Introduction Velocity of a moving body isa vector quantity having magnitude and direction. A change inthe velocity requires any ‘ofthe following conditions to be fulile: ‘+ change in the magnitude only ‘* change inthe direction only ‘+ Achange in both magnitude and direction ‘The rate of change of velocity with respect to time is known as acceleration anditactsin the direction ofthe change in velocity. Thus acceleration i also a vector quantity. To find linear acceleration ofa point ona lnk is linear velocity is ‘required tobe found frst. Similarly, to ind the angular acceleration of alink its angular velocity has to be found. Apart {rom the graphical method, algebraic methods are also discussed in this chapter. After finding the accelerations, itis 1285) to find inertia forces acting on various parts of a mechanism or machine. 3.1 ACCELERATION Let a link O4, of length rotate in a circular path in the clockwise direction as shown in Fig. 3.1(a). Ithas an instantaneous angular velocity wand an angular acceleration «in the same direction, ie, the angular velocity increases in the clockwise direction. fe & vysin 69 o * fio 7 cS a [eas] Tangential velocity of 4, v, = @r Ina short interval of time éy, let O4 assume the new position Oa’ by rotating through a small angle 58 Angular velocity of 04", w= @ + dt80 Theory of Machines Tangential velocity of 4’,v’,= (@ + @ 54) r ‘The tangential velocity of 4” may be considered to have two components; one perpendicular to OA and the other parallel to OA Change of Velocity Perpendicular to OA Velocity of A 1.10 O4 Velocity of A’ L to OA + change of velocity v,e08 69 ¥/, £08 69, (@+a.61yrc0s50—or oo Acceleration of A 1 to OA Inthe limit, as 52 0, cos 68 1 «acceleration of AL to OA (2) (« -2) ae a C2 3.1 a GBD) ‘This represents the rate of change of velocity in the tangential direction of the motion of 4 relative to O, and thus is known as the tangential acceleration of A relative to O. Itis denoted by fi, Change of Velocity Parallel to OA Velocity ofA parallel to O4 =0 Velocity of 4’ parallel to O4 =v’, sin 60 change of velocity “,sin 50-0 (@xadryrsin6e ‘Acceleration of A parallel to 04 = In the Inmit, as 54 0, sin 60 68 Acceleration of A parallel to OA o- 2 dt 62) oan 63) ‘This represents the rate of change of velocity along O, the direction being from 4 towards O or towards the centre of rotation. This acceleration is known as the centripetal or the radial acceleration of A relative to O and is denoted by Fo Figure 3.1(b) shows the centripetal and the tangential components of the acceleration acting on A. Note the following:Acceleration Analysis 81 1, When a= 0, ie., OA rotates with uniform angular velocit acceleration, 2. When @ acceleration, 3. When cris negative or the ink OA decelerates, tangential acceleration will be negative or its direction will be as shown in Fig. 3.1(¢). ‘Total acceleration vectors are denoted by small letters with a subscript ‘I’ attached, The meeting point of its components may be denoted by any of the small letters used for the total acceleration with a subscript of the other. For example, components of the total acceleration. 1, 040, and o,a, as in Fig. 3.1 (b) 2. oa, and aay as in Fig. 3.1 (c) ‘Note that the centripetal acceleration is denoted by the same letters as are in the configuration diagram but the positions are changed. 1 fog =0 and thus 5, represents the total 1 ie, A asa near motion, fS, = 0 and thus the tangential acceleration isthe toa ‘can be written in ether ofthe two way: 3.2. FOUR-LINK MECHANISM. ‘The configuration and the velocity diagrams of a four-tink mechanism discussed in Sec. 2.5 have been reproduced in Figs 3.2(a) and (b), Let a= angular acceleration of AB at this instant, assumed positive, ie, the speed increases in the clockwise direction andy » o @82 Theory of Machines For the construction of the acceleration diagram, a vector equation for the same can be formed similar to the one applied to the velocity diagram. ‘Ace. of Crel. 4 = Acc. of C rel. to B + Ace. of B rel to A fou San * fon fo hy or dye, = ab, + bye Each of these accelerations may have a centripetal and a tangential component, Thus, the equation can be expanded as shown below: feet Ry fia + Bhat Rey + Roo dy cat C461 1 by +b, by +B; 65 + 64 6) Set the following vector table: SN Veer Maguitade Direction Seane 1 5 5 ap oA fig OF aD, (@by 4B a ne axa LAB oc ay bot ab ~ 3 : 2 lige o8 fi orbyey, (bey , BC 4 Bac - aco, 5 : 2 pe = Ky ordyey (acy ? DC 6 a : LDC or dg : Construct the acceleration diagram as follows: (a) Select the pole point a, or dy (b) Take the first vector from the above table, i., take ayb, to @ convenient scale in the proper direction and sense, (©) Add the second vector tothe first and then the third veetor tothe second. (@) For the addition of the fourth vector, draw a line perpendicular to BC through the head e, of the third vector. The magnitude of the fourth vector is unknown and ¢, can lie on either side of y, (©) Take the fifth vector from dy, (8) For the addition of the sixth vector to the fifth, draw a line perpendicular to DC through the head cof the fifth vector. ‘The intersection of this ine with the line drawn in the step (4) locates the point cy. ‘otal acceleration of B= ay byAcceleration Analysis 83 ‘Total acceleration of C relative to B= by 6, ‘Total acceleration of C= dy ¢, Angular Acceleration of Links From the foregoing discussion, it can be observed that the tangential component of acceleration occurs due to the angular acceleration ofa link. Tangential ace. of Brel. to 4, fa = @AB= BA ‘where a= angular acceleration of the link AB ‘hus, angular acceleration ot a link can be found if the tangential acceleration 1s known. Referring to Fig. 