Kinematic Design of Machinery

MECH 417

Lecture (10)
Acceleration Analysis
 Related Course Outcome
3. Analyze position, velocity and acceleration of planar
mechanisms

Session topics:
– Definition of acceleration
– Graphical acceleration analysis
– Analytical acceleration analysis
– Human tolerance of acceleration
– Jerk

Reading Material
Chapter 7, sections 7.1 to 7.7
MECH 417 Mechanical Eng., UAEU
Definition of Acceleration
• Acceleration is
the rate of change in velocity with respect to time
• Assume point P is on a link and the GCS is placed at a pivot A (A
is fixed). For given 𝜃𝜃 𝑎𝑎𝑎𝑎𝑎𝑎 𝜔𝜔, 𝑽𝑽𝑷𝑷𝑷𝑷 = 𝑎𝑎𝜔𝜔𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃
• As per the definition VPA
𝑑𝑑𝑽𝑽𝑷𝑷𝑷𝑷 Y APA(t) P
𝑨𝑨𝑷𝑷𝑷𝑷 =
𝑑𝑑𝑑𝑑
RP APA(n)
𝑑𝑑(𝑎𝑎𝜔𝜔𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃 )
𝑨𝑨𝑷𝑷𝑷𝑷 = a
𝑑𝑑𝑑𝑑
θ X
𝑑𝑑(𝜔𝜔) 𝑑𝑑(𝑒𝑒 𝑗𝑗𝜃𝜃 )
𝑨𝑨𝑷𝑷𝑷𝑷 = 𝑎𝑎𝑎𝑎𝑒𝑒 𝑗𝑗𝜃𝜃 + 𝑎𝑎𝜔𝜔𝑗𝑗 A
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑨𝑨𝑷𝑷𝑷𝑷 = 𝑎𝑎𝛼𝛼𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃 + 𝑎𝑎𝜔𝜔𝑗𝑗𝑗𝑗𝜔𝜔𝑒𝑒 𝑗𝑗𝜃𝜃 𝑨𝑨𝑷𝑷𝑷𝑷 = 𝑎𝑎𝛼𝛼𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃 − 𝑎𝑎𝜔𝜔2 𝑒𝑒 𝑗𝑗𝜃𝜃
MECH 417 Mechanical Eng., UAEU
Definition of Acceleration
• Now, assume that point A is moving with a given acceleration.

APA(t) P
y
α AP
Y
ω APA(n)

θ x
X A AA

• The absolute velocity of point P is then defined by

𝑨𝑨𝑷𝑷 = 𝑨𝑨𝑨𝑨 + 𝑨𝑨𝑷𝑷𝑷𝑷

𝑨𝑨𝑷𝑷 = 𝑨𝑨𝑨𝑨 + 𝑨𝑨𝑷𝑷𝑷𝑷(𝒕𝒕) + 𝑨𝑨𝑷𝑷𝑷𝑷(𝒏𝒏)

MECH 417 Mechanical Eng., UAEU

Graphical Acceleration Analysis
• Given linkage configuration & α2, find α3 and α4.
(note: position and velocity analysis are completed at this point. This
means, θ2, θ3, θ4, ω2, ω3 and ω4, are known).
The acceleration equation is 𝑨𝑨𝑩𝑩 = 𝑨𝑨𝑨𝑨 + 𝑨𝑨𝑩𝑩𝑩𝑩

𝑨𝑨𝑩𝑩(𝒕𝒕) + 𝑨𝑨𝑩𝑩(𝒏𝒏) = 𝑨𝑨𝑨𝑨(𝒕𝒕) + 𝑨𝑨𝑨𝑨(𝒏𝒏) + 𝑨𝑨𝑩𝑩𝑩𝑩(𝒕𝒕) + 𝑨𝑨𝑩𝑩𝑩𝑩(𝒏𝒏)

