VA , VB , A A and A B
Determine: A B , A C and A BC Determine: A C

AA A VA C
B
A B C

AA VB

AB

P.7 P.8
Known: ω , V s
BA
AA , α , A s
BA
, Known: ω , VBA
s
A A , α , A sBA ,
s
VBA = 1 unit/sec positive, and s
VBA = 1 unit/sec positive, and

P.E. Nikravesh 6-1

AME 352 GRAPHICAL ACCELERATION ANALYSIS

s
ABA = 1 unit/sec2 positive s
ABA = 1 unit/sec2 negative
Determine: A B and A C Determine: A B and A C

A B C A B C

AA AA

P.9 P.10
Known: ω , VBA
s
, AA , AB , Known: ω i = 1 rad/sec CCW, ω j = 1
s
VBA = 1 unit/sec negative rad/sec CW, α i = 1 rad/sec2 CCW,
Determine: α and A C α j = 1 rad/sec2 CW, and A A

A B C Determine: A B and A C
A B
A (i)
A AB
A (j) C
A

P.11 AA
A B
Known: ω i , ω j , A A , and A C
(i) AC
Determine: A B , α i and α j (j) C

Polygon Method

Four-bar Mechanism
For a known four-bar mechanism, in a given RBA B
configuration and known velocities, and a given angular A
acceleration of the crank, α 2 (say CCW), construct the RBO 4
RAO 2
acceleration polygon. Determine α 3 and α 4 . RO4 O2
The position and velocity vector loop equations are: O2 O4
R AO2 +R BA − R BO4 − R O4O2 = 0
A
VA +VBA − VB = 0 VA
It is assumed that for this given configuration a velocity
VBA OV
analysis has already been performed (e.g., velocity
polygon) and all of the unknown velocities have been VB
determined. B
The acceleration equation is obtained from the time derivative of the velocity equation as
A A +A BA = A B . Since R AO2 , R BA , and R BO2 are moving vectors with constant lengths, their
acceleration vectors have normal and tangential components:
A nA +A tA +A nBA +A tBA − A nB − A tB = 0
Or,




−ω 22 R AO2 +α 2 R AO2 − ω 32 R BA +α 3R BA − (−ω 42 R BO4 ) − α 4 R BO4 = 0
We note that since ω 2 , ω 3 , ω 4 , and α 2 are known, A nA , A tA , A nBA , and A nB can completely be

P.E. Nikravesh 6-2

AME 352 GRAPHICAL ACCELERATION ANALYSIS

constructed. The remaining components, A tBA and A tB , have known axes but unknown
magnitudes. We rearrange the terms such that these unknown terms appear as the last
component in the equation:




−ω 22 R AO2 +α 2 R AO2 − ω 32 R BA − (−ω 42 R BO4 )+α 3R BA − α 4 R BO4 = 0
Acceleration polygon
1. Select a point in a convenient position as the A
reference for zero acceleration. Name this point RAO 2
O A (origin of accelerations).
O2
2. Compute the magnitude of A nA as RAO2 ω 22 . From
OA
OV construct vector A nA in the opposite direction
of R AO2 .
3. Compute the magnitude of A tA as RAO2 α 2 . The A nA
direction of A tA is determined by rotating R AO2 AtA

90o in the direction of α 2 . Add this vector to A nA .

B
Note that the sum of A nA and A tA is A A . A
RBA
RBO 4
3. Compute the magnitude of A as RBAω . Add
n
BA
2
3

this vector in the opposite direction of R BA to the

other two vectors. OA
4. Compute the magnitude of A nB as RBω 42 . Note that
A nB is in the opposite direction of R BO4 . Since A nA
A nB itself appears with a negative sign in the A nB
acceleration equation, it should be added to the AtA
n
other vectors in the diagram as shown; i.e., head- A BA

to-tail.

