PAMANTASAN NG LUNGSOD NG MAYNILA

(University of the City of Manila)

General Luna corner Muralla Street, Intramuros, Manila

ACCELERATION ANALYSIS
MACHINE ELEMENTS (LECTURE)

Presented by Group #5:

BINAY, Brian Deiniele U.
JAYME, Cj P.
MUÑOZ, Carl Jonathan R.
PADERO, Marc Ruther
PADLAN, Jon Charlton

Machine Elements Professor:

ENGR. Arnel Q. Lucas

MEC 0314-1 - 20241 - MACHINE ELEMENTS (LECTURE)

October 31, 2024
I. OBJECTIVES.
• Define linear, rotational, normal, tangential, Coriolis, and relative accelerations.
• Use the relative acceleration method to graphically solve for the acceleration of a
point on a link, knowing the acceleration of another point on that link.
• Use the relative acceleration method to graphically determine the acceleration of a
point of interest on a floating link.
• Understand when the Coriolis acceleration is present and include it in the analysis.
• Use the relative acceleration method to analytically solve for the acceleration of a
point.
• Use the relative acceleration method to analytically determine the acceleration of a
point of interest on a floating link.
• Construct an acceleration curve to locate extreme acceleration values.

II. INTRODUCTION.
Acceleration Analysis
Acceleration analysis is the process of understanding how specific points on each
link (or component) within a mechanism change their speed over time, essentially
identifying where and how parts of the mechanism are "speeding up" or "slowing down." This
analysis helps to assess how each link’s movement influences the overall dynamics of the
mechanism.

In a mechanism, each link is often in continuous motion, rotating or moving linearly.

Since speed changes over time due to the forces and constraints within the mechanism,
analyzing acceleration at various points on the links becomes essential. Some parts might
experience positive acceleration (speeding up) at certain times, while others may undergo
negative acceleration (slowing down). These variations depend on the configuration, forces,
and movements of the interconnected parts in the system.
 By pinpointing where acceleration changes occur, it can optimize the design for
smoother operation, reduce stress on components, and ensure stability. Acceleration
analysis also reveals how inertial forces are distributed across the mechanism, allowing for
better design choices in terms of material strength, linkage lengths, and joint placements to
achieve desired performance and durability.

III. LINEAR ACCELERATION.

The rate of change of velocity of an object moving in a straight line, expressed as a
vector quantity that indicates how quickly the object's speed is increasing or decreasing
over time, typically measured in meters per second squared (m/s²). Since velocity is also a
vector quantity defined by both magnitude and direction, any change in either the speed
(magnitude) or direction of the velocity results in acceleration. Thus, linear acceleration
occurs not only when an object speeds up or slows down but also when it changes direction
while maintaining a constant speed.

Types of Linear Acceleration

1. Positive Acceleration: Positive acceleration occurs when an object's speed
increases over time in a specific direction.
2. Negative Acceleration: Negative acceleration, also known as deceleration,
happens when an object’s speed decreases over time.
3. Zero Acceleration: Zero acceleration occurs when an object moves at a constant
speed in a straight line or remains stationary.
 Figure 1. Velocity-Time Graph.

A. Linear Acceleration of a Rectilinear Point

1. Definition: Linear acceleration of a rectilinear point refers to the acceleration of a
point that is moving along a straight line (rectilinear motion). It can be positive
(indicating an increase in speed), negative (indicating a decrease in speed), or zero
(indicating constant speed).

2. Mathematical Representation: Linear acceleration (a) can be calculated using the

formula:
a=∆v/∆t
where:
(a) is the linear acceleration,
∆v is the change in velocity,
∆t is the change in time over which the velocity change occurs.

3. Units: Linear acceleration is typically measured in meters per second squared

(m/s²)
 B. Constant Rectilinear Acceleration
Constant rectilinear acceleration describes the type of motion where an object
moves in a straight line and experiences a steady, unchanging acceleration over time. This
means that the object's speed and/or direction are changing at a consistent rate, without
any fluctuations in the acceleration itself.

