The link lengths in mm, measured between the hinge locations, are = 100, =

4R 30, = 70, = 80, with the line of hinges of link 2 making an initial angle of 110O
16 August 2023 22:53 with the line of hinges in link 1.

as it is a fixed pivot and considering the hinge joint

at A, .

In the last equation we do not know the RHS completely as

the direction of is known (out of the plane) but not the
magnitude. So, is defined by the summation of known
vectors and a vector perpendicular to the vector . We
hence know the locus of on a vector diagram.

as it is a fixed pivot, but the RHS of this equation

also is not completely known as the direction of is known
(out of the plane) but not the magnitude. Another locus for
is hence available. Equate the two expressions for
and obtain one vector equation, or equivalently, two scalar
equations which are solvable for two unknowns, the
magnitudes of and .

AccelerationCases Page 1
Geneva Mechanism
16 August 2023 22:55

clockwise, constant. Find ?

Velocity of point P on link 2, = -10 4

cm/s. 16.5/2.6 = 6.34 rad/s

Acceleration of point P on link 2, = 102 4 = 400

cm/s2 directed from P to the pivot of link2. The
tangential acceleration is nil in the absense of angular
acceleration.

The normal acceleration of point P on link 3, =

6.342 2.6 = 104 cm/s2 directed from P to the pivot of
link 3. The tangential acceleration is unknown, but we
know the direction, to the previous direction.

The acceleration of P2/P3 consists of two terms, the

acceleration along the slider (we know the direction but
not magnitude) and the term
which is directed upward and to the
left.

clockwise

Though the problem is solved, we can now do a thought

exercise. We take the velocity diagram as before, and
assume clockwise and look to solve for
. We can draw vP3 and vnP2 like before. We calculate
directed
up and to the left.

We draw the Coriolis term from the tip of and draw

the lines along the slot and perpendicular to to
complete the acceleration diagram. So we end up with a
different acceleration diagram.

This is because arel is not along the slider but its path is
an ellipse-like curve. The trick is to sit on the body with
the slot, so that we know the relative acceleration!

AccelerationCases Page 2
Rolling: pure and sliding
23 August 2023 23:48

The two bodies are forced into contact at P. At this point there are two
options:
a) They are in (perfect) rolling contact
b) They are rolling with sliding along the tangent t.
In the first case, Iij is located at point P. In the second case the Iij is
located at some point along the contact normal. We cannot determine
the exact point just by examining the point P and the neighbourhood.

In the first case, is zero. In the second case is along the

path tangent, but we cannot determine the magnitude just by examining
the point P.

In the first case, is non-zero and along the contact normal. The
magnitude. Use equivalent mechanism to sort. In the second case we
can only determine the normal component of the relative acceleration
by examining the point P and the neighbourhood.

AccelerationCases Page 3
Auxiliary Pt Velocity
27 August 2023 20:53

If we fix link 5 or 3, the mechanism 3254 can be solved a 4R chain.

The solution is finally by subtracting the relative
velocity/acceleration of link 2 or 6.

We will adopt a direct approach using the Auxiliary point method,

as in 3rd edition of the book, pg 96

i) Solve for and , given and

ii) Solve for and , given and by scaling
iii) Solve for and , given and using normal
acceleration

Working on the first problem, we create the velocity diagram with

as usual = 1, knowing that we can scale the values anytime
we want.
= 0.73 ,

AccelerationCases Page 4
Aux Pt Accn-1
28 August 2023 08:40

We need specific values to draw the acceleration diagram.

Let us solve for = 1 and =1

We use this information to draw the normal and tangential

acceleration of points A and B on link 2.

We then find the components aIA and aIIB by drawing the

perpendiculars to the respective directions.

We use the values calculated in velocity analysis to

compute the succesive relative normal acceleration
components ( with the right direction), , ,
and the like to obtain the components of acceleration of
the auxiliary points X along direction I and Y along
direction II.

The relative vectors are shown with alternate colours and

the final vectors in brick colours.

AccelerationCases Page 5
Aux Pt Accn-2
28 August 2023 08:40

We go back to the origin and plot the vectors, and

which are rather small because and which are
small get squared.

Drawing the perpendiculars from and yeilds

and similarly . These are shown as blue arrows.

The difference in acceleration between points X and Y on

link 4, normal to direction III is 4.72 m/s2 Dividing by the
length of XY, we get = 0.5 rad/s.

We find by acceleration images or the computational

way by using . Same for and .

Difference in acceleration between points A and C normal

to direction I is 0.68 m/s . Dividing by the length of AC,
we get = 0.18

Difference in acceleration between points B and D normal to

direction II is 10.39 m/s2. Dividing by the length of AC, we
get = -1.82

The acceleration of point F normal to direction III is 9.76

m/s2 Dividing by the length of link 6, we get = =1.89
rad/s.

AccelerationCases Page 6
 aB
2

B2
at
aY II aY/D II an cti on I
aD I
B2 Dire
/B I
a A2 aB II ax=0, ay=0

a
t A
I
aA Dire
ctio
n II
I
n A
a C/A a

Dire
I
a X/C

ctio
I
aX

n II
I
 aB
2

B2
at
aY II aY/D II an
ction
I
Dire
B2
aC4 aD II
/B
III
a A2 aB II aY ax=0, ay=0

a
t A
I III
aA aX
I
n A
a C/A a

Dire
I a Y4
a X/C

ctio
I
aX
a F4

n II
I
a X4
a D4
Dire
ctio
n II