PRODUCTION ENGINEERING DEPARTMENT

JADAVPUR UNIVERSITY
Kolkata-700032

Subject: Analysis and Synthesis of Mechanisms

Year & Sem.: 2nd Year 1st Semester

[Module-3: Acceleration Analysis]

 INTRODUCTION

Velocity of a moving body is a vector quantity having magnitude and direction. A change
in the velocity requires any of the following conditions to be fulfilled:
 A change in the magnitude only
 A change in the direction only
 A change in both magnitude and direction.
The rate of change of velocity with respect to time is known as acceleration and it acts in
the direction of the change in velocity. Thus acceleration is also a vector quantity. After
finding the accelerations, it is easy to find inertia forces acting on various parts of a
mechanism or machine.
 ACCELERATION
Let a link OA, of length r, rotate in a circular path in the clockwise direction as shown in Fig. 1(a). It has an
instantaneous angular velocity and an angular acceleration the same direction, i.e. the angular velocity
increases in the clockwise direction.
Tangential velocity of A,
In a short interval of time , let OA assume the new position by rotating through a small angle .
Angular velocity of
Tangential velocity of

The tangential velocity of may be considered to

have two components; one perpendicular to OA and
the other parallel to OA.

Fig. 1
Change of Velocity Perpendicular to OA
Velocity of
Velocity of
Change of velocity

Acceleration of

In the limit, as

Acceleration of (1) ………

This represents the rate of change of velocity in the tangential direction of the motion of A
relative to O, and thus is known as the tangential acceleration of A relative to O. It is denoted
by 𝒕 .
𝒂𝒐
Change of Velocity Parallel to OA
Velocity of A parallel to
Velocity of parallel to
Change of velocity

Acceleration of A parallel to

In the limit, as

Acceleration of (2) ………

𝒗𝟐
(3) ………
𝒓

This represents the rate of change of velocity along OA, the direction being from A towards O or
towards the centre of rotation. This acceleration is known as the centripetal or the radial
𝒄
acceleration of A relative to O and is denoted by 𝒂𝒐 .
Fig. 1(b) shows the centripetal and tangential components of the acceleration acting on A. Note the following:
1. When , i.e. OA rotates with uniform angular velocity, 𝒕 and thus 𝒄 represents the total
𝒂𝒐 𝒂𝒐

acceleration.
2. When , i.e. A has a linear motion, 𝒄 and thus the tangential acceleration is the total
𝒂𝒐

acceleration.
3. When is negative or the link OA decelerates, tangential acceleration will be negative or its direction
will be as shown in Fig. 1(c).
Total acceleration vectors are denoted by small letters with a subscript 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 can be written in either of the two ways:
1. 𝟏 𝒂 and 𝒂 𝟏 as shown in Fig. 1(b)
2. 𝟏 𝟎 and 𝟎 𝟏 in Fig. 1(c)
Note that the centripetal acceleration is denoted by the same letters as are in the configuration diagram but the
positions are changed.
 FOUR-LINK MECHANISM
The configuration and velocity diagrams of a four-link mechanism discussed in previous chapter (Chapter:
Velocity Analysis) and in this section again reproduced in Fig. 2 (a) & (b).
Let Angular acceleration of AB at this instant, assumed positive, i.e. the speed increases in the clockwise
direction.
For the construction of the acceleration diagram, a vector equation for the same can be formed similar to the
one applied to he velocity diagram.

