M A C H I N E

E L E M E N T S
ACCELERATION ANALYSIS
TOPIC NO. 6
INTENDED LEARNING OUTCOMES
At the end of the lesson, the student should be able to:
a) Describe the method of finding acceleration using
velocity and acceleration diagram.
b) Determine acceleration of points in a mechanism using
semi-graphical approach.
Velocity Components
Velocity can change in magnitude, direction-sense, both magnitude and direction-sense
A particle whose velocity changes both in magnitude and direction at any instant has the following
two components:
1. The centripetal, radial or normal component
- rate of change of velocity in direction-sense
- perpendicular to the velocity of the particle at the given instant.
2. The tangential component
- rate of change of velocity in magnitude
- parallel to the velocity of the particle at the given instant.
Acceleration
“is the rate of change of velocity with respect to time”
Acceleration is a vector quantity and can be linear or angular:
Linear acceleration,
𝐝𝐕
𝐀=
𝐝𝐭
Angular acceleration,
𝐝𝛚
𝛂=
𝐝𝐭
Acceleration
Radial/Normal acceleration:
𝐴𝑟𝐵𝐴 = 𝜔𝐴𝐵 2 𝐴𝐵
2
𝑉𝐵𝐴
𝐴𝑟𝐵𝐴= 𝐴𝐵
𝐴𝐵
𝑽 𝟐
𝒓 𝑩𝑨
𝑨𝑩𝑨 =
𝑨𝑩

Tangential acceleration:
𝑨𝒕𝑩𝑨 = 𝜶𝑨𝑩 𝑨𝑩
Acceleration Diagram
1. From the given link length AB and angular velocity ω, solve for
velocity (VBA)
2. Solve for the radial and tangential accelerations using the
equations:
𝟐
𝑽𝑩𝑨
𝑨𝒓𝑩𝑨 = 𝑨𝒕𝑩𝑨 = 𝜶𝑨𝑩 𝑨𝑩
𝑨𝑩
𝒓
3. From any point q, draw the vector length 𝑨𝑩𝑨 parallel to link
AB to represent the radial component of acceleration B. q
𝒓 𝒕
4. From the terminal of 𝑨𝑩𝑨 , draw the vector length 𝑨𝑩𝑨 ABA
𝒓
perpendicular to 𝑨𝑩𝑨 (or link AB) to represent the tangential ABAr

component of acceleration B. ABAt

𝒕
5. Draw a line from q to the terminal of 𝑨𝑩𝑨 , this represents the
total acceleration 𝑨𝑩𝑨 .
the angular acceleration 𝜶 can be of different direction with
the angular velocity 𝝎.
If ω is counter-clockwise and α is clockwise, this means that
the link is turning counter-clockwise but is decelerating
The direction of tangential acceleration 𝒂𝒕 is always the same
direction as with the angular acceleration α.
Total Acceleration
The resultant linear acceleration of BA is obtained by solving
vectorially the following equation:
𝒓 𝒕
𝑨𝑩𝑨 = 𝑨𝑩𝑨 ↛ 𝑨𝑩𝑨

The angle 𝜑, is the resultant acceleration vector direction with

respect the link AB is expressed by the equation:
𝐴 𝑡 𝛼 (𝐴𝐵) 𝜶
𝐵𝐴
𝝋 = tan−1 = tan −1
= 𝒕𝒂𝒏 −𝟏
𝐴𝐵𝐴𝑛 2
𝜔 (𝐴𝐵) 𝝎𝟐
 The absolute linear acceleration of one point on a floating link is
equal to the vector sum of the absolute linear acceleration of a
second point on the link, the normal acceleration of the first point
relative to the second point, and the tangential acceleration of the
first point relative to the first point.
 𝒏 𝒕 𝒏 𝒕
𝑨𝒃 = 𝑨𝒂 + 𝑨𝒂 + 𝑨𝒃𝒂 + 𝑨𝒃𝒂
Relative Acceleration Method
UNKNOWN: 𝑨𝑩 , 𝒂𝒂𝒃
𝒏 𝒕 𝒏 𝒕
𝑨𝒃 = 𝑨𝒂 + 𝑨𝒂 + 𝑨𝒃𝒂 + 𝑨𝒃𝒂
M
B 𝟐
𝑽𝒃𝒂
𝑨𝒃 = 𝑨𝒂 + + 𝒂𝒂𝒃 (𝑨𝑩)
𝑽𝒂 𝑨𝑩
A N
𝑨𝒂
Relative Acceleration Method
Draw the velocity polygon
𝒂

