Theory of Machines

UMT308
Module-3

2526ODDSEM Presented By:

Course Instructors : HLB & PNK
Dr. Hiralal Bhowmick
8/29/2025
Associate Professor, MED TIET, Patiala 1
Email: [Link]@[Link]
 Acceleration Analysis of
Mechanism

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 Acceleration
Acceleration is defined as the rate of change of velocity.
Linear Acceleration
Consider the case of a point having straight line, or rectilinear, motion.
The acceleration can be mathematically described as

Angular Acceleration
Angular acceleration, α, of a link is the angular velocity of that link per unit
of time. Mathematically, angular acceleration of a link is described as

or

For short time periods, or when the angular acceleration is assumed to be

linear, the following relationship can be used:

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 Acceleration
Components:
• Radial/normal component (along the radius): motion to be circular
• result of a change in the direction of the velocity vector
• Tangential component (along the circumference): rotation to be faster or slower.
• result of a change in the magnitude of the velocity vector

If the body moves with uniform velocity, it means the tangential component of
acceleration is zero.

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 Acceleration in the Link
Consider a rigid link AB and point B moves w.r.t. A.
ω, α - angular velocity in rad/sec and angular acceleration in rad/sec2.
b' atBA
aBA vBA
B
arBA
a’ 
atBA x

Centripetal or radial component of the acceleration of B
with respect to A (it acts parallel to the link AB): arBA
2 2
vAB vAB
a =   AB =
r 2
 AB = A
( AB )
BA 2
AB

Tangential component of the acceleration of B with respect to A (it acts

perpendicular to the link AB.);
d dv
t
aBA =   AB =  AB =
dt dt
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 Acceleration of a point on a link
Consider two points A and B on a rigid link.
Let the acceleration of point A is known in magnitude and direction and the direction
of path B is given. Let  and  is given
2 2
vAB vAB
a =   AB =
r 2
 AB =
( AB )
BA 2
AB

d dv
t
aBA =   AB =  AB =
dt dt

aA b' e aBA
aB
o' aA a' r
at a BA
BA x

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 Acceleration in slider crank mechanism
Velocity of B with respect to O or velocity of B (because O is a fixed point) vB
vBO = vB = ωBO × OB, acting tangentially at point B B
b E
A 
vBO vBA Ɵ O
vBA
I.D.C. O.D.C.
o
vA a
2
Radial acceleration of B with respect to O: a r = a =  2  OB = vBO
BO B BO
OB
2 2
Radial acceleration of B wrt A vAB vAB
a =   AB =
r 2
 AB =
( )
BA 2
AB AB
aA
o' a'  AB = atAB AB (clockwise about B)
aE aAB
atAB The acceleration of any point E on link AB can be
aB obtained by dividing the vector b'a' at e' in the
e'
x same proportion as E divides AB
r a′e′/a′b′ = AE/AB
b' a AB
Since the point B moves with constant angular velocity, therefore there will be no
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tangential component of the acceleration
 Numerical Problem
Problem 1: The crank of a slider crank mechanism rotates clockwise at a constant
speed of 300 r.p.m. The crank is 150 mm and the connecting rod is 600 mm long.
Determine: 1. linear velocity (vD) and acceleration (aD) of the midpoint of the
connecting rod, and 2. angular velocity (AB) and angular acceleration (AB) of the
connecting rod, at a crank angle of 45° from inner dead centre position.
Given: NBO = 300 r.p.m. or ωBO = 2 π × 300/60 = 31.42 rad/sec;
Length of crank (OB) = 150 mm = 0.15 m ; BA = 600 mm = 0.6 m Find:
vD , aD
Velocity of B with respect to O or velocity of B,
AB, AB
vBO = vB = ωBO × OB = 31.42 × 0.15 = 4.713 m/s

B
D 
A
Ɵ O
I.D.C. O.D.C.

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 Numerical Problem

1. Linear velocity of the midpoint of the connecting rod (vD): ??

b
vAB
vB
vD d

o
vA a
Space diagram Velocity diagram

Vector ob = vBO = vB = 4.713 m/s

By measurement
Vector ba = vAB = 3.4 m/s
Vector oa = vOA = vA = 4 m/s
Vector od = vOD = vD = 4.1 m/s

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 Numerical Problem
2. Acceleration of the midpoint of the connecting rod (aD): ??
b
vAB
vB
vD d

o
vA a aA
o' a'
Velocity diagram
aAB
2
vBO atAB
a r
BO = aB = = 148.1 m / s 2 d'
OB aB
Since the crank OB rotates at a constant speed,
therefore there will be no tangential component of x
the acceleration of B with respect to O. arAB
2 b'
v Acceleration diagram
a r
AB = = 19.3 m / s 2
AB t
aBA =   AB =
d
 AB =
dv
AB dt dt

