Professional Documents
Culture Documents
Lecture 13
Lecture 13
Santhakumar Mohan
Mechanical Engineering
Indian Institute of Technology Palakkad
Lecture 13: Acceleration Analysis of Planar Linkages
Introduction
Tangential acceleration
Radial or centripetal acceleration
Graphical method
Four-bar mechanism
Slider crank mechanism
Analytical method
Four-bar mechanism
Introduction
Slip acceleration
Coriolis acceleration
V AB ω AB P AB A x
A AB α AB P AB ω AB ω AB P AB
1
Santhakumar Mohan, IIT Palakkad
3/12/2021 3
ME 2060 Kinematics and Dynamics of Machinery
Introduction
vb Change of B Velocity Perpendicular to AB
B vb’’cos
vb t L cos L cos t L
B’ vb’sin Acceleration of B Perpendicular to AB
L
vb’ vb L cos L cos t L
+t t t t
A if, t 0, cos 1
v d dv t
b L L b f ab
vb=L t t dt dt
vb’= ’L=(+t)L Change of B Velocity Parallel to AB
vb r L sin L sin t 0
Acceleration of B Parallel to AB
When = 0, i.e., AB rotates with an uniform velocity, fabt=0 vb L sin L sin t
t r t
When = 0, i.e., B has a linear motion, fabr=0
if, t 0, sin
v d
b L L 2 L f ab
r
t r t dt
L3
B 3
L4
L2 C
y 4
R3
2 L1
L3 R4
A x D
B 3
L4
L2 R2
y 4
2 L1
A x R1 D
R1 R 4 R 2 R3
R2 R3 R1 R 4 0