RBA B
t
5. Since A must be perpendicular to R BA , draw a
BA
A
RBO 4
line perpendicular to R BA in anticipation of
adding A tBA to the diagram.
6. Since A tB must be perpendicular to R BO4 , draw a OA
line perpendicular to R BO4 closing (completing)
the polygon. A nA
n
A B
t t
7. Construct vectors A BA and A on the polygon.
B AtA
n
8. Determine the magnitude of A t
from the A BA
BA

polygon. Compute α 3 as α 3 = ABA

t
/ RBA (in this
diagram it is CW). A tB A nA
9. Determine the magnitude of A tB from the n
A B
polygon. Compute α 4 as α 4 = ABt / RBO4 (in this AtBA
AtA
n
diagram it is CCW). A BA

P.E. Nikravesh 6-3

AME 352 GRAPHICAL ACCELERATION ANALYSIS

Secondary equation(s) P
We can use the polygon method to determine the
R PA
acceleration of a coupler point, such as P. It is
assumed that all the angular velocities and y B
accelerations have already been determined. A
For the position vector R PO = R AO + R PA , the RAO 2
R PO2
2 2

acceleration expression becomes x

A P = A A + A PA = A nA + A tA + A nPA + A tPA O2


OA
= −ω 22 R AO + α 2 R AO − ω 32 R PA + α 3R PA
2 2

All four vectors can be constructed graphically. The

vector sum is the acceleration of P. AP
A A nA
A nPA
AtA
t
A PA

Example FB-AP-1
This is a continuation of B
Example FB-VP-1. Assume P
an angular acceleration of
α 2 = 1 rad/sec2 CW for the
crank.
Acceleration polygons are
A
constructed and the following O2 O4
accelerations are obtained t A nBA
A nPA A PA A tB
from the polygons: α 3 = 0.14
A nB
CW, α 4 = 0.46 CW, AP = 1.7 AP
in the direction shown on the AtA AtA
AtBA
polygon.
O O
n A nA
A A

Slider-crank (inversion 1)
For a known slider-crank mechanism (inversion 1) in a given configuration and for known
velocities, the acceleration of the crank, α 2 , is given. Construct the acceleration polygons, then
determine α 3 and the acceleration of the slider block. Assume α 2 is given to be CCW.
The position and velocity vector loop equations are:
R AO2 +R BA − R BO2 = 0 A VA
VBA
VA +VBA − VB = 0
RAO 2 OV
Assume that all the velocities have already been RBA VB
obtained.
The acceleration equation is obtained from B
the time derivative of the velocity equation: O2 RBO 2
A A +A BA − A B = 0

P.E. Nikravesh 6-4

AME 352 GRAPHICAL ACCELERATION ANALYSIS

Or, in terms of the components of the acceleration vectors, we have

A nA +A tA +A nBA +A tBA − A sB = 0
Or,



−ω 22 R AO2 +α 2 R AO2 − ω 32 R BA +α 3R BA − A sB = 0
The first three components are completely and the last two components are partially known.
Acceleration polygon A
1. Select a point in a convenient position as the reference
for zero acceleration, O A . RAO 2
2. Compute AAn = RAO2 ω 22 . From OV construct A nA in the
opposite direction of R AO2 . O2

3. Compute AAt = RAO2 α 2 . The direction of A tA is

determined by rotating R AO2 90o in the direction of OA

α 2 . Add this vector to the diagram. A nA

AtA
A
4. Compute ABA n
= RBAω 32 . Construct A nBA in the opposite
direction of R BA .
RBA

5. A tBA must be perpendicular to R BA . Draw a line

O2 B
perpendicular to R BA in anticipation of adding A tBA to
A nBA .
6. From O A draw a line parallel to the sliding axis. A B OA
must reside on this line.
A nBA A nA
AtA
7. Construct vectors A tBA and A B .
8. Determine the magnitude of A tBA . Compute α 3 as A sB
O
α 3 = A / RBA . Determine the direction of α 3 (in this
t AtBA A
BA
n
example it is CCW). A BA A nA
9. Determine the magnitude of A B from the polygon. AtA
The direction in this example is to the left.

Example SC_AP-1
Continue with Example SC-VP-1 AB O
from the velocity polygon section. A
Assume an angular acceleration of A nA
α 2 = 1 rad/sec2 CCW for the crank.
Using the results from the AtBA
B
velocity analysis, the acceleration
O2
polygon is constructed. The results
AtA
are: α 3 = 1.0 rad/sec2 CCW;
AB = 0.76 to the left. A nBA

P.E. Nikravesh 6-5

AME 352 GRAPHICAL ACCELERATION ANALYSIS

Slider-crank (inversion 2)
For a known slider-crank mechanism
(inversion 2), in a given configuration and for
known velocities, the acceleration of the crank, α 2 , A
is given (say CW). Construct the acceleration R AO4
polygons and determine α 3 .
We draw the slider-crank in the given R AO2
configuration and define position vectors to form a s
VAO
vector loop equation: t
4
O2 R O4 O2 O4
VAO
R AO2 − R AO4 − R O4O2 = 0 4