M 𝒒
B
𝒃
𝑽𝒂
A Now we can compute
N 𝟐
𝑽𝒃𝒂
𝑨𝒏𝒃𝒂 =
𝑨𝑩
𝑨𝒂
Relative Acceleration Method
Draw the acceleration polygon:
𝒃
𝒒
M
B 𝑨𝒂
𝑨𝒕𝒃𝒂
𝒂
𝑽𝒂 𝒏
𝑨𝒃𝒂
A N Final answer:
𝑨𝒂 𝑨𝒃 = 𝒒𝒃 (𝑲𝒂 )
𝒕
𝑨𝒃𝒂
𝒂𝒂𝒃 =
𝑨𝑩
EXAMPLE NO. 1
A crank and rocker mechanism has the dimensions as shown. Crank 2 has an angular velocity of 200
rpm CCW and negative angular acceleration of 280 rad/s/s. For the position shown , determine the
instantaneous linear accelerations of A, B, C, and D and the instantaneous angular velocities and
accelerations of links 3 and 4 by the semi-graphical method.
STEP 1: Draw the mechanism to scale by using the C 𝟏𝟎. 𝟓′′
6′′
D
appropriate space scale, Ks. Choose a convenient velocity 5.25′′
B
and acceleration scale. A 𝟏𝟓′′
N
𝟏 𝒇𝒕 𝟏𝟐′′
𝑲𝑺 = , 𝑲𝒗 = 𝟓 𝒇𝒑𝒔, 𝑲𝒂 = 𝟏𝟎𝟎 𝟐
𝟒 𝒔 𝜶
9′′
𝟏𝟖′′
𝑸𝟐 𝑸𝟒
EXAMPLE NO. 1
A crank and rocker mechanism has the dimensions as shown. Crank 2 has an angular velocity of 200
rpm CCW and negative angular acceleration of 280 rad/s/s. For the position shown , determine the
instantaneous linear accelerations of A, B, C, and D and the instantaneous angular velocities and
accelerations of links 3 and 4 by the semi-graphical method.
STEP 2: Compute the following: C 𝟏𝟎. 𝟓′′
6′′
D
𝑽𝒂 =
𝟐𝝅𝑸𝟐 𝑨𝑵
=
𝟐𝝅(𝟗)(𝟐𝟎𝟎)
= 𝟏𝟓. 𝟕 fps 5.25′′
B
𝟏𝟐 𝒙 𝟔𝟎 𝟏𝟐 𝒙 𝟔𝟎

𝑨𝒏𝒂 =
𝑽𝟐𝒂
=
𝟏𝟓.𝟕 𝟐
= 𝟑𝟐𝟖. 𝟖 fpss N
A 𝟏𝟓′′

𝑸𝟐 𝑨 𝟗
𝟏𝟐′′
𝟏𝟐
𝟗 𝜶
𝑨𝒕𝒂 = 𝒂𝟐 𝒙 𝑸𝟐 𝑨 = 𝟐𝟖𝟎 𝒙 = 𝟐𝟏𝟎 fpss 9′′
𝟏𝟐
𝟏𝟖′′
𝑸𝟐 𝑸𝟒
EXAMPLE NO. 1
Velocity Polygon
𝒂