3.2, ‘Tangential ace. of C rel to B, ie, acceleration of C relative to B is ina direction ¢, to €, or ina counter-clockwise direction about B. As flg= @yCB ey =f’ CB ‘Tangential acc. of Brel. to C, fic i.e, acceleration of B relative to Cis in a direction ¢, to ¢, or in counter-clockwise direction about C with magnitude, Qj. = fi,/BC which is the same as 0 ‘Thus, angular acceleration of a link about one extremity is the same in magnitude and direction as the angular acceleration about the other. ‘Tangential acc. of Crel. oD, £4 =e46, ie, Crelative to D moves in a direction from ¢4 10 ¢, or C moves in the counterclockwise direction about D. cc 3.3. ACCELERATION OF INTERMEDIATE AND OFFSET POINTS Intermediate Point ‘The acceleration of intermediate points on the links can be obtained by dividing the acceleration vectors in the same ratio as the points divide the links. For point £ on the link BC (Fig. 3.2), BE _ bie, BC be ‘8; €; gives the total acceleration of the point £. Offset Points ‘The acceleration of an offset point on a link, such as F on BC (Fig. 3.2), can be determined by applying any of the following methods: 1. Writing the vector equation,86 Theory of Machines fn thee or ftp bar fe or fya +8 +h, = fog HE HEE or aby + bil + fi = dyer + f+ Ay ‘The equation can be easily solved graphically as shown in Fig. 3.2(d). af, represents the acceleration of F relative to 4 or D. 2. Writing the vector equation, fy * oe fot hp fa Ein + By fe or b+ bh +h fa already exists on the acceleration diagram. oy f= pe rection tows “ppl! FB, direction towards B. fr «ep 11 £5 dreion Biot ‘4 ~ ay, because angular acceleration of all the points on the link BCF about the point B isthe same (Counter-clockwise), f, can be found in this way. 3. By acceleration image method In the previous chapter, it was mentioned that velocity images are useful in finding the velocities of offset points of links. In the same way, acceleration images are also 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. It can be proved that the triangle byeyf; is similar tothe triangle BCF in Figs 3.2(4) and (2), Let w= angular velocity of the link BCF angular acceleration of the link BCF Referring to Figs 3.2(a) and 3.3, bre et Diff; and byeyey are two right-angled triangles in which the ratio of the two corresponding sides is the same as proved above. Therefore, the two triangles are similar, bf _ BF be BC Also, Zfy by fy = Zey by 1 or Aiybat, = Zepbity= Zeybyey ~ Zeybyhy or Z3= 22 £1 (ebay || BF yey BC)Acceleration Analysis — 85 Now, in As byfye, and BFC, 2-21 ‘ bit BE L bye, BC ‘Therefore, the two triangles are similar ‘Thus, to find the acceleration of an offset point on a link, a triangle similar to the one formed in the configuration diagram can be made on the acceleration image of the link in such a way that the sequence of letters isthe same, Le, byfye is clockwise, o should be BFC. ‘An easier method of making the triangle byf similar to BFC is by marking BC’ on BC equal to bye, and raving a fine parallel to CF, meeting BF in F. BCP” ic the exact cise of the triangle to be made on bye, Take byf, = BF’ and eyf = CF. ‘Thus, the point f, is obtained. 3.4 SLIDER-CRANK MECHANISM ‘The configuration and the velocity diagrams of a slider-erank mechanism discussed in Sec. 2.8 have been reproduced in Figs, 3.4(a) and (b). ‘Writing the acceleration equation, Ace. of Brel. to O= Acc. of B rel. to A+ ‘Ace, of A rel. to O Hf, 0,8, +4; b,+D, by ‘The crank OA rotates at & uniform velocity, therefore, the acceleration of A relative to O has only the centripetal ‘component. Similarly, the slider moves in a linear direction and thus has no centripetal ‘component. Setting the vector table SN ‘Vector Magnitude —~Direction—=—=SSense : fos} joa so OA a pees (aby Van SS 4B 3 fhorb, by = Lap 4 4 orsiby : | line of motion oF86 Theory of Machines Construct the acceleration diagram as follows: 1, Take the first vector f,, 2. Add the second vector to the first. 3. For the third vector, draw a line 1 to 4B through the head b, of the second vector. 4. For the fourth vector, raw a line through g, parallel to the line of motion of the slider, ‘This completes the velocity diagram, Acceleration of the slider B= 0, b, (or 2; By) Total acceleration of B relative to A = ay by Note that for the given configuration of the mechanism, the direction of the acceleration of the slider is ‘opposite to that ofthe velocity. Therefore, the acceleration is negative or the slider decelerates while moving to the right. Example 3.1. Figure 3.5(a) shows the Solution v,= 10.5 * 0.05 = 0.525 mis configuration diagram of a Complete the velocity diagram (Fig. 3.5(b)] as four-link mechanism along explained in Example 2.1 ‘with the lengths of the links in mm The tink AB. lew Writing the vector equation for acceleration, ‘an instantaneous angular velocity of 10.5 rads Ace. of C rel. to.4 = Ace. of Crel. to B + Ace. of and a retardation of 26 radis? in the counter- Brel. to.A clockwise direction. Find () the angular accelerations of the links BC oa fas * fa and CD or fay = fae they (ii) the linear accelerations of the points E, F and G or dyy=ajb,+b,e, Each vector has a centripetal and s tangential component, FS HEYA HAS HS, or dycyteyey=b, +b, by +; +e, Set the vector table (Table 1) on the next page. Draw the acceleration diagram as follows: (Take the pole point ay or dy [Fig. 3.56) (i) Starting from ay, take the first vector a by i) To the first vector, add the second vector and to the second vector, add the third. (iv) The vector 4 is known in direction only. ‘Therefore, through the head e, of the third vector, draw a line, 1 to BC. The point e, of the fourth vector isto lie on ths lin. (¥) Start with dj and take the fifth vector dy cgAcct Ais weil x Vetor Magan (wit icin = — (aby? __ (0.525 a e 45, ory, Y= OF = 551 1 (orb, «42 =26x005~13 LAB or|iab o Af, or bey ool 5a ac ae BC ~~ 0.066 fi, orbyey : 7) - . acy __ 039) {5 or dyeg ey loc =D o 2 6 My or eye a 18 . (vi) ‘The sixth vector is known in ditection only. Draw a line to DC through head ey of the fifth vector, the intersection of which with the line in the step (d) locates the point e, ‘The acceleration equation is helpful only at the initial stage for better comprehension.] (9) Angular accelerations (vii) Join ayby, bye, and dye, cy = SOE Now, ayb, represents the total accelerations of ie BC the point B relative tothe point 4. 