(b)
(a)
Fig. 2
(c) (d)
Fig. 2
Acceleration of C relative to A = Acceleration of C relative to B + Acceleration of B relative to A

𝐜𝐚 𝐜𝐛 𝐛𝐚

or, 𝐜𝐝 𝐛𝐚 𝐜𝐛

or, 𝟏 𝟏 𝟏 𝟏 𝟏 𝟏
Each of these accelerations may have a centripetal and a tangential component. Thus, the equation
can be expanded as shown below:
𝐜 𝐭 𝐜 𝐭 𝐜 𝐭
𝐜𝐝 𝐜𝐝 𝐛𝐚 𝐛𝐚 𝐜𝐛 𝐜𝐛

or, 𝟏 𝐝 𝐝 𝟏 𝟏 𝐚 𝐚 𝟏 𝟏 𝐛 𝐛 𝟏

Now, set the following vector table:

S. No. Vector Magnitude Direction Sense
𝐜
1. 𝐛𝐚 or 𝟏 𝐚

2. 𝐭 or or
𝐛𝐚 or 𝐚 𝟏 𝟏 𝐚

𝒄
3. 𝒄𝒃 or 𝟏 𝐛

4. 𝐭 - or -
𝐜𝐛 or 𝐛 𝟏 𝟏 𝐛

𝒄
5. 𝐜𝐝 or 𝟏 𝐝

6. 𝐭 - or -
𝐜𝐝 or 𝐝 𝟏 𝟏 𝐝
Constract the acceleration diagram as follows:
a) Select the pole point 𝟏 or 𝟏.

b) Take the first vector from the above table, i.e. take 𝟏 𝐚 to a convenient scale in the proper direction and
sense.
c) Add the second vector to the first and then the third vector to the second.
d) For the addition of the fourth vector, draw a line perpendicular to BC through the head 𝐛 of the third
vector. The magnitude of the fourth vector is unknown and 𝟏 can lie on either side of 𝐛.

e) Take the fifth vector from 𝟏.

f) For the addition of the sixth vector to the fifth, draw a line perpendicular to DC through the head 𝐝 of
the fifth vector.
The intersection of this line with the line drawn in step (d) locates the point 𝟏.

Total acceleration of 𝟏 𝟏

Total acceleration of C relative to 𝟏 𝟏

Total acceleration of 𝟏 𝟏
Angular Acceleration of Links:
From the previous discussion, it can be observed that the tangential component of
acceleration occurs due to the angular acceleration of a link.
𝐭
Tangential acceleration of B relative to A, 𝐛𝐚

Where Angular acceleration of the link AB

Thus, angular acceleration of a link can be found if the tangential acceleration is known.
𝐭
Tangential acceleration of C relative to B, 𝐜𝐛 𝐛 𝟏

i.e. acceleration of C relative to B is in a direction 𝐛 to 𝟏 or in a counter-clockwise

direction about B.
𝐭
As 𝐜𝐛 𝐜𝐛

𝐭
𝐟𝐜𝐛
𝐜𝐛 𝐂𝐁
 𝐭
Tangential acceleration of B relative to C, 𝐛𝐜 𝟏 𝐛

i.e. acceleration of B relative to C is in a direction 𝟏 to 𝐛 or in counter-clockwise

direction about C with magnitude of-
𝐭
𝐟𝐛𝐜
𝐛𝐜 Which is in the same as 𝐜𝐛 .
𝐁𝐂

Thus, angular acceleration of a link about one extremity is the same in magnitude and
direction as the angular acceleration about the other.
𝐭
Tangential acceleration of C relative to D, 𝐜𝐝 𝐝 𝟏

i.e. C relative to D moves in a direction from 𝐝 to 𝟏 or C moves in the counter-

clockwise direction about D.
𝐭
𝐟𝐜𝐝 𝐜𝐝 𝐜𝟏
𝐜𝐝 𝐂𝐃 𝐂𝐃
 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 E on the link BC (Shown in Fig. 2),

gives the total acceleration of the point E.

