MODULE 2

 INTRODUCTION

This module presents relative acceleration, coriolis’ law and cam and follower.
It is hoped that you will learn how to determine the absolute linear acceleration of any
point, absolute linear acceleration of point to the connected point. You will also learn
to draw the contour of a plate cam.

OBJECTIVES

After studying the module, you should be able to:

1. solve the absolute angular velocity and acceleration of a certain point joining
the other point.
2. apply coriolis’ law in acceleration analysis.
3. know to plot a displacement diagram for a cam that will give its follower
motion.

 DIRECTIONS/ MODULE ORGANIZER

There are three lessons in the module. Read each lesson carefully then answer
the exercises/activities to find out how much you have benefited from it. Work on these
exercises carefully and submit your output to your tutor or to the Engineering office.

In case you encounter difficulty, discuss this with your tutor during the face-to-
face meeting. If not contact your tutor at the Engineering office.

Good luck and happy reading!!!

Lesson 1

 Acceleration Analysis
(Relative Acceleration)

Accelerations in Machines

With the advent of high speed machines, the accelerations of the moving parts
are becoming more important. The inertia forces produced by the accelerations of the
links in a machine may be of a high magnitude and in some cases, at a certain position,
may be higher than the forces produced by the working medium. The obtaining of the
accelerations of points in the links of the machine is prerequisite to the making of an
inertia force analysis of the machine. The method developed will be similar to the
relative velocity method treated in the previous lesson; it is called the relative
acceleration method.

Acceleration of a Point Moving on a Curved Path.

The acceleration of a point is the time rate of change of the velocity of the point.
Since a velocity has both magnitude and direction-sense, there may be a change in the
velocity in magnitude, in direction-sense, or both magnitude and direction-sense. The
rate of change in the velocity in direction-sense is the normal component of the
resultant acceleration of the point and is termed the normal acceleration. The rate of
change in the velocity in magnitude is the tangential component of the resultant
acceleration of the point and is called the tangential acceleration.

Relative Acceleration Method.

Basic Principles:
1. That all motions are considered instantaneous.
2. That the instantaneous motion of a point may be considered pure rotation.
3. That the acceleration of a point is much more easily analyzed if it is resolved
into rectangular components, one normal and one tangent to its path.
 AP  An  At
Where:
Ap = acceleration of point P
An = normal acceleration of point P
= acceleration due to change in direction-sense of velocity P
VP 2
=
R
Direction:
--parallel to the line joining point P and the axis of rotation.
Sense:
--towards the axis of rotation.
At = tangential acceleration of point P
= acceleration due to change in magnitude of velocity P
= 2 R  
Direction:
--perpendicular to the line joining point P and the axis of
rotation.
Sense:
--it will follow the sense of the angular acceleration.
For ANGLE , 
P

An

At
 = Tan At
1 R 
 Tan1 2  Tan1 2
An  R 
For FLOATING LINK
A


r An B
A
B

At B
A

If A A is given and A B is unknown:

AB  AA  AB / A
Where:
 A B/ A 
n VB / A 
2
  AB   AB   VB / A  AB 
2

At B / A  r  
Relative Equation of acceleration expanded
AB  AA  AB / A
An B  At B  An A  At A  An B / A  At B / A

Normal Acceleration Graphically.

The normal acceleration of a point about another point may be obtained graphically
when proper scale relationship is observed. Since the space scale was defined three
ways, one definition only may be used for the graphical normal acceleration
construction. The scales used for this construction are:

Ks = the number of feet or part of a foot on the machine which 1 inch. on the drawing
represents; e.g., if the drawing is one-half size, Ks = 1/6

Kv = the velocity in feet per second which 1 inch. on the drawing represents; e.g., if a
velocity scale of 1 inch.=10 fps is chosen,
Kv = 10 fps

Ka = the acceleration in feet per second per second which 1 inch. on the drawing
represents; e.g., if an acceleration scale of 1 inch. = 600 ft/sec² is chosen,
Ka = 600 ft/sec².