2.25 _ 3409 radis? Similarly, byey is the total acceleration of C 0.066 *402 rads relative to B and dyey is the total acceleration of C ‘counter-clockwise relative to D. tor a [Note In he acceleration diagram shown in Fig. 2.56, Oy = OD = ose the arrowhead has been put on the line joining points b, and , in sucha way that represents the vector for acceleration of C relative to B. This satisfies the above equation. As the same equation fe fo canalsobe putas, feat he 4.6.2 beaby This shows that on the same line joining b, and ¢, the arrowhead should be marked inthe other direction so that the vector represents the acceleration of 8 relative toC to satisfy the latter equation. ‘This implies that in case both the ends ofa link are inmotion, the arrowhead may be putin either diection ‘no arrowhead is put at all. This is because every time itis not necessary to write the acceleration equation. = 79.11 rad/s* counter-clockwise ii). Linear accelerations (a) Locate point e, on by ¢, such that bye _ BE bye, BC fo ae, = 5.15 mis? (b) Draw A byeyf; similar to A BCF keeping in mind that BCF as well as byeyf, are read in the same order (clockwise in this case), ayf, = 4.42 mis? (©) Linear acceleration of the point G can also be found by drawing the acceleration image of the triangle DCG on dye; in the acceleration diagram such that the order of the letters remains the same. Se= 8i) = 3.9.08?88 Theory of Machines For the configuration of a. slider-crank mechanism shown in Fig. 3.6(@), calculate the () acceleration of the slider at B (i) acceleration of the point E (iii) angular acceleration of the link AB (OA rotates at 20 rad’s counter-clockwise. Example 3.2 E50 4 Fig.3.6 Solution v,= 20% 0.48 = 9.6 m/s Complete the velocity diagram as shown in Fig. 3.6(b), Writing the vector equation, or By by = 0; 8) + 8) By +B, Dy Set the vector table (Table 2) as given below. ‘The acceleration diagram is drawn as follows: (b) Take the frst vector oya, and add the second vector. (©) For the third vector, draw a line 1 to AB through the head b, of the second vector. For the fourth vector, draw a fine || to the line of motion of the slider through gy. The intersection of this line with the line drawn in the step () locates point by (©) Joina, by @ f= eib)= 2 mis? ‘As the direction of acceleration fis the same as of Vy this means the slider is accelerating atthe instant. Locate point eon bya, produced such that bie | BE bay BA je, = 236 mis? fig _ Baby 1) as a AB @ 167 16 1104 rad/s? counter-clockwise Example 33 Figure 3.7(a) shows confi guration ofan engine Stine ti ‘are the following: (Crank O4 = 200 mm; Connecting rod AB = 600 mm; distance of centre of mass from crank end, AD = 200 mm. At the instant the crank has an ‘angular velocity of 50 rad’s clockwise and an ‘angular acceleration of 00 rads. Caleulate the () velocity of D and angular velocity of AB (ii) acceleration of D and angular acceleration (a) Take the pol pinto, or ig. 36 (0 wor Boil SN ‘Vector ‘Magnitude (m/s*) Direction Sense . wap 1 fg, oro, Goa), 06) ign 04 30 4 08 2 ay _ 625) laa ay “ ns 4 1.60 72 2 orb by : Las : «oe - el(ili) point on the connecting rod which has zero ‘acceleration at this instant Acceleration Analysis 89 Writing the vector eq) fre foat he fae foo * fon SAS +H +h +h 81 by = 0; a, + a, a; + a; B+ by by Set the vector table (Table 3) as given below. “The acceleration diagram is drawn as flows: (@) Take the pole point 0, oF , [Fig. 3.10) eg 72» (©) Take the first vector 0, 52 (©) Add the second vector to the first and then > a 0, the third vector to the second. é (@) For the fourth vector, draw a line 1 to AB rd through the head b, ofthe third vector. &) i. (e) For the fifth vector, draw @ line || to the line of motion of the slider through gy. The imtersection ofthis line with the Tine drawn Fig. 37 in step (d) locates point by. (Join a, by, Solution: v= 50 * 0.2 = 10 m/s (ii) Locate point d, on bya, produced such that ‘Complete the velocity diagram as shown in Fig na BD 370). aa (Velocity of D= od = 88.mis fra oid, = 3? Angular velocity of AB = ab/aB = 5.2/0.6 es oie mde fe _ baby 8.67 ad's y= = ge 168 rad/s? clokwise pol SN Vector “Magnitude (m/s*) Direction Sense 2 > . (oay coy 1 or oa +0 fh 0F 0; ay OA 02 500, i 2 fi, ora, a «AB = 800 0.2 = 160 Lodsor|joa a 2 2 3 ff, ora, by Gaby _ 62) 45 4B A 4B” ~ 06 4 fh orb, by Lap . 5 | gyorg. . [ltestiersetion | -0 Theory of Machines Fig. 38 ‘To find the point on the connecting rod which has ‘ger acceleration at tis lustant, draw ingle ABE ‘on the configuration diagram similar to a,b,0, such that the letters are in the same order, ie., clockwise (Fig. 3.8), Then £ is a point on the connecting rod ‘with zero acceleration as it corresponds to zero acceleration of point O. In the mechanism shown in Fig. 3.9(a), the crank OA rotates at 210 rpm clockwise. For the given configuration, determine the acceleration of the slider D and angular acceleration of the link CD. 29x 210 60 Example 34 Solution 0,1 =2.2 mis ‘Complete the velocity diagram as follows: Fig.3.9 + Forthefour-linkmechanism04B0, complete the velocity diagram as usual [Fig. 3.9(6)} ‘= Locate point c on vector ob extended so that eg _CO_300 by BQ 180 ‘+ Draw a horizontal line through g forthe vector jy and a line LCD for the vector vg, the intersection ofthe two locates the point d “Thus the velocity diagram is completed. Set the vector table (Table 4). 