Offset Points:
The acceleration of an offset point on a link, such as F on BC (Fig. 2), can be determined by applying any of the
following methods:
1. Writing the vector equation,

𝒇𝒃 𝐛𝐚 𝒇𝒄 𝐜𝒅

𝒃𝒂 𝐟𝐛 𝒄𝒅 𝒇𝐜
𝒄 𝒕 𝒄 𝒕
𝒃𝒂 𝒇𝒃 𝒇𝒃 𝒄𝒅 𝒇𝒄 𝒇𝒄
 𝟏 𝟏 𝟏 𝐛 𝐛 𝟏 𝟏 𝟏 𝟏 𝐜 𝐜 𝟏

The equation can be easily solved graphically as shown in Fig. 2. 𝟏 𝟏 represents the acceleration of F relative
to A or D.
2. Writing the vector equation,
𝐜 𝐭
𝐟𝐚 𝐟𝐛 𝐛𝐚 𝐛𝐚 𝐟𝐛 𝐛𝐚 𝐟𝐛 𝐟𝐛

𝟏 𝟏 𝟏 𝟏 𝟏 𝐛 𝐛 𝟏

𝐛𝐚 already exists on the acceleration diagram.

𝐜 (𝐛𝐟)𝟐
𝐟𝐛 𝑩𝑭
, , direction towards B.
𝐭
𝐭 𝐟𝐜𝐛
𝐟𝐛 𝐟𝐛 𝐜𝒃 , , direction b to f.

𝐟𝐛 𝐜𝐛 , because angular acceleration of all the points on the link BCF about the point B is the same (counter-
clockwise). 𝐟𝐚 can be found in this way.
3. By acceleration image method
In the previous section, it was mentioned that velocity image are useful in findings 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 𝟏 𝟏 𝟏 is similar to the triangle BCF in Fig. 2(d) and (a).
Let Angular velocity of the link BCF
Angular acceleration of the link BCF
Referring to Figs. 2(a) and 3,

𝐛𝟏 𝐟𝐛 (𝛚 )𝟐 𝐟𝐛 𝐟𝟏 Fig. 3
𝐛𝟏 𝐜𝐛 (𝛚 )𝟐 𝐜𝐛 𝐜𝟏

𝟏 𝐛 𝟏 and 𝟏 𝐛 𝟏 are two right-angle triangles in which the ratio of the two corresponding sides is the same as
proved above. Therefore, the two triangles are similar.
𝐛𝟏 𝐟𝟏
𝐛𝟏 𝐜𝟏
Also, 𝐛 𝟏 𝟏 𝐛 𝟏 𝟏

𝐛 𝟏 𝟏 𝐛 𝟏 𝟏 𝐛 𝟏 𝟏 𝐛 𝟏 𝟏

𝟏 𝐛 𝟏 𝐛

Now in 𝟏 𝟏 𝟏 and BFC,

𝐛𝟏 𝐟𝟏
𝐛𝟏 𝐜𝟏

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 is the same,
i.e. 𝟏 𝟏 𝟏 is clockwise, so should be BFC.
An easier method of making the triangle 𝟏 𝟏 𝟏 similar to BFC is by marking on BC equal to 𝟏 𝟏 and
drawing a line parallel to CF, meeting BF in . is the exact size of the triangle to be made on 𝟏 𝟏.

Take 𝟏 𝟏 and 𝟏 𝟏 .
Thus, the point 𝟏 is obtained.
 SLIDER-CRANK MECHANISM
The configuration and the velocity diagrams of a slider-crank mechanism
have been reproduced in Fig. 4.
Writing the acceleration equation,
Acceleration of B relative to O = Acceleration of B relative to A +
Acceleration of A relative to O.

𝐛𝐨 𝐛𝐚 𝐚𝐨
𝐜 𝐭
𝐛𝐠 𝐚𝐨 𝐛𝐚 𝐛𝐨 𝐚𝐨 𝐛𝐚 𝐛𝐚

𝟏 𝟏 𝟏 𝟏 𝟏 𝐚 𝐚 𝟏

The crank OA rotates at a 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: Fig. 4
Constrict the acceleration S.N. Vector Magnitude Direction Sense
diagram as follows:
1. 𝐚𝐨 𝟏 𝟏
1. Take the first vector .
2. Add the second vector to
𝐜
the first. 2. 𝐛𝐚 𝟏 𝐚

3. For the third vector,

𝐭
3. 𝐛𝐚 𝐚 𝟏 - -
draw a line to AB
through the head 𝐚 of the 4. 𝐛𝐠 𝟏 𝟏 - -
second vector.

