Chapter 16

Relative Motion Analysis Acceleration

Fall
Section 16.7 Dynamics ENG-203 7.12.2022

Application. In the mechanism for a window, link AC rotates about a fixed axis through C,
while point B slides in a straight track. The components of acceleration of these points can be
inferred since their motions are known. To prevent damage to the window, the accelerations
of the links must be limited. How can we determine the accelerations of the links in the
mechanism? The equation relating the accelerations of two points on the body is determined
by differentiating the velocity equation with respect to time.

dvvB dv dv
vB/A
= vAA + B / A
dt dt dt

These are absolute accelerations of This term is the acceleration of B with

points A and B. They are measured respect to A. It will develop tangential
from a set of fixed x,y axes. and normal components.

The result is
⃑𝒃=𝒂
𝒂 ⃑ 𝑨+𝜶 ⃑ 𝑩/𝑨 − 𝝎𝟐 𝒓
⃑⃑ × 𝒓 ⃑ 𝑩/𝑨

Graphically:

The relative tangential acceleration component is given by,

(𝑎𝐵/𝐴 ) = 
⃑ × 𝑟𝐵/𝐴
𝑡

and it is always perpendicular to 𝑟𝐵/𝐴 . The relative normal acceleration component is,
(𝑎𝐵/𝐴 ) = −2 𝑟𝐵/𝐴
𝑛

and is in the direction from B towards the center of rotation point A. Back substituting these quantities into the
above equation, the relative acceleration equation becomes,
aB = a A +   r B/ A −  2 r A/ B

Note that the last term in the relative acceleration equation is not a cross product, it is the product of a scalar (square
of the magnitude of angular velocity, 2) and the relative position vector, 𝑟𝐵/𝐴 .

C:\Users\MSI\Dropbox\Teaching\Dynamics Fall 2022\Chapter 16\D16.7 Relative Motion Analysis - Acceleration.docx Dr. M. Majeed | Page 1 of 5
 Chapter 16
Relative Motion Analysis Acceleration
Fall
Section 16.7 Dynamics ENG-203 7.12.2022

Application of applying the equation of relative acceleration. In applying the relative acceleration equation, the
two points used in the analysis (A and B) should generally be selected as points that have a known motion, such as
pin connections with other bodies. As an example, in the mechanism below, point B is known to travel along a
circular path, so 𝑎𝐵 can be expressed in terms of its normal and tangential components. Note that point B on link
BC will have the same path 𝑠𝐵 and total acceleration as point B on link AB. Point C, connecting link BC and the
piston, moves along a straight-line path. Hence, 𝑎𝐶 is directed horizontally.

1. Pin Connection. If acceleration equation is applied to a rigid body which is pin-

connected to two other bodies, it should be noted that points which are
coincident at the pin have the same path 𝑠𝐵 and move with the same acceleration
(𝒂𝑩 ), since the path of motion over which they travel is the same. For example,
point B lying on either rod AB or BC in the following crank mechanism.

2. Bodies in Contact.
a. Disks/Gears: If two bodies contact one another without slipping, and the points in contact move along
different paths, both points will travel the same distance 𝒔 and will have the same velocity 𝒗 as well as the
tangential components of acceleration; however, the normal components will not be the same. For example,
consider point A on gear B and the coincident point A on gear C. Both move with the same tangential
acceleration (𝑎𝐴 )𝑡 = (𝑎𝐴′ )𝑡 but since they follow different curved paths, their normal accelerations are
different. Consequently (𝑎𝐴 )𝑛 ≠ (𝑎𝐴′ )𝑛 so 𝑎𝐴 ≠ 𝑎𝐴′