667 SN Ver Magnitade (wid Tieton Sense 1 (ay __@2y° oa 20 oa). G2) aga 2 (aby _ 297° aR 2A AB 03 a 3 - Lap : 4 (ay 0.299 30 Pee ene : - 00 . 6 Gay _ ory cD ac cD ~ 04 ae 1 Lo & iloslidermotion—-‘The acceleration diagram is drawn as follows: () From the pole point o, take the fist vector oa, (Fig. 3.9(0)) Gi) Add the second vector by placing its tail ata, (ii) For the third vector ff,, draw a line LAB through b, (iv) Add the fourth vector by placing its tail at qy and to add the fifth vector ff, draw a line ‘LBO through b,. Inteseetion of the two lines locates point by, (¥) Locate point ¢, on the vector qyby by extending itso that (vi) Add the vector for centripetal acceleration fof link CD by placing its tal at 6; and for its tangential component, draw a perpendicular line toi (ii) For the veetor 8, draw a horizontal Jine through g, the intersection of this line with the live drawn in (il) locates point dy This completes the acceleration diagram, ‘Acceleration of slider D = gydy = 54.4 mis ‘Angular acceleration of link Cl fy or ed 13.3, Og = Dar = 3325 radi Example 3.5 In the mechanism shown in Fig. 3.10(a), the crank OA rotates at 60 rpm. Determine the () linear acceleration of the slider at B (ii) angular acceleration of the links AC, COD ‘and BD _ 20x60, 0 Solution x 0.15 = 0.94 mis Complete the velocity diagram as shown in Fig. 3.10(b). Acceleration Analysis 94 easy Fig. 3.10 It is a six-link mechanism. First, consider the four-link mechanism O4CQ and write the vector equation foo For foo or hg fant he or qyey= oy ay Faye92 Theory of Machines Links AC and CQ each can have centripetal and. tangential components, AR =e enn, OF guy eqey= 0) 8; #8; 6, +6, my Set the following vector table (Table 5). Complete the acceleration vector diagram oyayeyd, a8 usual [Fig. 3.10(€)} ww Aeyqyd, similar to ACQD such that both are ead in the same sense i, elnclewise ‘Write the vector equation for the slider-crank ‘mechanism ODB, or yb, = aya + dyby From this equation qi, is already drawn in the diagram and gyb, is a linear acceleration ‘component. Sng fan +a +8 or Biby = aid + dyby + Ded Set the following vector table (Table 6) Complete the acceleration vector diagram ads bye ( f= B1b,= 7 mis? towards left As the acceleration f,is opposite to vj, the slider is decelerating, Sig = fiat fay ne or fag ag Sag ca counter-clockwise a SN Vector Magnitude (mie? Direction Renee L f,,0F 0,4) {104 30 2. foray, {lac aA 3 fh, oF cc, 4AC - 4 Keg OF Cy tlec 30 5. Ai, or eye : Loc c fey SN Vector oa a) Direction Sense f fora dy Already drawn a : 2, fy ordp, 4) __ (0.495)" [DB aD DB 0.50 a fhy orb, by : DB : 4. Tig OF 8 Dy . | | to slider motion -clockwise in Fig. 3.11(a), the crank min a a accelerations of the sliders B, D and F. Fig. 3.11 2nx210 o x02=44 Solution vy =P>O 0.2 = 44 mis Complete the velocity diagram as follows (Fig, 3.10): * For the slider-crank mechanism 4B, complete the velocity diagram as usual. + Locate the point ¢ on the vector ab. + Draw avertical line through g’ for the vector Acceleration Analysis 98 Vay and a line LCD for the veetor vi, the intersection of the two locates the point d ‘* Extend the vector ed to € such that ee/ed CEICD. ‘© Draw a horizontal line through g” for the vector vg" and a line LEF for the vector Vin the intersection of the two locates the point f. ‘Thus, the velocity diagram is completed, Velocity of slider B= gb = 4,65 mis. Velocity of slider D = e' = 2.85 m/s Velocity of slider F = g"f = 0.35 mis. Set the vector table (Table 7) as shown in the following page: ‘The acceleration diagram is drawn as follows (@ From the pote point o,, take the first vector 0,3; [Fig 3.110] Gi) Add the second vector by placing its tail at , (ii) For the third vector fy draw a ine 1.48 through by and for the fourth vector a horizontal line through g, the intersection of the two lines locates poin by (iv) Locate pointe, on the vector aby. (©) Add the vector for centripetal acceleration fig of fink CD and for its tangential component, draw a perpendicular linet it. (vi) For the vector 7, draw a vertical line through the intersection ofthis line to the previous Tine locates the point dy. (ii) Join jd; and locate point e, on its extension (vii) Take the vector 8 and draw line e,¢paralet to EF and draw a line for the tangential component (ix) For the vector 10, take a horizontal line through gy” and the iterseoton ofthis with the previous line locates the pont f This completes the acceleration diagram, Acceleration of slider 3 = iby Acceleration of slider D94 Theory of Machines Tebie7 SN Vector ‘Magnitude (nis?) Direction Sense : > aa 1 for aay on 30 + = 968 HI 2 2 2. fi orab, 4D) _ 226) gg la A AB 3. fh, orbby ; Lab . 