4. For the fourth vector, draw a line through 𝟏 parallel to the line of motion of the slider.
This completes the acceleration diagram.
Acceleration of the slider 𝟏 𝟏 (or 𝟏 𝟏)

Total acceleration of B relative to 𝟏 𝟏

Example-1: For the configuration of a slider-crank mechanism shown in Fig. 5(a), calculate the-
(i) Acceleration of the slider B
(ii) Acceleration of the point E
(iii) Angular acceleration of the link AB
Crank OA rotates at in counter-clockwise direction.

(a)
Fig. 5
Solution:

Complete the velocity diagram as shown in Fig. 5(b)

Writing the vector equation,

𝐛𝐨 𝐛𝐚 𝐚𝐨
(b)
𝐜 𝐜 𝐭
𝐛𝐠 𝐚𝐨 𝐛𝐚 𝐚𝐨 𝐛𝐚 𝐛𝐚

𝟏 𝟏 𝟏 𝟏 𝟏 𝐚 𝐚 𝟏

Set the vector table as given below.

Acceleration diagram is drawn as follows:
Fig. 5
(a) Take the pole point 𝟏 or 𝟏 [Shown in Fig. 5(c)].
(b) Take the first vector 𝟏 𝟏 and add the second vector.
(c) For the third vector, draw a line to AB through the head 𝐚 of the second vector.
(d) For the fourth vector, draw a line to the line of motion of the slider through 𝟏. The intersection of this
line with the line drawn , locates point 𝟏.
(e) Join 𝟏 𝟏 .
S.N. Vector Magnitude Direction Sense

1. 𝐜
𝐚𝐨 𝟏 𝟏

𝐜
2. 𝐛𝐚 𝟏 𝐚

𝐭
3. 𝐛𝐚 𝐚 𝟏 - -

4. 𝐛𝐠 𝟏 𝟏 - -
(i) 𝐛 𝟏 𝟏

As the direction of acceleration 𝐛 is the same as of , this means the slider is

accelerating at the instant.
(ii) Locate point on 𝟏 𝟏 produces such that
𝐛𝟏 𝒆𝟏
𝐛𝟏 𝒂𝟏

𝟏 𝟏

𝐭
𝐟𝐛𝐚 𝐛𝒂 𝒂𝟏
(iii) 𝐚𝐛 (Counter-clockwise)
.
Example-2: In the toggle mechanism shown in Fig. 6(a), the crank OA rotates at counter-clockwise
increasing at the rate of . For the given configuration determine-
(a) Velocity of the slider D and the angular velocity of link BD
(b) Acceleration of slider D and the angular acceleration of link BD.

(a)
Fig. 6
 (b)
Fig. 6
Solution:
× × .

Complete the velocity diagram as follows:

 Take the vector representing 𝒂.

 Draw lines through and through , the intersection locates the point .
 Draw the line through and horizontal line through or to represent the line of motion of
the slider D. The intersection of the two lines locates the point .
Velocity of the slider
 𝐛𝐝 .
Angular velocity of .