𝒒
𝒃

STEP 3: Draw the velocity polygon. C 𝟏𝟎. 𝟓′′

6′′
D
STEP 4: Compute the normal components of acceleration: 5.25′′
B
𝒏
𝑨𝒃𝒂 =
𝑽𝟐𝒃𝒂
=
𝒂𝒃 𝒙 𝑲𝒗 𝟐
=
𝟏.𝟒𝟒 𝒙 𝟓
𝟏𝟓
𝟐
= 𝟒𝟏. 𝟓 fpss N
A 𝟏𝟓′′

𝑨𝑩 𝑨𝑩 𝟏𝟐′′
𝟏𝟐

𝒏 𝑽𝟐𝒃 𝒒𝒃 𝒙 𝑲𝒗 𝟐 𝟐.𝟑𝟐 𝒙 𝟓 𝟐 𝜶
𝑨𝒃 = = = 𝟏𝟐 = 𝟏𝟑𝟒. 𝟓 fpss 9′′
𝑸𝟒 𝑩 𝑸𝟒 𝑩 𝟏𝟖′′
𝟏𝟐
𝑸𝟐 𝑸𝟒
EXAMPLE NO. 1
𝒒
Velocity Polygon Acceleration Polygon
𝒂
𝑨𝒏𝒂 𝑨𝒂
𝒒
𝒃

STEP 5: Draw the acceleration polygon 𝑨𝒕𝒂 𝒂 C 𝟏𝟎. 𝟓′′

6′′
D
a. Locate q at the convenient place 5.25′′
B
b. Draw 𝑨𝒂 = 𝑲𝒂 = 𝟑. 𝟐𝟗 inch
𝒏 𝟑𝟐𝟖.𝟖
N
A 𝟏𝟓′′

𝟏𝟐′′
c. Draw 𝑨𝒕𝒂 =
𝟐𝟏𝟎
𝑲𝒂
= 𝟐. 𝟏𝟎 inch
9′′
𝜶

d. Locate 𝑨𝒂 𝑸𝟐
𝟏𝟖′′
𝑸𝟒
EXAMPLE NO. 1
𝒒
Velocity Polygon Acceleration Polygon
𝒏
𝒂 𝑨𝒃
𝒃 𝑨𝒂
𝑨𝒂𝒏 𝑨𝒕𝒃
𝒒 𝒕
𝒃 𝑨𝒃𝒂

STEP 6: Locating 𝑨𝒃 𝒕
𝑨𝒂
𝒂 C 𝟏𝟎. 𝟓′′
6′′
D
a. From a, draw 𝑨𝒃𝒂 = 𝑲𝒂 = 𝟎. 𝟒𝟏𝟓 inch
𝒏 𝟒𝟏.𝟓 𝑨𝒏𝒃𝒂
5.25′′
B
b. Draw a perpendicular to BA
𝒕
𝑨𝒃𝒂 N
A 𝟏𝟓′′

𝟏𝟐′′

c. Draw 𝑨𝒃 = 𝑲𝒂 = 𝟏. 𝟑𝟒𝟓 inch

𝒏 𝟏𝟑𝟒.𝟓
9′′
𝜶

d. Locate 𝒕
𝑨𝒃 perpendicular to 𝐵𝑄4 𝑸𝟐
𝟏𝟖′′
𝑸𝟒
EXAMPLE NO. 1
𝒒
Velocity Polygon Acceleration Polygon
𝑨𝒃
𝒂
𝑨𝒄
𝒃 𝑨𝒂
𝒒
𝒃
STEP 7: Locating 𝑨𝒄 𝒄
a. Join a and b. ab is the acceleration image of AB
𝒂 C D
c′ B
b. Lay off Ab’ = ab 𝒃′
c. Draw b’c’ parallel to BC A
d. With a as center and a radius equal to Ac’ draw an arc
e. With b as center and a radius equal to b’c’ draw an arc
f. Locate c at the intersection of this arc.
𝑸𝟐 𝑸𝟒
EXAMPLE NO. 1
𝒒
Velocity Polygon 𝑨𝒅 Acceleration Polygon
𝑨𝒃
𝒂 𝒅
𝒃 𝑨𝒄
𝑨𝒂
𝒒
𝒃