4 f_org,b, | [to slider motion - 5. fi or ecg 64) _ 58 lcp ac CD 055 6 the oreaty : Le : 1 fgor : | [to slider motion . > 2 : ety _ 6.49y 8 froree, EF a4 oo EF 0.85 U 9 fe ore fy : LEF : 10, fyeor gph, : | [to slider motion : Example3.7 in the toggle mechanism . shown in Fig, 3.12(a), the crank OA rotates at 210 rpm counter-clockwise increasing at the rate of 60 rad/s’. For the given configuration, determine (@) velocity of slider D and the angular velocity oflink BD ®) acceleration of slider D and the angular ‘acceleration of link BD Fig. 3:2 Solution v, = 24 *210 99 _ 4.4 m/s C Complete the velocity diagram as follows Fig. 3.120) ‘+ Take the vector oa representing v,- ‘© Draw lines ab LAR through ® and qhLOB through q, the intersection locates the point b. # Draw the fine bd LBD through b and a horizontal line through q or g to represent the line of motion of the slider D. The intersection of the two lines locates the point d. Velocity of slider D = gd = 2.54 mis ‘Angular velocity of BD = bd/BD 632 rad/s, Sot the following vector table (Table 8) For the acceleration diagram, adopt the following steps: (Take the pole point 0, or ¢, [Fig. 3.12(6)} Gi) Starting from o,, take the first vector 04a. To the first vector, add the second vector. Thus, the total acceleration o,a, of A relative to O is obtained. ‘Take the third vector and place its tal at qy 3.16/05 (i Acceleration Analysis 95 ‘and through its head draw a perpendicular line to have the fourth vector. ‘Take the fifth vector and place its tail at a. ‘Through its head draw a perpendicular line toadd the sixth vector. jw) (v) The intersection of lines of the fourth and sixth vectors locates the point by. ‘Take the seventh vector and put its tail at by. ‘Through its head, draw a perpendicular line ‘to add the cighth vector (vii) For the ninth vector, draw a line through gy parallel tothe slider motion. (vii) The intersection of lines of the eighth and ninth vectors locates the point dy Acceleration of slider D = gy4 =16.4 m/s? Angular acceleration of BD = bly/BD = 5.46/0.5 = 109.2,radis*. co) Table 8 ‘SN ‘Vector ‘Magnitude (m/s?) Direction ‘Sense 1 5, or oy goay _ GAY loa +0 fe OA 02 68 2 ax 04 = 600.212 104 ay _ 6399 3 : Bi + On a3 383 1B @ 4. fh, or byby : 189 - by? _ .S4y 5. forays, 40)" _ O54) _ 595 [4B oA 4B (OA 6. fig or yay - LAB - 1. fyorbby C47 _ CS _ ag | BD a8 BD 05 8 fi, orbydy : Lap 9 fly ore : || 10 stider motion :96 Theory of Machines .8 An Andrew variable-stroke engine mechanism is shown in Fig. 3.13(a). The crank OA rotates at 100 rpm. Find the (linear acceleration ofthe slider at D (ii) angular acceleration of the links AC, BC and CD. Example Fig.33, 2nx100 60 Solution 0,09 = 0.94 mis, Complete the velocity diagram as shown in Fig. 3.13(b). The procedure is explained in Example 2.10. ‘Write the acceleration vector equation noting that the cranks O4 and QB rotate at different uniform speeds. For the linkage OACBQ, fost hay fey hhy OF fyy thay oy ay + ay €, = Gy by +B, cy Links AC and BC each have two components, fo HSH = fig HHS +A, or 01 8, +, +e, 6 = 44 Dy +; 64+ Cy ey Set the following vector table (Table 9). Draw the acceleration diagram as follows: (a) From the pole point 0, take the first vector sand ad the snsond vector to it an show ia Fig. 3.13 (0). (©) Through the head e, of the second vector, 0 0369+ | and sind8—> 68 40 Soon f-orv=f-or ‘Ace. of slider-centripetal acc. ‘This is the acceleration of P along AR in the radially outward direction. f will be negative if the slider has deceleration while ‘moving in the outward direction or has acceleration while moving in the inward direction. Acceleration of P along AR = Acceleration of P Perpendicular to AR Initial velocity of PL to AR= wr Final velocity of P to AR = v' sind0 +-afr’ cos60 Change of velocity to AR = (v'sind0 +afr'cos60) — or Acceleration of P-L to AR oan Ht Fig.3.4 _ (+ f6t)008 0 — (@+ adt)(r + 5r)e0s 60 - or In the limit, as 51> 0 cos 60-51 and 40 ar +02 +a a at + ov + ro=2ow + ro a + tangential ace. Acceleration of P L to AR Thi sin 60 — 50 is the acceleration of P perpendicular to AR. The component 2«vis known as the Coriolis acceleration ‘component. Itis positive if both and v are either positive or negative. ‘Thus, the coriolis component is positive if the * Tink AR rotates clockwise and the slider moves radially outwards * ink rotates counter-clockwise and the slider moves radially inwards. Otherwise, the Coriolis component will be negative. ‘These observations can be summarised into the following rule: ‘The direction of the Coriolis acceleration component is obtained by rotating the radial velocity vector v ‘through 90° in the direction of rotation of the link. Let be a point on the link AR immediately beneath the point P atthe instant. ThenAcceleration Analysis 99 ace. of P= acceleration of P | to AR + acceleration of P 1. to.AR Sn= f- @ 7) + Qov + rey =f+ (rao? r+ 20v 08. ofP rel. to O + ace. of Q rel. to A + Coriolis acceleration component “Sng Syst Ga In the above equation, fy isthe acceleration which an observer stationed on link AR would observe for the slider. In Fig. 3.5(a), the acceleration of the point G relative tothe link AD (the acceleration to be reported by @ person stationed on the link 4D) does not involve the Coriolis component though the link CD has angular noon since G Isa Axed polit on te link CD. Now in ease Its Jesred w have the accelerauon OFG relalve to the link BC (the acceleration tobe reported by a person stationed on the link BC), the Coriolis component of acceleration is involved because now relative to the link BC, Gis a moving point and the link BC also has angular velocity. (See Example 3.16). Remember that Coriolis component exists only i there are two coincident points which have + linear relative velocity of sliding, and + angular motion about fixed finite centres of rotation, ‘Sometimes for the sake of simplicity it is convenient to associate the Coriolis acceleration component f” with fan writing the equation in the form, Sos Soa* Soa Sna~Soat f° G5) ‘This makes solving problems quite easy. where 3.6 CRANK AND SLOTTED-LEVER MECHANISM ‘The configuration and the velocity diagrams of a slotted-lever mechanism have been shown in Figs 3.15(a) and (b) respectively. The crank OP rotates at uniform angular velocity of @ rad’s clockwise. Ponslider ona100 Theory of Machines Writing the vector equation, fps fyg* hoa Syy = ay * hyo Any of these equations can be solved graphically. Both will lead to the same acceleration diagram except for the direction of the vectors f,, and fy ‘Considering the fist equ fo fy tha oF ayy Sia Soa Son * Sos or 01 Pa = 44 da +e Gy +s Pq + Pq Pr Set te following vector table (Table 11): ‘The direction is obtained by rotating the vector v,_ (or qp) through 90° in the direction of «; (clockwise in the present cas). Construct the acceleration diagram as follows [Fig. 3.15(0)|: 1. Take the first vector f,, which is completely known. 