Y
C

AA(t) B
A
ABA(n)
α2 AB(t)
AB(n)
ω2 ABA(t)
AA(n)
θ2
X

MECH 417 Mechanical Eng., UAEU

Analytical Acceleration Analysis (4 bar)
• The vector loop equation is
𝑹𝑹𝟐𝟐 + 𝑹𝑹𝟑𝟑 − 𝑹𝑹𝟒𝟒 − 𝑹𝑹𝟏𝟏= 0
𝑎𝑎𝑒𝑒 𝑗𝑗𝜃𝜃2 + 𝑏𝑏𝑏𝑏 𝑗𝑗𝜃𝜃3 − 𝑐𝑐𝑐𝑐 𝑗𝑗𝜃𝜃4 − 𝑑𝑑𝑑𝑑 𝑗𝑗𝜃𝜃1 = 0
• Solve for position θ3 and θ4.
• Differentiate the loop equation
𝑗𝑗𝜔𝜔2𝑎𝑎𝑒𝑒 𝑗𝑗𝜃𝜃2 + 𝑗𝑗𝜔𝜔3𝑏𝑏𝑏𝑏 𝑗𝑗𝜃𝜃3 − 𝑗𝑗𝜔𝜔4𝑐𝑐𝑐𝑐 𝑗𝑗𝜃𝜃4 = 0
• Solve for velocity ω3 and ω4.
• Differentiate the loop equation one more time.
𝑗𝑗𝛼𝛼2𝑎𝑎𝑒𝑒 𝑗𝑗𝜃𝜃2 − 𝜔𝜔22 𝑎𝑎𝑒𝑒 𝑗𝑗𝜃𝜃2 + 𝑗𝑗𝛼𝛼3𝑏𝑏𝑏𝑏 𝑗𝑗𝜃𝜃3 −𝜔𝜔32 𝑏𝑏𝑏𝑏 𝑗𝑗𝜃𝜃3
− 𝑗𝑗𝛼𝛼4𝑐𝑐𝑐𝑐 𝑗𝑗𝜃𝜃4 − 𝜔𝜔42 𝑐𝑐𝑐𝑐 𝑗𝑗𝜃𝜃4 = 0
Which can be easily solved for 𝛼𝛼3 and 𝛼𝛼4
MECH 417 Mechanical Eng., UAEU
Four-Bar Crank-Slider (Analytical Analysis)
Axis of slip

• The vector loop equation is

𝑹𝑹𝟐𝟐 − 𝑹𝑹𝟑𝟑 − 𝑹𝑹𝟒𝟒 − 𝑹𝑹𝟏𝟏= 0 𝑎𝑎𝑒𝑒 𝑗𝑗𝜃𝜃2 − 𝑏𝑏𝑏𝑏 𝑗𝑗𝜃𝜃3 − 𝑐𝑐𝑐𝑐 𝑗𝑗𝜃𝜃4 − 𝑑𝑑𝑑𝑑 𝑗𝑗𝜃𝜃1 = 0
• Differentiate once 𝑗𝑗𝜔𝜔2𝑎𝑎𝑒𝑒 𝑗𝑗𝜃𝜃2 − 𝑗𝑗𝜔𝜔3𝑏𝑏𝑏𝑏 𝑗𝑗𝜃𝜃3 − 𝑑𝑑̇ = 0
• Differentiate again
𝑗𝑗𝛼𝛼2𝑎𝑎𝑒𝑒 𝑗𝑗𝜃𝜃2 − 𝜔𝜔22 𝑎𝑎𝑒𝑒 𝑗𝑗𝜃𝜃2 − 𝑗𝑗𝛼𝛼3𝑏𝑏𝑏𝑏 𝑗𝑗𝜃𝜃3 − 𝜔𝜔32 𝑏𝑏𝑏𝑏 𝑗𝑗𝜃𝜃3 − 𝑑𝑑̈ = 0

Which can be easily solved for 𝛼𝛼3 and 𝑑𝑑̈

MECH 417 Mechanical Eng., UAEU
Coriolis Acceleration
• For a positon vector, the Coriolis acceleration is the acceleration
term that appears if the position vector is rotating and its length
changes simultaneously.
• This can happen, for example, for a rotating slider.
• The positon of the slide is given by
𝑅𝑅𝑃𝑃 = 𝑝𝑝𝑒𝑒 𝑗𝑗𝜃𝜃2
• Differentiate once
𝑉𝑉𝑃𝑃 = 𝑝𝑝𝜔𝜔2 𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃2 + 𝑝𝑝𝑒𝑒
̇ 𝑗𝑗𝜃𝜃2
• Differentiate again
𝐴𝐴𝑃𝑃 = 𝑝𝑝𝜔𝜔 ̇ 2 𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃2 + 𝑝𝑝𝛼𝛼2 𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃2 − 𝑝𝑝𝜔𝜔22 𝑒𝑒 𝑗𝑗𝜃𝜃2
̈ 𝑗𝑗𝜃𝜃2 + 𝑝𝑝𝜔𝜔
+ 𝑝𝑝𝑒𝑒 ̇ 2 𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃2

