Acceleration Analysis

Chapter 7
Definition
• Rate of change of velocity with respect to
time d
– Angular 
dt
dV
– Linear A
dt
– Position Vector R PA  pe j
– Velocity
R PA j d
Vpa   pje  pe j
dt dt
Definition
A PA  

dA PA d pje j 
dt dt
 d d 
A PA  jp  e j  je j 
 dt dt 
A PA  pje j  p 2e j

A PA  At PA  A n PA

A PA  p  sin   j cos    p 2 cos   j sin  

A PA  A P " Absolute"
Definition
– Acceleration (difference)
A P  A A  A PA
A t
P    
 AnP  AtA  AnA  AtPA  A nPA 

" on the same body "

– Relative Acceleration
A PA  A P  A A
Graphical Analysis
• Graphical Acceleration Analysis
A P  A A  A PA
At  At  r
A n  An  r 2

– Solve for
angular accelerati on ; 3 ,  4
linear accelerati on; A, B, C
 Graphical Analysis
• Example 7-1
– Given θ2, θ3, θ4, ω2 ,ω3, ω4,α2
find α3 , α4 , AA, AB and AC
– Velocity analysis already
performed
– 1. Start at the end of the
linkage about which you have
the most information.
Calculate the magnitude of
the acceleration of point A,

AAn   AO2 22 AAt   AO2  2

 Graphical Analysis
• Example 7-1
– 2. Draw the acceleration AA
– 3. Move next to a point which
you have some information,
point B. Draw the
construction line pp through
B perpendicular to BO4
– 4. Write the acceleration
difference equation for point
B vs. A
A B  A A  A BA

A t
B A n
B   A t
A A  A
n
A   t
BA A n
BA  A nB  ABn  BO4 42
Graphical Analysis
– 5. Draw construction line qq
through point B and
perpendicular to BA to
represent the direction of ABA
n
ABA  BA32
– 6. The vector equation can be
solve graphically by drawing
the following vector diagram
A B  A A  A BA
A t
B    
 AnB  AtA  AnA  AtBA  A nBA 
AtA  A nA  A nBA  A nB AtBA & AtB  ?
Graphical Analysis
– 7. The angular velocities of link
3 and 4 can be calculated,
ABt t
ABA
4  3 
BO4 BA
– 8. Solve for VC
AC  A A  ACA
t
ACA  c 3
n
ACA  c32
Graphical Analysis
Analytical Analysis
Analytical Solution
• Fourbar Pin-Joint Linkage
– Vector Loop    
R2  R3  R4  R1  0
j 2 j3 j 4 j1
– Position ae  be  ce  de 0
– Velocity
ja2e j2  jb3e j3  jc4e j4  0
– Acceleration

a 2 je j 2
 a2 e  
2 j 2
 b 3 je j3
 b3
2 j3
e  c 4 je 
j 4
 c 2 j 4
4e 
0
Analytical Solution
• Fourbar Pin-Joint Linkage
A A  A BA  A B  0

   
A A  A tA  A nA  a 2 je j 2  a22e j 2
A BA  A  A   b je  b e 
t
BA
n
BA 3
j 3 2
3
j 3

AB  A  A   c je  c e   0
t
B
n
B 4
j 4 2
4
j 4

Euler identity
real part
imaginary part
Analytical Solution
• Fourbar Pin-Joint Linkage

CD  AF CE  BF
3  4 
AE  BD AE  BD

A  c sin  4
B  b sin  3
C  a 2 sin  2  a22 cos  2  b32 cos  3  c42 cos  4
D  c cos  4
E  b cos  3
F  a 2 cos  2  a22 sin  2  b32 sin  3  c42 sin  4
 Analytical Solution
• Fourbar Pin-Joint Linkage

A A  A BA  A B  0

A A  a 2  sin  2  j cos  2   a22 cos  2  j sin  2 

A BA  b 3  sin  3  j cos  3   b32 cos  3  j sin  3 
A B  c 4  sin  4  j cos  4   c42 cos  4  j sin  4 
Analytical Solution
– Slider-Crank
   
R2  R3  R4  R1  0

ae j2  be j3  ce j4  de j1  0

ja2e j 2
 jb3e j3
 d  0

a 2 je j 2
 a2
2 j 2
e  b 
3 je j3
 b3 e 
2 j3
   0
d
Analytical Solution
– Slider-Crank

A A  A BA  A B  0
A BA  A BA
A B  A A  A BA

  
A A  A tA  A nA  a 2 je j 2  a22e j 2 
A BA  A t
BA  A   b
n
BA 3 je j 3
 b 2 j 3
3e 
A B  A tB  d
Analytical Solution
– Slider-Crank
Euler identity
real part
imaginary part

a 2 cos  2  a22 sin  2  b32 sin  3

3 
b cos  3
d  a sin   a 2 cos   b sin   b 2 cos 
2 2 2 2 3 3 3 3
Analytical Solution
• Coriolis Acceleration
– Is an additional component
of acceleration present when
a sliding joint is on a rotating
link
– Thy position vector is both
rotating and changing length
as the system moves

R P  pe j 2
Analytical Solution
• Coriolis Acceleration
– The velocity expression is
VP  p2e j2  p e j2
VP  VP trans  VP slip

– The acceleration,
A P  p 2 je j2  p22 j 2e j2  2 p 2 je j2  pe j2

A P  A P tangetial  A P normal  A P coriolis  A P slip

 Analytical Solution
• Coriolis Acceleration

– The acceleration,

A P  p 2 je j2  p22 j 2e j2  2 p 2 je j2  pe j2

A P  A P tangetial  A P normal  A P coriolis  A P slip

Acceleration of Any Point
• Once the angular acceleration of all the links are
found it is easy to define and calculate the
acceleration of any point on any link for any input
position of the linkage
Acceleration of Any Point
• To find the acceleration of points S

R S 02  R S  se j 2  2   scos 2   2   j sin 2   2 

VS  jse j 2  2 2  s2  sin2   2   j cos2   2 

A S  s 2  sin  2   2   j cos 2   2 
 s22 cos 2   2   j sin  2   2 
Acceleration of Any Point
• To find the acceleration of points U

RU 04  ue j 4  4   ucos 4   4   j sin 4   4 

VU  jse j 4  4 4  u4  sin 4   4   j cos 4   4 

AU  u 4  sin  4   4   j cos 4   4 
 u42 cos 4   4   j sin  4   4 
Acceleration of Any Point
• To find the acceleration of point P
R PA  pe j 3  3   pcos3   3   j sin 3   3 
R P  R A  R PA
VPA  jpe j 3  3 3  p3  sin 3   3   j cos3   3 
VP  VA  VPA

A P  A A  A PA
A PA  p 3  sin 3   3   j cos3   3 
 p32 cos3   3   j sin  3   3 
Important topics to review
• Jerk –page 367-369
• Human Tolerance to Acceleration – page 364-366
• Fourbar Inverted Slider-Crank – page 354-360
• Acceleration Analysis of the Geared Fivebar- page
361 -362