2. Take the second vector from the point a (or o,). This vector is also completely known. 3. Only the direction of the third vector fj, is known. Draw a line 1 to AQ through the head q, of the second vector. 4. As the head of the third vector i not available, the fourth vector cannot be added to it. Take the last vector fay which is completely known, Place this vector in the proper direction and sense so that p becomes the head ofthe vector. In Fig 3.15(@), p, cannot lie on the right side of p because then the vector would become p, p, and not P,P. 5. For the fourth vector, draw a line parallel to.4R through the point p, of the fifth vector. The intersection ofthis line withthe line drawn in the step 3 locates the point q, Total acc. of P rel. 0 Os fyy= 4s Pt Total acc. of Orel. tod, f= ay dy ‘The acceleration of & relative to is given on a, q, produced such that an SAR aq, AQ ma SN WSS Magara Besos am coin oxOP lop 30 a fgoraa, ay. 114g oA AQ a fh, ora, a) - 4 AQoraiq, : 4. pg OF 4) By - 1AR e 5. £2 orp, By Coriolis component* 1 AR Refer* ee aq 6S = 20V pg (= =2{ 24 155 = 20V pg («= angular vel. of AR) (2 an‘Note that inthe present case, the sl ‘ap. This signifies thatthe slider is decelerating. Also, fob te fo fat fe fa +f +f ‘This equation can be solved as usual ‘Total acc. of § relative to R, Acceleration of $= gy 8, of a; , oF 0S, Acceleration Analysis 101 ing acceleration a,q, is in the opposite direction to the sliding velocity The direction of g,6) 18 oppdsite to the direction of motion of the shider 8’ ndicating that the slider 1s decelerating Figure 3.16(a) shows a slider moving outwards on a rod with a velocity of 4 m/s when tts distance from the point O is 1.5 m. At this instant, the velocity of the slider is increasing at a rate of 10 m/s?. The rod has an angular velocity of 6 radlscounter- ‘clockwise about O and an angular acceleration of 20 radis? clockwise. Determine the absolute ‘acceleration ofthe slider. Example 39 Solution ‘Writing the acceleration vector equation, ro fay + Bye ~ ot fgg = fey +f + By +15 1M + 4641 * uP * Po Pr Set the following vector table (Table 12): Figure 3.16(b) shows how to obtain the direction of the coriolis component. The velocity vector ofthe slider is rotated through 90° inthe angular direction of the rod. Draw the acceleration diagram as follows {Fig. 3.16(0)|: foe 6 rad's 20 mis? —e1mis* 453 ane CL oye m Pon 5 15 94 siser “ Gon or ® o Py eta | jas ote bs 6 cy) Fig 3.16 1, From the pole point o,, take the first vector 196 2. Add to it the second vector 4,4), SN) Vector) Magnitude mls? Direaion Sense 1 ff, 0F 0; 4, @x1s=54 110R © 2 %, x OQ=20x1.5=30 LOR a 3 fg OF Py 10 10k 2 4, ff orpy Pr 2. vy, =2x6x4=48 LOR102 Theory of Machines 3. Add the third vector to the second vector. 4, To add the fourth vector, place the tail of the fourth vector at the head of the third vector and the final point p, is located, 5. Join 0, Py, On measurement, 0, p= 47.5 mis? or by calculation from the acceleration diagram V(S4~10)? + (48 - 30)" = 47.5 mis* Exuimple 310 Fig. 3.17(a) shams the tink mechanism of a quick-return mechanism ofthe sotted-lever type, the various dimensions af which are 4 = 400 mm, OP = 200 mm, AR RS = 300 mm. For the configuration shown, determine the ‘acceleration of the cutting tool at Sand the ‘angular acceleration ofthe link RS. The crank OP rotates at 210 rpm. 700 mm, Solution The velocity diagram hasbeenreproduced in Fig, 3.17(b) from Fig. 2.21. Voor op = @.0P = 2=*210 99-2902 44 mis Writing the acceleration vector equation, Soop + Spo fam fot hy or a) 41 = 0, Py + PL a ot Ataf HE OF 8, Gy + 4p Gy =O Pr + Pa Ap * Mp Set the following vector table (Table 13) shown in the following page. Direction of fyy is obtained by rotating vay through 90° in the direction of angular movement of link QA as shown in Fig. 3.17(c) (clockwise in this case), Draw the acceleration diagram as follows [Fig. 3.17(¢)]: 1. rom the pole point 0, ake the fist vector op, 2. Add to it the second vector Bid 3. Add the third vector to the second vector Forth fourth vector, draw a line parallel to AQ, through the head q, ofthe third vector, 4, From the pole point ay oro, take the fith vector and for the sitth vector, draw line perpendicular to 40 through the head , of the fifth vector “This way the point qi located 5. Join gy and a and extend to ry such that a AR aa 40 Witing the vector equation, fy why he of hh = fy Hh +f, or gs mayry trys 8,8 fo is already available on the acceleration diagram. f,, is horizontal. (es _ (4? RS O03 Complete the vector diagram as usual. Acceleration of the cutting tool, f, 6.63 mis 52.3 radis clockwiseAcceleration Analysis 108 [_sw Vector “Magnitude (m/s) Direction ‘Sense : ory _ 64 Logg lop 30 or ~ 02 2 fap OF PL Ip 2 Oy, Vg = 35.5" 1AQ Refer * 3 fap OF Mp - AQ 5 4. FS, ory Qa cu ~ seh wa oa 5. Ma OF da - LAQ 5 Yea 436 Mg = 209% = 27 ry = 2438 2.95 035.5 mist ea 7X 285 9355 mis Note: Incasetheproblemistobe workedout without werting the vector equation and f the Corals Uccaleration component fre ls considered instead of FS, then note th the magnitude of the Coriolis component remains the same. + inorder o find the direction, the velocity vector ‘Yap is to be rotated through 