VELOCITY CHANGE:

DISPLACEMENT:

FINAL VELOCITY IN TERMS OF DISPLACEMENT

IV. ACCELERATION OF A LINK

A. Angular Acceleration
It is defined as the rate of change of angular velocity (ω) of a link with respect to time.
It measures how quickly the angular velocity changes, either increasing or decreasing. It is
expressed in the units of angular velocity (angle per time) divided by time, or angle per
squared time.

Mathematically, the angular acceleration of a link is described as

𝜟𝝎 𝒅𝝎
𝜶 = 𝒍𝒊𝒎 =
𝜟𝒕→𝟎 𝜟𝒕 𝒅𝒕
However, because
𝒅𝜽
𝝎=
𝒅𝒕

Then
𝒅𝟐 𝜽
𝜶= 𝟐
𝒅𝒕

For short time periods, or when the angular acceleration is assumed to be linear, the
following relationship can be used:

𝜟𝝎
𝜶 ≅
𝜟𝒕

B. Constant Angular Acceleration

It occurs when the angular acceleration (α) remains unchanged over a period of time.
This simplifies the calculations as the angular velocity changes linearly with time, and the
angular displacement changes quadratically.

Rewriting the equation of angular acceleration of a link, we can use the following for:

Change in Angular Velocity:

𝜟𝝎 = 𝝎𝒇𝒊𝒏𝒂𝒍 − 𝝎𝒊𝒏𝒊𝒕𝒊𝒂𝒍 = 𝜶𝜟𝒕

Change in Angular Displacement

𝟏
𝜟𝜽 = 𝜶𝜟𝒕𝟐 + 𝝎𝒊𝒏𝒊𝒕𝒊𝒂𝒍 𝜟𝒕
𝟐

Combination of the two equations

(𝝎𝒇𝒊𝒏𝒂𝒍 )𝟐 = (𝝎𝒊𝒏𝒊𝒕𝒊𝒂𝒍 )𝟐 + 𝟐𝜶𝜟𝜽
V. NORMAL AND TANGENTIAL ACCELERATION
The magnitude or the direction of the velocity vector can change over time. Thus,
acceleration is commonly separated into two elements: normal and tangential
components. The normal component is created as a result of a change in the direction of
the velocity vector. The tangential component is formed as a result of a change in the
magnitude of the velocity vector.

A. Tangential Acceleration
It is the component of acceleration that acts along the direction of the link's motion.
It is responsible for changes in the speed of the link as it rotates, rather than the direction.
Tangential acceleration is essential in cases where the link's rotational speed is increasing
or decreasing.

Magnitude of the tangential acceleration of point A on a rotating link 2

𝒅𝒗𝑨 𝒅(𝝎𝟐 𝒓𝑶𝑨 ) 𝒅𝝎𝟐
𝒂𝒕𝑨 = = = 𝒓𝑶𝑨 = 𝒓𝑶𝑨 𝜶𝟐
𝒅𝒕 𝒅𝒕 𝒅𝒕

B. Normal Acceleration
It is the component of acceleration that points toward the center of the link’s
rotational path. This acceleration is responsible for changing the direction of the velocity as
the link rotates, keeping it in a curved path. Normal acceleration is also known as centripetal
acceleration and is crucial in any scenario involving circular motion.

Figure. 2. Normal Acceleration (Myszka, 2011).

 Since the link is rotating at constant speed, the magnitudes of 𝑉𝐴′ and 𝑉𝐴′′ are equal.
𝑽𝑨′ = 𝑽𝑨′′

In figure _a, since the 𝛥𝜃 is small the following relationship can be stated:
𝒅𝒗𝑨 = 𝒗𝑨 𝒅𝜽𝟐

Because acceleration is defined as the time rate of velocity change, both sides should be
divided by time:
𝒅𝒗𝑨 𝒅𝜽𝟐
𝒂𝒏𝑨 = = 𝒗𝑨 = 𝒗𝑨 𝝎𝟐
𝒅𝒕 𝒅𝒕

Using the relationships between the magnitude of the linear velocity and angular velocity,
the following equations for the magnitude of normal acceleration of a point can be derived:

𝒂𝒏𝑨 = 𝒗𝑨 𝝎𝟐 = (𝝎𝟐 𝒓𝑶𝑨 )𝝎𝟐 = 𝝎𝟐𝟐 𝒓𝑶𝑨

𝒗𝑨 𝒗𝟐𝑨
𝒂𝒏𝑨 = 𝒗𝑨 𝝎𝟐 = 𝒗𝑨 ( )=
𝒓𝑶𝑨 𝒓𝑶𝑨

C. Total Acceleration
The total acceleration of a link is the vector sum of the normal and tangential
accelerations. Since these components are perpendicular, the total acceleration can be
found using the Pythagorean theorem:

𝒂 = √𝒂𝟐𝒏 + 𝒂𝟐𝒕

It can also be expressed as

𝑨𝑨 = 𝑨𝒏𝑨 +> 𝑨𝒕𝑨
 D. Sample Problem
The mechanism shown is used in a distribution center to push boxes along a platform
and to a loading area. The input link is driven by an electric motor, which, at the instant
shown, has a velocity of 25 rad/s and accelerates at a rate of 500 𝑟𝑎𝑑/𝑠 2 . Knowing that the
input link has a length of 250 mm, determine the instantaneous acceleration of the end of
the input link in the position shown

Figure. 3.Transfer Mechanism (Myszka, 2011)

Solution:
1. Draw the Kinematic Diagram

Figure. 4. Diagrams for the Transfer Mechanism (Myszka, 2011)

 2. Determine the Tangential Acceleration of Point A

Since the link is accelerating, the direction of the vector is in the direction of the
motion at the end of the link, which is perpendicular to the link itself.

3. Determine the Normal Acceleration of Point A

Since the normal acceleration always occurs toward the center of rotation.

4. Determine the Total Acceleration of Point A

= √(125.0𝑚/𝑠 2 )2 + (156.25𝑚/𝑠 2 )2 = 𝟐𝟎𝟎. 𝟏𝟎𝒎/𝒔𝟐

The angle of the total acceleration vector from the normal component can be calculated
as
 The direction of the total acceleration vector from the horizontal axis is

Finally, the total acceleration can then be written as

VI. RELATIVE MOTION.

Relative motion is the concept of describing the motion of one object with respect
to another moving object. Using this concept, the statement discusses how relative
velocity represents the velocity observed concerning another moving body. The same is true
with relative acceleration; the acceleration of a body refers to another moving body.

Figure. 5. Relative Acceleration (Hard worker, 2021).

A. Relative Velocity and Acceleration

The following notation is used to distinguish between absolute and relative
accelerations:
 Velocity = 𝑽𝑩 = 𝑽𝑨 +> 𝑽𝑩/𝑨 (Object A with respect to B)
𝑽𝑨 = 𝑽𝑩 +> 𝑽𝑨/𝑩 (Object A with respect to B)

wherein,
𝑽𝑨 = velocity of point A
𝑽𝑩 = velocity of point B
𝑽𝑩/𝑨 = relative velocity (total) of point B with respect to A
𝑽𝑨/𝑩 = acceleration (total) of point B from point A

Acceleration = 𝑨𝑩 = 𝑨𝑨 +> 𝑨𝑩/𝑨 (Object A with respect to B)

= 𝑨𝑨 = 𝑨𝑩 +> 𝑨𝑨/𝑩 (Object A with respect to B)

wherein,
𝑨𝑨 = absolute acceleration (total) of point A
𝑨𝑩 = absolute acceleration (total) of point B
𝑨𝑩/𝑨 = relative acceleration (total) of point B with respect to A
𝑨𝑨/𝑩 = acceleration (total) of point B from point A

B. Normal and Tangential Acceleration

Normal acceleration is always directed toward the center of rotation. This
component is responsible for the centripetal acceleration that keeps a point moving in a
curved path. Meanwhile, tangential acceleration is perpendicular to the normal
component.

Figure. 6. Floating Link (Myszka, 2011).