S.N. Vector Magnitude Direction Sense

1. 𝟏 𝟎

2. 𝟎 𝟏 -

3. 𝟏 𝒒

4. 𝒒 𝟏 - -

5. 𝟏 𝒃

6. 𝒃 𝟏 - -

7. 𝟏 𝒅

8. 𝟏 𝟏 - -
9. 𝟏 𝟏 - -
The acceleration diagram is drawn as follows:
(a) Take the pole point 𝟏 or 𝟏 [Fig. 6(c)].
(b) Starting from 𝟏, take the first vector 𝟏 𝟎. To the first vector, add the second vector. Thus, the total
acceleration 𝟏 𝟎 of A relative to O is obtained.
(c) Take the third vector and place its tail at 𝟏 and through its head draw a perpendicular line to have the fourth
vector.
(d) Take the fifth vector and place its tail at 𝟏. Through its head draw a perpendicular line to add the sixth vector.
(e) The intersection of lines of the fourth and sixth vectors locates the point 𝟏.

(f) Take the seventh vector and put its tail at 𝟏. Through its head, draw a perpendicular line to add the eighth
vector.
(g) For the ninth vector, draw a line through 𝟏 parallel to the slider motion.
(h) The intersection of lines of the eighth and ninth vectors locates the point 𝟏.

Acceleration of slider 𝟏 𝟏 .
𝐛𝐝 𝐝𝟏 .
Angular acceleration of .
.
 CORIOLIS ACCELERATION COMPONENT
It is seen that the acceleration of a moving point relative to a fixed body (fixed coordinate system) may have two
components of acceleration; the centripetal (normal) and tangential. However, some cases, the point may have its
motion relative to a moving body (moving coordinate) system, for example, motion of a slider on a rotating link.
The following analysis is made to investigate the acceleration at that point.
Let a link AR rotate about a fixed point A on it (Fig. 7). P is a point on a slider on the link.
Now, at any given instant,
Angular velocity of the link
Angular acceleration of the link
Linear velocity of the slider on the link
Linear acceleration of the slider on the link
Radial distance of point P on the slider
In a short time interval of time , let be the angular displacement of the link and , the radial displacement
of the slider in the outward direction.
After the short interval of time , let

Acceleration of P Parallel to AR:

Initial velocity of P along
Final velocity of P along
Change of velocity along
.
Acceleration of P along

In the limit, as Fig. 7

Acceleration of P along

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 Perpendicular to AR:
Initial velocity of
Final velocity of
Change of velocity
.
Acceleration of

In the limit, as
Acceleration of

This is the acceleration of P perpendicular to AR. The component is known as the Coriolis acceleration
component. It is positive if both and are either positive or negative.
Thus, the Coriolis component is positive if the
 Link AR rotates clockwise and the slider moves radially outwards
 Link rotates counter-clockwise and the slider moves radially inwards.
 Otherwise the Coriolis component will be negative.
These observations can be summarised into the following rules:
The direction of the Coriolis acceleration component is obtained by rotating the radial velocity vector through
in the direction of rotation of the link.
Let Q be a point on the link AR immediately beneath the point P at the instant.
Then-

In the above equation, is the acceleration which an observer stationed on link AR would observe for the
slider.
Remember that Coriolis component exists only if 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
with and writing the equation in the form,

Where
This makes solving problems quite easy.
 CRANK AND SLOTTED-LEVER MECHANISM
The configuration and the velocity diagrams of a slotted-lever mechanism have been shown in Fig. 8 (a) and (b)
respectively. The crank OP rotates at uniform angular velocity of clockwise.
Writing the vector equation,

𝐩𝐚 𝐩𝐪 𝐪𝐚

𝐪𝐨 𝐪𝐩 𝐩𝐨

Fig. 8
Any of these equations can be solved graphically. Both will lead to the
same acceleration diagram except for the direction of the vectors 𝐩𝐪 and

𝐪𝐩 .

Considering the first equation,

𝐩𝐚 𝐩𝐪 𝐪𝐚
𝐜 𝒕 𝒔 𝐜𝐫
𝐩𝐨 𝐪𝒂 𝐩𝒒 𝐪𝐚 𝐪𝐚 𝒑𝒒 𝒑𝒒

𝟏 𝟏 𝟏 𝐚 𝐚 𝟏 𝟏 𝐪 𝐪 𝟏

Fig. 8