90° as shown in Fig. 3.17e. The direction of fp is found to be opposite to fgg. Now, one will be tempted to place this vector towards rightof py in the acceleration diagram, However, if that is done, the veetor would be read as pid which means G5 and not fe. Thus, again the vector fg has to be placed at the same place, ie. on the lft of py which means the acceleration diagram objained willbe the same. Example 3.11 Figure 3.18(a) shows the Scotch yoke _ mechanism. At the instant shown in the figure, the crank OP has an angular velocity of 10 rad/s and an angular acceleration of 30 rads? Determine the acceleration of the slider Pin the {guideand:hehorizontalaccelerationofthe guide. Solution Vpy = 10x 0. ‘To draw the velocity diagram, take a coincident ppoint Q just beneath P on the guide link. Take nother point C on the guide link. Now, proceed as follows (Fig. 3.18(6)]:04 Theory of Machines 1, Take the vector op equal to 2 mis to some suitable scale 2. The velocity of Q relative to P is along the guide path, Therefore, draw a line parallel to this path (vertical) through p to locate the point q. 3. The velocity of C relative to G is along the guide path at G or is horizontal. Thus, draw a horizontal line through g t locate point e 4. Now, U and U are two fixed points on tne same link and the distance between them does not vary. Therefore, the points q and ¢ in the velocity diagram coincide, Thus, the intersection of lines drawn in steps 2 and 3 locates points q ore. Now, fpo OF 1 Py fhe OF Pe Pi= 30 0.2 = 6 mi Draw acceleration diagram as follows [Fig. 3.18(0)]: 1, First take the centripetal acceleration component f$, or0p, and add. the tangential component for P,P. toi 2. Now, the linear acceleration of sliding of relative to P is vertical, Thus, draw a line 1 locate point ay on that. 3. Draw a horizontal line through g, to locate the pointe, on tht. 4, As there is zero velocity between Q and P, they are to be the coinciding points in the acceleration diagram also. ‘Thus, the intersection of lines drawn in steps 2 and 3 locates the point qy or Acceleration of slider P = fea OF 4:Ps 75 m/s? and horizontal acceleration = fog OF 8) C= 20.5 m/s? tis tobe noted that in this example, Q and P are two coincident points, but sill there is no Coriolis component. This is because the link (guide) on ‘hich the slider is moving doesnot have any angular ‘motion and thus « for tat is zero. of guide Example 3.12 A Whirworth —quick-retun ‘mechanism has been shown in Fig. 3.19(a). Thecimensionsof the link are OP (crank) = 240 ‘mm, OA =180 mm, AR=165 mm and RS = 430 ‘mm. The crank OP has an angular velocity of 2.5 rad/s and an angular deceleration of 20 radis?at the instant. Determine the (i) acceleration of the sider S amg aceoloation of Tinks AR amd RS © Fig. 319 Solution ‘The velocity diagram has been reproduced in Figs 3.19(b) from Fig, 2.25(b). ‘Writing the acceleration vector equation, foo Spo Soa * Foo Both the equations lead to the same acceleration diagram except that the direction sense of the acceleration vectors between P and Q are reversed. Taking the first one, fypthy oF yo fap + bye fra Spo * Lop oF aq; 0, Py * Ps Each has two components, inn ip iyagra 6 Po Pi + Pi Gp * Gp Gy Set the following vector table (Table 14): The direction of gis obtained by rotating Vyy through 90° inthe direction of angular movement of the link Q4 or BA (counter-clockwise inthis case) Daw the acceleration diagram as follows (Fig. 3.19(@): 1 2 foil [ss From the pole point 0,, take the first vector and add to it the second vector. ‘Add the third vector to the second vector. For the fourth vector. draw a line parallel to AQ, through the head q, of the third vector, From the pole point ay or 04, take the fifth vector and for the sixth vector, draw a line perpendicular to 4Q through the head q, of the fifth vector. ‘This way the point q, is located, Join qy and a, and extend to r, such that or fea fot foth +f, or =O ths, + 5,5 f,. is already available on the’ acceleration diagram. f, is horizontal. Acceleration Analysis 105 < _ (rs)? _ (0.12)" fg =F O22 gon mi? Complete the vector diagram sus £,= 0, 5 = 0.39 m/s? fe OF Gy Gy 0.57 1 ~ 03685 56 rad/s* clockwise a 024 " RS 043 = 0.558 rad/s clockwise Example 3.13 One cylinder ofa rotary engine is shown in the configuration diagram shown in Fig. 3.20(a) OA is the fied crank, 200 mm ong. OP is the connecting rod and is 520 mm Tong. The line of stroke is along AR and at the instants inclined at 30° to the vertical. The body of the engine consisting of cylinders rotates at a tmiform speed of 400 rpm about the fed centre A.Determine the ( acceleration of piston (sider) inside the cylinder (Gi. angular acceleration ofthe connecting rod ana Magnitude (ave) Direction Sense | 1 foo OF 01 Py ony 097. lop 30 OP ~ 034 2 fo OFPe Pry X OP =20 0.24 = 048 4 OPor Il op 0 3. 2 Oy, Vp 0.38" Lag Refer * 4 - AQ ' 6 - Lag - (q= Oe) xi age ols (yp aq = 0.585) = 0.38 m/s? 365106 Theory of Machines 4 or ® ot 1 z : es : Solution Let Q be a point on AR beneath the point P. 3 vg = FE 0 2M 06 28S a a The vel vector xenon is ‘oa * Yau OF Ygo™ Yen + Ypo ‘Taking the first one, Vp i | 0 AR, draw a line | to AR through q, Vpp is Lto OP, draw op,a line L to OP through o. ‘The intersection locates the point p. ‘Similarly, writing the acceleration vector equation, fy” Spy * Boy hho Nya * By 1 Pr= 8 dy +4 PL Expanding, f5, +ffy = fy. +£5, +ff, 1 Po * Po Pr =A Gy +41 Py * Pq * Pr Set the vector table Table 1): The direction of fyq is obtained by rotating Vy through 90° in the direction of o,, (clockwise) Draw the vector diagram a follows: Take the fist vector from the pole point a or 6, [Fig. 3.20(0)]. ‘Add the second vector tothe first vector, ‘Through the head ofthe second vector, draw ‘line parallel to AQ for the third vector. ‘Take the fourth vector from the pole point o,. . Through the head ofthe fourth vector, draw a line perpendicular to OP for the fifth vector. ‘The intersection of the lines drawn in steps (3) and (5) locates the point py, Acceleration of the slider inside the cylinder fjy OF Py Py = 390 mis? i) Angular acceleration of the connecting rod Vo= Vou *¥, at ap. foo OF PoPy_ 150 or op=aq gp fo OF PoP _ 150. e Take the vector Vj, to a convenient scale (Fig. ” oP 52 ~ 88S ads 3.20(b)). counter-clockwise rie i] SN Vere Tiresion Sense 1. 