 𝒗𝟐
NORMAL = 𝒂𝒏𝑨 = 𝛚𝟐 𝒓𝑶𝑨 OR 𝒓 𝑨
𝑶𝑨

TANGENTIAL = 𝒂𝒕𝑨 = 𝒓𝑶𝑨 𝜶𝟐

wherein,
𝒂𝒏𝑨 = Normal Acceleration
𝒂𝒕𝑨 = Tangential Acceleration
𝛚𝟐 = angular velocity (rad/s)
𝒓 = relative-position vector/radius/length
𝜶 = angular acceleration (rad/s^2)

By incorporating this component into our general formula of relative acceleration, the
following equation will be used:

𝑨𝑩 = 𝑨𝑨 +> 𝑨𝑩/𝑨
𝑨𝒏𝑩 +> 𝑨𝒕𝑩 = 𝑨𝒏𝑨 +> 𝑨𝒕𝑨 +> 𝑨𝒏𝑩/𝑨 +> 𝑨𝒕𝑩/𝑨

or, the most used formula is the following:

𝑨𝑩 = 𝑨𝑨 + (𝒂 × 𝒓𝑩 ) − (𝛚𝟐 ∗ 𝒓𝑩 )
𝑨 𝑨

Figure. 7. Relative Acceleration (Hard worker, 2021).

Figure. 8. Relative Acceleration with respect on a Fixed Point (Questions Solutions, 2020).

Figure. 9. Rotation about a fixed axis (Questions Solutions, 2020).

C. RECAP - Vector Cross Product

A mathematical operation used to find a vector perpendicular to two given vectors
in three-dimensional space. It’s essential in contexts like torque, rotational motion, and
magnetic force, where perpendicular vectors are significant.

Figure. 10. Vector Cross Product (Professor Dave Explains, 2018).

D. Relative Acceleration Analysis: Graphical and Analytical
Step by step:
1. Establish the direction of 𝑥, 𝑦 (along with 𝑖, 𝑗, 𝑘)
2. Indicate and list the given values and directions
3. Draw a kinematic diagram.
4. Plot a velocity polygon/diagram based on the kinematic diagram.
Derive an acceleration equation based on the diagram. OR apply

𝑨𝑩 = 𝑨𝑨 + (𝒂 × 𝒓𝑩 ) − (𝛚𝟐 ∗ 𝒓𝑩 )
𝑨 𝑨

5. Analyze and Evaluate the mechanism's geometry.

Figure. 11. Mechanism for Example Problem 7.9 (Myszka, 2011).

1. Kinematic Velocity and Acceleration Diagram.

Figure. 12. Kinematic, Velocity and Acceleration Diagram (Myszka, 2011).

2. Derive an equation.

3. Analyze and evaluate the mechanism’s geometry

Using Sine Law.

4. Acceleration Components:

Figure. 13. Table for Acceleration Components (Myszka, 2011).

 5. Results.

VII. ALGEBRAIC SOLUTIONS FOR COMMON MECHANISMS.

A. Slider-Crank Mechanism

Figure. 14. Offset slider-crank mechanism Figure 4.20 (Myszka, 2011).

A general slider-crank mechanism was illustrated in Figure 4.20 and is uniquely

defined with dimensions L1, L2, and L3. With one degree of freedom, the motion of one link
must be specified to drive the other links. Most often the crank is driven and θ2, ω2, and α2
are specified.

Position Equation:
 Velocity Equations:

Acceleration Equations:

B. Four-Bar Mechanism

Figure. 15. Four-bar mechanism Figure 4.23 (Myszka, 2011).

A general four-bar mechanism was illustrated in Figure 4.22 and is uniquely defined
with dimensions L1,L2,L3,and L4. With one degree of freedom, the motion of one link must
be specified to drive the other links. Most often the crank is driven and θ2,ω2,and α2are
specified.
 Position Equation:

Velocity Equations:

Acceleration Equations:
VIII. ACCELERATION OF A GENERAL POINT ON A FLOATING LINK
A floating link is not directly attached to the fixed link, so its motion isn’t restricted to
just rotation or translation but can involve a mix of both. As a result, the movement direction
of points on a floating link is typically uncertain. In contrast, a point on a link that is pinned
to the fixed link must rotate at a constant distance from the pin connection, meaning the
motion direction is predictable.

In the previous sections on acceleration analysis, the fundamental assumption was

that the motion direction is known. However, this doesn’t apply to a general point on a
floating link. In such cases, two relative acceleration equations are needed and must be
solved together. To demonstrate how to find the acceleration of a general point on a floating
link, refer to the kinematic sketch of the four-bar linkage shown in Figure 7.17.

Figure. 15. Point on a floating link Figure 4.23 (Myszka, 2011).