The velocity equation is: VAO

OV 2
t
VAO 2
− VAO
t
4
− VAO
s
4
=0
The velocity polygon for this mechanism has already been obtained; i.e., ω 4 and VAO
s
4
are
assumed known.
The acceleration equation is obtained from the time derivative of the velocity equation:
A nAO2 + A tAO2 − A nAO4 − A tAO4 − A sAO4 − A cAO4 = 0
Or,



s
−ω 22 R AO2 +α 2 R AO2 − (−ω 42 R AO4 ) − α 4 R AO4 − A sAO4 − 2ω 4 VAO4
=0
All the terms are fully known except for A sAO4 and A tAO4 . Re-arranging the terms in order to have
the partially known terms as the last two terms:


s
−ω 22 R AO2 +α 2 R AO2 − (−ω 42 R AO4 ) − 2ω 4 VAO


4 R AO4
− A AO4 − α 4 R AO4 = 0
s

Acceleration polygon
R AO2
1. Select the origin of accelerations, O A , in a
O2 R O4 O2 O4
convenient position.
2. Compute AAn = RAO2 ω 22 . From OV construct vector OA
n
A in the opposite direction of R AO2 .
A
A nAO2
3. Compute AAt = RAO2 α 2 . Determine the direction
A tAO2
of A tA . Add this vector to A nA .

n
4. Compute AAO = RAO4 ω 42 . Construct vector A nAO4
4
R AO4
in the opposite direction of R AO4 and add it to the
polygon.
5. Determine the Coriolis acceleration A cAO4 . The
O4
s
magnitude of this vector is 2VAO ω 4 , and its
A cAO4
4

s o OA
direction is found by rotating V 90 in the
AO4
A nAO4
direction of ω 4 . Add this vector to the polygon. A nAO2
A tAO2

P.E. Nikravesh 6-6

AME 352 GRAPHICAL ACCELERATION ANALYSIS

6. Draw an axis for A sAO4 parallel to R AO4 .

R AO4
7. Draw another axis perpendicular to R AO4 . A tAO4
will be on this axis.

O4

OA A cAO4
A nAO4
8. Construct vectors A sAO4 and A tAO4 to complete the A nAO2
polygon. A tAO2

9. Determine the magnitude of A tA4O4 from the

A sAO4
polygon. Compute α 4 as α 4 = AAt 4O4 / RA4O4 . AtAO4
Determine the direction of α 4 (in this example it A cAO4
OA
is CW). A nAO4
10. Determine the magnitude of A sAO4 from the A nAO2
polygon. A tAO2

Secondary point
R PO4
In order to determine the acceleration of point P P
on link 4, we express its acceleration as y
R P = R O4O2 + R PO4


A P = A PO4 = −ω 42 R PO4 + α 4 R PO4
AP
Since the angular velocity and acceleration of link 4 x
are both known, the two components of the
t
acceleration vector can be constructed. A PO4 O2 RO4 O2 O4
A nPO
4

Example SC-AP-2
This is a continuation of Example SC-VP-2.
Assume an angular acceleration of 0.5 rad/sec2, A
P
CCW, for the crank.
The acceleration polygon is constructed and the
following accelerations are determined from the O2 O4
polygon: α 3 = α 4 = 0.24 rad/sec2, CCW; AAO
s
= 3.9 O O
4

in the direction shown. AtAO4

The acceleration of point P is determined from a
second polygon. This acceleration has a magnitude AP A nAO2
s
of AP = 1.0 in the direction shown. A AO4

A cAO4 A tAO2
A nAO4

P.E. Nikravesh 6-7

AME 352 GRAPHICAL ACCELERATION ANALYSIS

Slider-crank (inversion 3)
For a known slider-crank mechanism (inversion 3), in a given configuration and for known
angular velocity and acceleration of the crank, ω 2 and α 2 (assume both CW), construct the
velocity and acceleration polygons, and then determine ω 3 and α 3 .
Draw the slider-crank in the given configuration and
define position vectors to form a vector loop equation: VAO
2