𝐴𝐴𝑃𝑃 = 𝑝𝑝𝛼𝛼2 𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃2 − 𝑝𝑝𝜔𝜔22 𝑒𝑒 𝑗𝑗𝜃𝜃2 + 𝑝𝑝𝑒𝑒

̈ 𝑗𝑗𝜃𝜃2 + 2𝑝𝑝𝜔𝜔
̇ 2 𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃2
MECH 417 Mechanical Eng., UAEU
Coriolis Acceleration

𝐴𝐴𝑃𝑃 = 𝑝𝑝𝛼𝛼2 𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃2 − 𝑝𝑝𝜔𝜔22 𝑒𝑒 𝑗𝑗𝜃𝜃2 + 𝑝𝑝𝑒𝑒

̈ 𝑗𝑗𝜃𝜃2 + 2𝑝𝑝𝜔𝜔
̇ 2 𝑗𝑗𝑒𝑒 𝑗𝑗𝜃𝜃2

tangential normal slip Coriolis

MECH 417 Mechanical Eng., UAEU

Acceleration of any Point on a Linkage
• The position equation for P

𝑅𝑅𝑃𝑃 = 𝑅𝑅𝐴𝐴 + 𝑅𝑅𝑃𝑃𝑃𝑃

𝑅𝑅𝑝𝑝 = 𝑎𝑎𝑒𝑒 𝑗𝑗𝜃𝜃2 + 𝑝𝑝𝑒𝑒 𝑗𝑗 𝜃𝜃3 +𝛿𝛿3

RP

• Differentiate
𝑉𝑉𝑝𝑝 = 𝑗𝑗𝜔𝜔2 𝑎𝑎𝑒𝑒 𝑗𝑗𝑗𝑗2 + 𝑗𝑗𝜔𝜔3 𝑝𝑝𝑒𝑒 𝑗𝑗 𝜃𝜃3 +𝛿𝛿3

• Differentiate again

𝐴𝐴𝑝𝑝 = 𝑗𝑗𝛼𝛼2 𝑎𝑎𝑒𝑒 𝑗𝑗𝑗𝑗2 − 𝜔𝜔22 𝑎𝑎𝑒𝑒 𝑗𝑗𝑗𝑗2 + 𝑗𝑗𝛼𝛼3 𝑝𝑝𝑒𝑒 𝑗𝑗 𝜃𝜃3 +𝛿𝛿3 − 𝜔𝜔32 𝑝𝑝𝑒𝑒 𝑗𝑗 𝜃𝜃3 +𝛿𝛿3

MECH 417 Mechanical Eng., UAEU

Common Values of Acceleration

MECH 417 Mechanical Eng., UAEU

Human Tolerance of Acceleration

MECH 417 Mechanical Eng., UAEU

Jerk
• Jerk is the derivative of acceleration
• Linear jerk
𝑑𝑑𝑨𝑨
𝑱𝑱 =
• Angular jerk 𝑑𝑑𝑑𝑑

𝑑𝑑𝛼𝛼
𝜑𝜑 =
𝑑𝑑𝑑𝑑

MECH 417 Mechanical Eng., UAEU

Class Activity 1
Find the acceleration magnitude of point A, given r4 = 150 mm,
r1 = 100 mm, θ2 = 70°, ω2 = 10 rad/s, and α2 = 0.

r2 r4
ω2

θ2 r1

MECH 417 Mechanical Eng., UAEU

Summary
• How many terms in the acceleration expression for a slider?
• What is Coriolis acceleration?
• What is jerk?

Practice: Homework 6:
Problem 7.1 to 7.15 & 7.30 to 7.45 (handout) -----
MECH 417 Mechanical Eng., UAEU