In Figure 1-1, the link QA, drawn to the Ks scale, is turning counterclockwise about Q
with an angular velocity which produces a linear velocity of A, represented to the Kv
scale by the line AM. Then join Q and M. Draw MN perpendicular to QM. Assume AN is
the normal acceleration of A about Q, A aq , to the Ka scale. The
n

M A

Q
 scales have been chosen so that
Ka = Kv²/Ks eq. 1
If AN equals, to scale A aq , then
n

A aq , = AN x Ka =
n V 
aq
2


 AMxKv 2 eq. 2
QAxKs QAxKs
Substituting eq. 1 in eq. 2 gives
AN = (AM)²/QA or AN/AM = AM/QA
Triangles MNA and QMA are similar. Then
AN/AM = AM/QA
Therefore, AN represents to the Ka scale the magnitude of the normal acceleration of
A relative to Q, A aq , if the scales are chosen so that Ka = (Kv)²/Ks. The direction
n

sense of A aq , is parallel to AQ and from A toward Q.

n

Example 1.
Crank 2 is rotating counterclockwise at 75 rpm and slowing down at the rate of
15 rad/sec². Determine the acceleration of points A and B and the angular
acceleration of links 3 and 4.

Ks: 3 inches = 2 feet

Kv: assume Assume links;

Ka: assume 2 = 10”

3 = 15”

4 = 8”

Solution:
Velocity Analysis:

2 75rev / min 10inch

Va = 2 N Q2 A   _____________inches
Kv

Acceleration Analysis:

1.0 A A 
n t
AA  AA
Where

1.1 A A 
n VA 2 direction: towards Q₂ and parallel to link 2
Q2 A

1.2 A A   2 Q2 A Ks direction: perpendicular to link 2 or

t

perpendicular to AA consistent with 2 .

n

2.0 AB  AA  AB
A

AB  AB  AA  AB
n t n t
 AB
A A

2.1 AB 
n VB 2 Direction: towards Q₄ and parallel to link 4
Q4 BKs 

2.2 AB   4 Q4 BKs Direction: perpendicular to link 4 or  AB

t n

2
V 
  A
B
2.3 AB Direction: towards point A and parallel to line AB
n

A AB Ks 

2.4 AB   3  AB Ks Direction: perpendicular to link 3 or  AB

t n

A A
Acceleration of Sliding Block

AB  AB
n t
 AB

AB 
n VB 2
R equals zero
 R
t
AB

So

AB  AB
t

Sense: it will follow the sense of the motion/velocity

Direction: same direction as that of the velocity

Example 2
ω₂ = 4.8 rad/sec clockwise. 2 = 8 rad/sec² clockwise. Using Kv = 1.8 fps and
Ka = 6 ft/sec². Draw the mechanism to scale and obtain the velocity and acceleration
polygons. Determine Ab , ω₃, ω₄,  ₃ and  ₄.
Ks: 1cm=1inch.
Solution:
Velocity Analysis:
ω₂
4.8rad / sec9inch x 1 ft
V A  2N Q2 A = 12inches  2.0inches
Kv  1.8 fps / inch
vB  1¼ inch.
From the velocity polygon
vB  1 83 inch.
A

Acceleration Analysis:
AA  AA  AA
n t

Where:
 AA 
n VA

2
2inchx1.8 fps / in  2
 2.88inches
Q2 A 9inch1 ft / 12inches6 fps2 / inch
-parallel to Q₂A towards Q₂
8rad / sec2  9inch.x 1 ft 
AA   2 Q2 A 
t  12inch   1.0inch.
6 fps2 / inch
-perpendicular to Q₂A or  AA
n

-follow the sense of  ₂

AB  AB  AB
n t

Where:
2
 1 
2 1 inchx1.8 fps / inch 
V
AB  B 
n  4   .675inch.
Q4 B 15inches1 ft / 12inch6 fps / inch
2