However, point C does not reside on a link that is directly attached to the fixed link.
Therefore, the exact path of motion of point C is not obvious. However, two relative
acceleration equations can be written as:
 In the first equation, both the magnitude and direction of a C is unknown along with
the magnitude of Second equation introduces an additional unknown, namely the
magnitude of Overall, two vector equations can be written, each with the capability
of determining two unknowns.

IX. ACCELERATION IMAGE AND CORIOLIS ACCELERATION

A. Acceleration Image
An acceleration image is a graphical tool used to represent the change in velocity at
different points on a mechanical link. Just as a velocity image shows how fast a part is
moving at a specific moment, the acceleration image indicates how quickly the speed is
increasing, decreasing, or changing direction. When vectors are drawn for multiple points
on a link, they form a shape that is proportional to the original link.

Though both velocity and acceleration images use proportional images of the links in
a mechanism, they serve different purposes. Velocity images (b) are perpendicular in the
given polygon below with the triangle ABC in the mechanism. As for the acceleration images
(d), the triangle abc in the polygon is not perpendicular with triangle ABC in the mechanism.
 Figure. 16. Four-bar mechanism with velocity and acceleration images.

The first method for finding acceleration images involves the use of additional
acceleration equations. In this approach, the total acceleration at any point on a link is
determined by breaking it down into two components: tangential acceleration (which
accounts for the change in speed along the link's path) and normal acceleration (which
represents the change in direction of motion). By applying vector addition to these
components, the total acceleration at specific points can be calculated. Once the
accelerations of two points on a link are known, the rest of the acceleration image can be
constructed based on these reference points.

Figure. 17. Additional acceleration equations and angle measurements method.

 The second method relies on the angle measurement of the triangle, using the
principle that the triangles in the mechanism and the acceleration polygon are proportional.
In this method, the angles between links in the mechanism are measured and used to draw
corresponding angles in the polygon, ensuring that the shape of the acceleration polygon
reflects the same geometric proportions. This geometric relationship simplifies the process
by maintaining consistency between the mechanism and the polygon, making it easier to
construct an accurate acceleration image.

B. Coriolis Acceleration
In addition to the normal and tangential components of acceleration, certain
mechanisms experience a Coriolis acceleration component, which arises when there is
sliding contact between two rotating links. This third component plays a crucial role in
accurately determining the acceleration in systems with relative motion between parts. If
the Coriolis acceleration is overlooked, it can lead to underestimated inertial forces,
potentially resulting in mechanical failure due to higher-than-expected stress on
components.

Coriolis acceleration occurs only when three specific conditions are present: (1) two
coincident points exist on different links; (2) one point traces a path along the other link; and
(3) the link containing the path rotates. An example of such a scenario is when sliding and
pin joints are used to connect rotating links. In these cases, the coincident points on
different links will not have identical accelerations, requiring the inclusion of the Coriolis
term in the acceleration equation.

The Coriolis acceleration's magnitude depends on the relative velocity between the
two sliding points and the angular velocity of the rotating link. It is calculated as:
AC = 2vrel (ω)
 where vrel is the relative linear velocity, and ω is the angular velocity of the rotating
link containing the path. Direction is also critical: it is always perpendicular to the relative
velocity vector, with the sense determined by rotating the velocity vector 90° in the direction
of the rotating link’s angular velocity. For instance, if the angular velocity rotates
counterclockwise, the Coriolis component is obtained by rotating the relative velocity vector
90° counterclockwise.

By including the Coriolis component in acceleration analyses, accurate force and

stress calculations can be ensured, preventing potential failures. This component does not
introduce new unknowns into the acceleration equations but must be carefully considered
to avoid miscalculations in mechanical design.

Figure.18. Two given mechanisms with coincident points.

X. EQUIVALENT LINKAGES AND ACCELERATION CURVES

A. Equivalent Linkages
Equivalent Linkages are simplified mechanical configurations that replicate the motion
characteristics of a more complex mechanism. equivalent linkages are used to replace
higher-order joints—like cams and gears, which involve rolling and sliding—by converting
them into simpler linkages that connect with primary joints, such as pin or sliding joints.
Higher-Order Joints: Unlike basic mechanisms that use only primary joints (pins and
sliders), higher-order joints involve more complex interactions, such as rolling and sliding.
Examples include cams and gears, which will be studied further in later sections.

