Acceleration of link in pure rotation

AtPA APA

P
Length of link: p AnPA ,

A Magnitude of tangential component = p, magnitude of normal component = p 2

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Acceleration of link, general case

AtPA APA

P
Length of link: p AnPA , AP AA

AnPA
APA

AtPA

AA

AP=AA+APA
2

Graphical acceleration analysis

Four-bar linkage example

AtBA
3 Clockwise acceleration of crank A 2 B

AtB
4

AtA

 Problem definition: given the positions of the links, their angular velocities and the acceleration of the input link (link 2), find the linear accelerations of A and B and the angular accelerations of links 2 and 3.

Solution: Find velocity of A Solve graphically equation:

AB AA ABA t n t n AB AB AA ABA ABA

Find the angular accelerations of links 3 and 4

Graphical solution of equation AB=AA+ABA

At
3 B A 2
BA

AtB

AA

AtB
4

AtBA -An
Steps:
Draw AA, AnBA, -AtBA Draw line normal to link 3 starting from tip of AnB Draw line normal to link 4 starting from origin of AA Find intersection and draw AtB and AtBA. 5

AtA
1

AnBA

 Guidelines
Start from the link for which you have most information Find the accelerations of its points Continue with the next link, formulate and solve equation: acceleration of one end = acceleration of other end + acceleration difference We always know the normal components of the acceleration of a point if we know the angular velocity of the link on which it lies We always know the direction of the tangential components of the acceleration
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Algebraic acceleration analysis

3 A 2 a
1

R3
B c

R4 R1 1

R2
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Given: dimensions, positions, and velocities of links and angular acceleration of crank, find angular accelerations of coupler 7 and rocker and linear accelerations of nodes A and B

Solution
CD AF AE BD CE BF 4 AE BD where :

A c sin 4 B b sin 3
2 cos b 2 cos c 2 cos C a 2 sin 2 a 2 2 3 4 3 4

D c cos 4 E b cos 3
2 2 2 F a 2 cos 2 a 2 sin 2 b 3 sin 3 c 4 sin 4 2 ae j 2 ae j 2 j AA 2 2 2 ce j 4 ce j 4 j AB 4 4
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General approach for acceleration analysis

P, P (colocated points at some instant), P on slider, P on bar

Acceleration of P = Acceleration of P + Acceleration of P seen from observer moving with rod+Coriolis acceleration of P
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