STEP 8: Locating 𝑨𝑫 𝒄
𝒂 C 6′′
D
a. Lay off bd to line connecting ab B
b. Then by using ratio and proportion A 𝟏𝟓′′

𝒂𝒃 𝒙 𝑩𝑫 𝟐.𝟗 𝒙 𝟔
𝒃𝒅 = = = 𝟏. 𝟏𝟔
𝑨𝑩 𝟏𝟓

𝑸𝟐 𝑸𝟒
EXAMPLE NO. 1
𝒒
Velocity Polygon 𝑨𝒅 Acceleration Polygon
𝑨𝒃
𝒂 𝒅
𝒃 𝑨𝒄
𝑨𝒂
𝒒
𝒃

STEP 9: Calculate the acceleration of A,B,C,D 𝒄

𝒂 C 𝟏𝟎. 𝟓′′
6′′
D
a. For 𝐴𝑎 = q𝑎 𝑥 𝐾𝑎 = 3.9 𝑥 100 = 𝟑𝟗𝟎 fpss 5.25′′
B
b. For 𝐴𝑏 = 𝑞𝑏 𝑥 𝐾𝑎 = 1.63 𝑥 100 = 𝟏𝟔𝟑 fpss A 𝟏𝟓′′

𝟏𝟐′′
c. For 𝐴𝑐 = q𝑐 𝑥 𝐾𝑎 = 3.3 𝑥 100 = 𝟑𝟑𝟎 fpss
9′′
d. For 𝐴𝑑 = q𝑎 𝑥 𝐾𝑎 = 1.52 𝑥 100 = 𝟏𝟓𝟐 fpss 𝟏𝟖′′
𝑸𝟐 𝑸𝟒
EXAMPLE NO. 1
𝒒
Velocity Polygon 𝑨𝒅 Acceleration Polygon
𝑨𝒃
𝒂 𝒅
𝒃 𝑨𝒄
𝑨𝒂
𝒒
𝒃

STEP 10: Calculate the angular velocities of 3 and 4 𝒄

𝒂 C 𝟏𝟎. 𝟓′′
6′′
D
a. For 𝜔3 = 𝑉𝑏𝑎
=
𝑎𝑏 𝑥 𝐾𝑣
=
1.44 𝑥 5
15 = 𝟓. 𝟕𝟔 rps 5.25′′ 3 B
𝐴𝐵 𝐴𝐵
12
A 𝟏𝟓′′

b. For 𝜔4 = 𝑉𝑏
=
𝑞𝑏 𝑥 𝐾𝑣
=
2.32 𝑥 5
= 𝟏𝟏. 𝟕𝟔 rps
4
𝑄4 𝐵 𝑄4 𝐵 12 𝟏𝟐′′
12

9′′
𝟏𝟖′′
𝑸𝟐 𝑸𝟒
EXAMPLE NO. 1
𝒒
Velocity Polygon 𝑨𝒅 Acceleration Polygon
𝑨𝒃
𝒂 𝒅
𝒃 𝑨𝒄
𝑨𝒂
𝒒
𝒃

STEP 11: Calculate the angular acceleration of 3 and 4 𝒄

𝒂 C 𝟏𝟎. 𝟓′′
6′′
D
𝐴𝑡𝑏𝑎
3 B
a. For 𝑎3 = 𝐴𝐵 =
2.86 𝑥 100
15 = 𝟐𝟐𝟗 rpss 5.25′′
12
A 𝟏𝟓′′

𝐴𝑡𝑏
b. For 𝑎4 = 𝑄4𝐵 = 0.93 𝑥 100
12 = 𝟗𝟑 rpss 4
𝟏𝟐′′
12
9′′
𝟏𝟖′′
𝑸𝟐 𝑸𝟒
Optional: Watch this video (ctrl + click the link):
1. Acceleration Analysis
2. Acceleration Diagram Construction