-parallel to Q₄B towards Q₄

AB   4 Q4 B  = ??? ; but the direction is known  AB
t n

VB
1 3 inch1.8 fps / inch
ω₃ = A  8  1.65rad / sec
AB 18inchx1 ft / 12inch
V 1 1 inchx1.8 fps / inch
ω₄ = B  4  1.8rad / sec .
Q4 B 15inchx1 ft / 12inch
Also,
AB  AA  AB
A

AB  AB  AA  AA  AB
n t n t n t
 AB
A A
Where:
2
V 
AB 
n  B
A

1 83 inchx1.8 fps / inch
2

 .681inch.
A AB 18inch1 ft / 12inch6 fps2 / inch
-parallel to AB towards A
AB   3  AB  = ??? ; but the direction is known  AB or  AB
t n

A A

2 14 inch6 ft / sec2 / inch

t
AB
3  A
  9rad / sec2
AB  1 ft 
18inch 
 12inch 

4 
AB
t


2 165 inch 6 ft / sec2 / inch 
 11.1rad / sec2
Q4 B 15inch1 ft / 12inch
Example 3
Knowing that 2 = 100 rad/sec² and ω₂ = 15 rad/sec, find A C (IPS²) and  3
(rad/sec²) in the mechanism.
Ks: 1 cm = 2 inches; Kv: 1 inch = 270 ips; Ka: 1 inch = 1350 ips²

Graphical Solution:
Velocity Analysis:
VA  2 Q2 A  15rad / sec18inches  270ips dividing by Kv value
270ips
VA   1.0inch
Kv  270ips / inch
VB V A VB
A
VB = qvb(Kv) = ½inch(270 ips/inch) = 135 ips
VB = ab(Kv) = 16
11
inch (270 ips/inch) = 185.625 ips. From the velocity
A

VC = qvc(Kv) = ½ inch (270 ips/inch) = 135 ips. polygon

VC = cb(Kv) = 163 inch (270 ips/inch) = 50.625 ips.
B

Acceleration Analysis:

AA  A A  AA
n t

Where:
V 2
AA  A 
n 270ips2  3.0inches

Q2 A 18inches Ka  1350 ips 2 / inch 
-direction towards Q₂ and parallel to Q₂A
1800 ips2
AA   2 Q2 A  100 rad / sec2 18inches   1 13 inch.
t

Ka  1350 ips2 / inch

-direction perpendicular to the direction of AA
n

AB  A B  AB
n t

Where:
V 2
AB  B 
n 135ips2  1 12 inch.
2
Q2 B 9inch 1350ips / inch 
-direction towards Q₂ and parallel to Q₂B
900ips2
AB   2 Q2 B   100 rad / sec2 9inches   23 inch.
t
2
1350 ips / inch
-direction perpendicular to the direction of AB
n

AC  A B  AC
B

AC  AC  AB  AB  AC
n t n t n t
 AC
B B
Where:
V 2
AC  C  0
n


AC   3 = ??? ; but direction perpendicular to where it is rotating
t

which an axis of rotation at infinity or parallel to path.

2
V 
AC
n
  B 
C 50.625ips2  170.859ips2  1 inch.
B BC 15inches 1350ips2 / inch 8
-direction towards point B and parallel to line BC
   3 BC  = ??? ; but direction perpendicular to the direction of AC
t n
AC
B B

So,
AC  AC  qa AC Ka = inch (1350 ips²/inch) = 253.125 ips²
t 3
16

1 
t
AC 11
inchx1350ips2 / inch
3  B
 16
 151.875rad / sec2
BC 15inches


Problem:
LEARNING ACTIVITY

Link 2 rotates at a constant angular velocity in figure below. Determine the

velocities and accelerations of all points. Also find the angular velocity and angular
acceleration of point D.
Kv = 150 ipm/inch; Ka = 4 ips²/inch