R AO2 + R O4 A − R O4O2 = 0 A
(3) VOt 4A
The velocity equation is
R O4 A VOs 4A
t
VAO 2
+ VOt 4 A + VOs 4 A = 0 R AO 2
The velocity polygon for this mechanism has already been (4)
obtained. From this polygon, ω 3 and the velocity of the O2 O4
R O4O2
slider-block have been determined.
The acceleration equation is obtained from the time A
derivative of the velocity equation:
A nAO2 +A tAO2 + A On 4 A + A Ot 4 A +A Os 4 A + A Oc 4 A = 0
R AO2
or,




−ω 22 R AO2 +α 2 R AO2 − ω 32 R O4 A + 2ω 3VOs 4 A +A Os 4 A + α 3R O4 A = 0 O2
Acceleration polygon
1. Select the origin of accelerations, O A , in a OA
convenient position.
2. Compute AAn = RAO2 ω 22 . From OV construct vector A nAO2
A nA in the opposite direction of R AO2 . A tAO2
3. Compute AAt = RAO2 α 2 . Determine the direction of A
(3)
A based on the direction of α 2 . Add this vector to
t
A RO4 A
n
A .A
(4)
4. Compute A n
= ω RO4 A . The direction of A
2 n
is O4
O4 A 3 O4 A

opposite of R O4 A . Add this vector to the polygon.

AOc 4 A
5. Determine the Coriolis acceleration A Oc 4 A . The
AOn 4 A
magnitude of this vector is 2ω 3VOs4 A , and its direction
is found by rotating VOs 4 A 90o in the direction of ω 3 .
Add this vector to the polygon. A
(3)
RO4 A
6. Draw an axis for A Os 4 A parallel to R AO4 .
7. Draw an axis for A Ot 4 A perpendicular to R AO4 . (4)
O4

AOc 4 A
AOn 4 A

P.E. Nikravesh 6-8

AME 352 GRAPHICAL ACCELERATION ANALYSIS

8. Construct vectors A tAO3 and A Os 3O4 . AOs 4 A

A tO4 A
9. Determine the magnitude of A Ot 4 A from the polygon.
Compute α 3 as α 3 = AOt 4 A / RO4 A . AOc 4 A
10. Determine the direction of α 3 . In this example it is
n
A O4 A
o
CW since R O4 A must rotate 90 CW to line up with
A nAO2
AtAO2
A Ot 4 A .

Example SC-AP-3
This is a continuation of Example SC- O
VP-3. Assume an angular acceleration of O
A nAO2 A nAO2
1 rad/sec2 CW for the crank.
Acceleration polygon (right) is
constructed and the following accelerations
are determined from the polygon:
AtAO2 A tO4 A
α 3 = α 4 = 2.67 rad/sec2 CW; AOs A = 3.8 , AtAO2
4

and AP = 0.4 in the direction shown.

A second polygon (left) is constructed AP
to determine the acceleration of point P as: AOn 4 A
AP = 2.7 in the direction shown. s
AOc 4 A
A O4 A AtPA

A nPA

Exercises

In these exercises take direct measurements from the figures for link lengths and the
magnitudes of velocity and acceleration vectors.
Exercises P.1 – P.4 are examples of four-bar mechanism. Assume ω 2 and α 2 are given.
Determine α 3 , α 4 , and A P .
P.1 P.2

(2)
(3)
(3)
(4) (4)

(2)

P.E. Nikravesh 6-9

AME 352 GRAPHICAL ACCELERATION ANALYSIS

P.3 P.4
P
(2)

(3) (3)
(2) (4)
(4)
P

Exercises P.5 – P.8 are examples of slider-crank mechanism. Assume ω 2 and α 2 are given:
For P.5 and P.6 determine α 3 , α 4 , and the acceleration of the slider block; For P.7 and P.8
determine α 3 , α 4 , and A P .
P.5 P.6
(3) (3)
(2)
(4) (2)
(4)

P.7 P.8
P

(3) (2)
(3)

(2)
(4)

(4)
P

P.9 P
For this six-bar mechanism ω 2 P

and α 2 are given. Determine α 5 ,

(3)
acceleration of P, and the (4) (5)
acceleration of the slider block 6. (6)
(2)

P.10
For this six-bar mechanism ω 2
(2)
and α 2 are given. Determine α 5 and (3)
the acceleration of the slider block 6.

(6)
(4)

(5)

P.E. Nikravesh 6-10