Constructing Equivalent Linkages: To simplify the velocity and acceleration analysis of

mechanisms with these higher-order joints, an equivalent linkage can be created. This
involves replacing the complex joint with a simpler mechanism that uses primary pin joints.
This equivalent linkage retains the key motion characteristics of the original mechanism,
making analysis easier.

Role of Centers of Curvature: The equivalent linkage uses the centers of curvature of the
two-mating links to form the connections. For a short duration, these centers remain at a
fixed distance from each other, allowing the equivalent linkage to accurately represent the
original mechanism’s behavior.

Figure.19. Mechanisms.

B. Acceleration Curves
An acceleration curve shows how the acceleration of a point or link varies over time. Just
as a velocity curve plots the velocity at different points in the motion, an acceleration curve
plots the changes in acceleration, which is the rate of change of velocity. The acceleration
can be calculated by taking the first derivative of velocity with respect to time or the second
derivative of displacement with respect to time, expressed as:

These expressions imply that acceleration at a particular point on the curve is related
to the curvature of the displacement curve. Sharp curves or changes in the slope of this
curve correspond to changes in acceleration, revealing important points in the motion cycle.

C. Graphical Differentiation
One method of determining acceleration at various points is through graphical
differentiation. This process involves estimating the slope of the velocity curve at multiple
points. The slope at a specific point represents the acceleration at that point. To find this
slope, a tangent line is drawn at each selected point on the velocity curve, and the slope is
calculated as the "rise" (velocity change) over the "run" (time change). By repeating this
process at several points, analysts can identify critical changes in acceleration, such as:
1. Steepest slopes on the velocity diagram: These correspond to the maximum
acceleration and deceleration points.
2. Curvature changes on the velocity diagram: These indicate abrupt acceleration
changes or critical transitions in the mechanism’s motion.

D. Numerical Differentiation
A technique used to determine an acceleration curve based on velocity data. Numerical
differentiation is a practical alternative to analytical differentiation, especially when dealing
with a set of discrete data points rather than continuous functions. This approach is
particularly useful for calculating acceleration from experimental data or simulations where
velocity and displacement values are recorded at specific time intervals.
 E. First Derivative (Velocity-Time Curve to Acceleration)
To find the acceleration at a given point on a velocity-time curve, we calculate the first
derivative of velocity with respect to time. The Richardson method is applied here to
approximate the derivative by using velocity data from surrounding points. The formula
provided for the first derivative at data point iii is:

or
Where:

The second expression is a more accurate approximation using multiple data points,
providing better precision by accounting for data points farther away.

F. Second Derivative (Displacement-Time Curve to Acceleration)

If acceleration needs to be derived directly from the displacement-time curve, the
second derivative of displacement with respect to time is calculated. Again, the Richardson
method is used to approximate this second derivative. The formula given is:

This equation uses displacement values at adjacent points to estimate acceleration by

observing how displacement changes over time.
References:
-Question Solutions. (2020, March 5). Relative Motion Analysis of Two Particles Using
Translating Axes (learn to solve any problem). YouTube.
https://www.youtube.com/watch?v=opVKNCedkRo

-Hard worker. (2021, January 21). Topic 5 Relative Motion Analysis Acceleration. YouTube.
https://www.youtube.com/watch?v=_3bkOm9f4ds

-Myszka, David H. (2011, March 31). MACHINES AND MECHANISMS APPLIED KINEMATIC
ANALYSIS. Fourth Edition.Pearson Education, Inc.

-Professor Dave Explains. (2018, December 19). The Vector cross product [Video].
YouTube. https://www.youtube.com/watch?v=gPnWm-IXoAY

-Question Solutions. (2020, October 6). Rigid Bodies Relative Motion Analysis:
Acceleration Dynamics (step by step) [Video]. YouTube.
https://www.youtube.com/watch?v=ee_LrUTVE5o

-Question Solutions. (2020, August 21). Rigid Bodies: Rotation About a Fixed Axis
Dynamics (learn to solve any question) [Video]. YouTube.
https://www.youtube.com/watch?v=zrmBObWEDuE

-Doughtie, V. L., & James, W. H. (1953). Elements of Mechanism.