By measurement, aD= vector o' d ' = 117 m/s2 atAB = 103 m / s 2

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 Numerical Problem

3. Angular velocity and angular acceleration of connecting rod (AB, AB) : ??

b
vAB
vB
vD d

o
vA a
Space diagram Velocity diagram
aA
o' a' vAB
 AB = = 5.67 rad / s 2
aAB AB
atAB
d' Angular acceleration of the connecting rod
aB
atAB = 103 m / s 2
x
arAB a tAB
b'  AB = =171.67 rad / s 2
Acceleration diagram AB 12
 Numerical Problem
Problem 2: PQRS is a four bar chain with link PS fixed. The lengths of the links are
PQ = 62.5 mm ; QR = 175 mm ; RS = 112.5 mm ; and PS = 200 mm. The crank PQ
rotates at 10 rad/s clockwise. Draw the velocity and acceleration diagram when angle
QPS = 60° and Q and R lie on the same side of PS. Find the angular velocity and
angular acceleration of links QR and RS (Find: QR . RS ,  QR , RS )
R

vQ
P Space diagram S

QP = 10 rad/esc vQP = vQ = QP  PQ = 0.625 m / s

PQ = 62.5 mm = 0.0625 m
QR = 175 mm = 0.175 m
RS = 112.5 mm = 0.1125 m
PS = 200 mm = 0.2 m
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 Numerical Problem
Angular velocity of links QR and RS Scale:
200 mm = 10 cm
R 62.5 mm = 3.125 cm
175 mm = 8.75 cm
Q 112.5 mm = 5.625 cm
vQ 0.625 m/sec = 5 cm

P S
Space diagram vR r
p,s
vector pq = vQP = vQ = 0.625 m / s vRQ
vQ
vRQ = vector qr = 0.333 m / s q
vRS = vR = vector sr = 0.426 m / s Velocity diagram
vRQ vRS
QR = = 1.9 rad / s; RS = = 3.78 rad / s
RQ RS
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 Numerical Problem
Radial Acceleration of links QR and RS
vR r
p,s
vRQ
vQ
q
Velocity diagram
2
Radial component of the acceleration of Q vQP
w.r.t P (or the acceleration of Q)
r
aQP = aQP = aQ = = 6.25 m / s 2
PQ
2
vRQ
Radial component of the acceleration of R w.r.t. Q, r
aRQ = = 0.634 m / s 2
QR
p' s'
Radial component of the acceleration of R arRS
w.r.t. S (or the acceleration of R),
2
aQ y
vRS
r
aRS = aRS = = 1.613 m / s 2
8/29/2025 RS q' 15
ar
 Numerical Problem
Angular Acceleration of links QR and RS
R vR r
p,s
Q vRQ
vQ
q
P S
Space diagram Velocity diagram

p' s'

r arRS
t
y aRQ
atRS  QR = = 23.43 rad / s 2
atRQ
aQ
QR
t
aRS
 RS = = 47.1 rad / s 2
q' RS
Acceleration diagram
x ar
RQ
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 Numerical Problem
Problem 3: An engine mechanism as shown in Figure. The crank CB = 100 mm and
the connecting rod BA = 300 mm with centre of gravity G, 100 mm from B. In the
position shown, the crankshaft has a speed of 75 rad/s, and an angular acceleration of
1200 rad/s2. Find:1. velocity of G and angular velocity of AB, and 2. acceleration of G
and angular acceleration of AB.

Solution:
ωBC = 75 rad/s ; αBC = 1200 rad/s2, CB = 100 mm = 0.1 m; BA = 300 mm = 0.3 m
We know that velocity of B with respect to C or velocity of B,
vBC = vB = ωBC . CB = 75 x 0.1 = 7.5 m/s ...(Perpendicular to BC)
Since the angular acceleration of the crankshaft, αBC = 1200 rad/s2, therefore
tangential component of the acceleration of B with respect to C,
 Numerical Problem

c
vA a

g
vB
b
Velocity of point g, vg = 6.8 m/sec
Angular velocity of AB, AB = 13.3 rad/sec
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 Numerical Problem

a aA c
atAB
aAB
aBC

arBC

b''
r x'
atBC
a
b' AB
Acceleration of point G, aG = 414 m/sec2
Tangential component of acceleration AB, atAB = 546 m/sec2
Angular acceleration of AB, AB = 1820 rad/sec2
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 Coriolis Component of Acceleration
➢ It is seen that the acceleration of a moving point relative to a fixed body (fixed
coordinate system) may have two components of acceleration; the centripetal
and the tangential.
➢ However, in some cases, the point may have its motion relative to a moving
body (moving coordinate) system, for example, motion of a slider on a rotating
link.

➢ When a point on one link is sliding along another rotating link, such as in quick
return motion mechanism, then the coriolis component of the acceleration
must be calculated.

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 Coriolis Component of Acceleration
➢ Consider a link OA and a slider B as shown in Fig. (a).
The slider B moves along the link OA. The point C is
the coincident point on the link OA.

➢ We can find out the acceleration of the slider B with respect to its coincident
point C lying on the link OA.
➢Acceleration of B wrt C:

Coriolis Component

➢This tangential component of acceleration of the slider B with respect to the coincident
point C on the link is known as coriolis component of acceleration and is always
perpendicular to the link.
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 Coriolis Component of Acceleration
➢ Coriolis component of the acceleration of B with respect of C,

➢ In the above discussion, the anticlockwise direction for  and the

radially outward direction for slider v are taken as positive.
➢ Note: The direction of coriolis component of acceleration is
obtained by rotating v, at 90°, about its origin in the same
direction as that of .

Significance and Applications:

•In rotating machinery, the Coriolis
component affects the stress and
behavior of moving parts.
•It must be considered in vibration
analysis and dynamic balancing.
•Important in missile trajectories,
airplane navigation, and ballistics
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 Vector Loop Analysis method
Used For:
•Position analysis, Velocity analysis, Acceleration analysis
Assumptions:
•Mechanisms are planar. Links are rigid bodies.
•Typical Known inputs: angular position, velocity, and acceleration of one link.
POSITION ANALYSIS

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 Vector Loop Analysis method
VELOCITY ANALYSIS

ACCELERATION ANALYSIS

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 Numerical Example: Vector Loop Analysis method

R
3
Q 4

P 1 S

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 Thank You

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