b. Rolling: If the disk is rolling without slip, the velocity and tangential
acceleration of the contact points on both bodies (P and Q) will be A
equal. Since point Q represents the ground, which has a zero velocity
in this case, then point P will also have a zero velocity. Point P act as R
r
an IC. It is known that point O (center) moves along a straight line,
thus, 𝑣𝑂 and 𝑎𝑂 are horizontal. Applying relative acceleration
analysis between points P and O results in having (𝑎𝑃 )𝑡 = 0 and
(𝑎𝑃 )𝑛 = 𝜔2 𝑟. For point 𝑨, the velocity and tangential acceleration are
equal to 𝑣𝐴 = 𝜔𝑑 𝑟𝐴/𝑃 = 𝜔𝑑 (𝑅 + 𝑟) 𝑖 and (𝑎𝐴 )𝑡 = 𝛼𝑑 (𝑅 + 𝑟) 𝑖. In this
case, the normal acceleration of point A is equal to (𝑎𝐴 )𝑛 = −𝜔2 𝑟 𝑗.
IC
Point P accelerates upward as it leaves the ground.

C:\Users\MSI\Dropbox\Teaching\Dynamics Fall 2022\Chapter 16\D16.7 Relative Motion Analysis - Acceleration.docx Dr. M. Majeed | Page 2 of 5
 Chapter 16
Relative Motion Analysis Acceleration
Fall
Section 16.7 Dynamics ENG-203 7.12.2022

c. Belts/Cords: The point of contact between the belt and disk (pulley) will travel the
same distance and will have the same velocity. For example, points A and D in the
figure on the right have 𝑣𝐴 = 𝑣𝐷 . Since point A acts as an IC point, the velocity of
any point on the disk is equal 𝑣 = 𝜔𝑑 𝑟𝐼𝐶 , e.g., 𝑣𝐵 = 𝜔𝑑 𝑟𝐵/𝐼𝐶 = 𝜔𝑑 2𝑟 and 𝑎𝑡 = 𝛼𝑑 𝑟𝐼𝐶 ,
e.g., (𝑎𝐵 )𝑡 = 𝛼𝑑 𝑟𝐵/𝐼𝐶 = 𝛼𝑑 2𝑟 and (𝑎𝐵 )𝑛 = 𝜔2 𝑟𝐵/𝑂 .

Similarly, the displacement, velocity, and tangential acceleration of point P is equal

to that of point C, namely 𝑠𝐶 = 𝑠𝑃 , 𝑣𝐶 = 𝑣𝑃 , and (𝑎𝐶 )𝑡 = (𝑎𝑃 )𝑡 . IC

http://dynref.engr.illinois.edu/ref.html
https://courses.engr.illinois.edu/tam212/ref.xhtml
https://sites.google.com/site/physicsflash/home/rolling
http://www.animations.physics.unsw.edu.au/jw/rotation.htm#rolling

Important Points. Before applying acceleration Equation, it will be necessary to determine the angular velocity of
the body by using a velocity analysis.

Procedure for Analysis:

1. Establish a fixed coordinate system.
2. Draw the kinematic diagram of the body.
3. Indicate on it 𝑎𝐴 , 𝑎𝐵 , , , and 𝑟𝐵/𝐴 . If the points A and B move along curved paths, then their accelerations
should be indicated in terms of their tangential and normal components, i.e., 𝑎𝐴 = (𝑎𝐴 )𝑡 + (𝑎𝐴 )𝑛 and 𝑎𝐵 =
(𝑎𝐵 )𝑡 + (𝑎𝐵 )𝑛 .
4. Apply the relative acceleration equation:
𝑎𝐵 = 𝑎𝐴 +  × 𝑟𝐵/𝐴 − 2 𝑟𝐵/𝐴 .
5. If the solution yields a negative answer for an unknown magnitude, it indicates the sense of direction of
the vector is opposite to that shown on the diagram.

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 Examples
Fall
Relative Acceleration Dynamics ENG-203 7.12.2022

16–103. Pulley A rotates with the angular velocity and angular acceleration
shown. Determine the acceleration of block E at the instant shown. Ans. 1.43
rad/s2.

C:\Users\MSI\Dropbox\Teaching\Dynamics Fall 2022\Chapter 16\D16.7 Relative Motion Analysis - Acceleration.docx Dr. M. Majeed | Page 4 of 5
 Examples
Fall
Relative Acceleration Dynamics ENG-203 7.12.2022

16-117. The slider block has the motion shown. Determine the angular
velocity and angular acceleration of the wheel at this instant.

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