40 A 2 1 0°41 Pg 1AQ - 3 fog OF Pg Pr - ag - a foro, m, \\oP a s £5, orp, Ps - Lop - 112 = 20,Example 314 In the swiveling-joint mechan- is the driving crank rotating at 300 rpm clockwise. The lengths 650 mm, AB = 100 mm, BC = 800 mm, DC = 250 mm, BE = CE, EF = 400 mm, OF = For the given configuration of the mechanism, determine the acceleration of sliding of the ink ism shown in Fig. 3.21(a), AB of the various links are 240 mm, FS'= 400 mm EF in the trumion. Acceleration Analysis 107 Solution 20x30 po = ESO «1.4 ras ne 314 x01 =3.14 mis The velocity diagram isreproduced in Fig.3.21(6) from Example 2.18, For the acceleration diagram, first complete the acceleration diagram forthe four- link mechanism ABCD [Fig. 3.21(c)] as usual with the help of the following equation and table: fea = fay + fo fea = fou +h Kea fog = Bou + Bos + ly or dy eq ogc, =, by +b, 6,6 ¢4 ‘Set the vector table (Table 16) as shown, ‘Now; locate the pointe, onthe vector bye a the mia point ‘Acceleration of Q relative to E has two components: Me _ 0.95)" QE 016 ff, is unknown in magnitude, and its diection is L QE. From the pointe. take the vector for fe parallel {0 QE and draw a line tot forthe vestor ff. ‘Now, the Coriolis component canbe calcilated, of” Os 3.8 m/s, | OE HS =20,.%— sv Vern Magna (wid) Tivetion Tene 1 aby _ 6.14) 4B +A 1B 2 oy ic a8 BC OR 3 . Bc - : @cy _ G.18y pc a De 025108 Theory of Machines 195 2 = 2x E185 = 45,1 mis ,_ is found to be counter-clockwise. ‘The direction for Coriolis component is taken by rotating v,_ through 90° in the direction of angular ‘movement of the link QE (counter-clockwise in this ‘ease), The acceleration diagram is completed as usual. Acceleration of siding of link EF in the trunnion = qa 4.86.mis" ‘This shows that it fs downwards or oppostte 10 the velocity. Thus, it is deceleration, Example 3.13 In the pump mechanism shown in Fig. 3.22(a), OA = 320 mm, AC = 680 mm and 00 = 650 mm. For the given configuration, determine () linear (sliding) acceleration of slider C relative to cylinder walls (i) angular acceleration of the piston rod Solution ‘Thevelocity diagramhasbeen reproduced in Fig. 3.22(b) from Example 2.15. ‘The problem can be solved by either of the two methods discussed for velocity diagram in Example 2.15. ‘Writing the acceleration vector equation for the latter configuration, Fig. 322 fi fly +H HAS = ay by + by by +b, Set the vector table (Table 17) ‘The direetion of (3 is obtained by rotating Ya, through 90° inthe direction of @4, (clockwise). Draw the acceleration diagram as given below: 1. ‘Take the frst vector [Fig. 3.22(6)] 2. From point q, (pole point), take the second fey f+ fag veetor and through the head of it, draw a line perpendicular to QB forthe third vector. or fap fog thy | SN Vector Magnitude Gnis® Direction Sense] 1 fy 08 0,3; (ay _C4F yg Hoa 30 Oa 032 oa OT 365 H@e 32 BO” 088 : 198 - 108 - anit 1B am X4.2.= 47.1 mis?3. Take the fifth vector from the point a, such that the vector i inthe proper direction and 4, For the fourth vector, draw a line parallel to (QB through the tila, ofthe fifth vector. ‘The intersection of the lines drawn in steps (2) and (4) locates point by Let D be a point on QB beneath the point C. ‘Ace. of Cre. to cylinder walls = f= f= mist ‘Writing the vector equation, f= fey tf fos fas * fay Bay fg hg HH AG or are, 41 dy +4) CaF egy fi =f5, = 72s? parallel to OB. 155 = 200 p) Veg = 20 y%ap = SS aud, iby OB eto Vos fay athe vstor fy and then “Thus, the pointe, is located Join a, t0¢y. acy, represents total acceleration of C relative to A. This has two components Locate point d, on q, by such that fy 10 CA= ac and f6,[| CA ey) fe - 14 059 rads? CA 068 counter-clockwise Example 316 The dimensions of a four-link ‘mechanism are as under [Fig. 3.23(@)]: AB = 35 mm, BC = 40 mm, CD = 45 mm and AD = 70mm. At the instant when ZDAB= 75°, the link AB rotates with an angular velocity of 10 rad/s in the counter- clockwise direction. Given the coincident points P attached to the link CD and Q attached to the link BC such that BQ = 30 mm and CQ = 20 ‘mm, Determine the acceleration of P relative to Q (or the link BC). Acceleration Analysis 108 Solution v,= 10 0.035 = 0.35 mis Complete the velocity diagram as shown in Fig. 3.23(b). Point Q can be located by drawing the velocity image of the triangle BCO and P by drawing the velocity image ofthe triangle DCP. For acceleration diagram, we have, Ace. of C rel. 10.4 = Ace. of Cel. to B + Ace. of Brel. to Fou fos * Boe or fy het hs or dyey= ay by +B, cy ‘Writing in terms of components, feat fea = fa tf + fey oF dyegteqey™ a,b, +b, &, +6, ¢) Set the following vector table (Table 18): Draw the acceleration diagram —a,b,e,d, following the steps of Example 3.1. Locate the point p, by drawing the acceleration image of the triangle DCP on the vector eyd and a, by drawing the acceleration image of the triangle BCQ on the vector by [Fig.3.23(0)] Now, fj = Ace. of P rel. to O + Ace. of Q rel. tod + Corflis acceleration component = ht hyo HE Inthe above equation fy (py) and fy, (@y41) are known and itis required to find f,, Therefore, fist we have to find £