Lecture 5

Course: Machine Design for AB Production

Topic: Velocity and Acceleration Analysis of Machine Components

Prepared by
Engr. Edriel Jim T. Ello, Instructor 1

ABE 412 – MACHINE DESIGN FOR AB PRODUCTION

 Velocity Analysis
Velocity
It associates the movement of a point on a mechanism with time.

Linear velocity of a point, V

It is the linear displacement of that point per unit time.

For short time periods,

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 Velocity Profile for Linear Motion
The velocity profile prescribes the speed-up, steady-state, and slow-down
motion segments for the translating link.

The actual displacement can be calculated from the velocity profile:

This equation states that the displacement for a certain time

interval is the area under the v–t curve for that time interval.
ABE 412 – MACHINE DESIGN FOR AB PRODUCTION
Velocity Profile for Linear Motion
Example 1: Servo-driven actuators are programmed to move according to a specified
velocity profile. The linear actuator, shown in the presented Figure, is programmed to
extend according to the shown velocity profile. Determine the total displacement during
this programmed move.

Solution:
The displacement is
defined as the area under
the v–t curve.

ABE 412 – MACHINE DESIGN FOR AB PRODUCTION

Velocity Profile for Linear Motion
Solution:

ABE 412 – MACHINE DESIGN FOR AB PRODUCTION

Velocity of a Link
Angular velocity, ω, of a link is the angular displacement of that link per unit
of time.

For short time periods,

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Relationship between Linear and Angular Velocities
For a link in pure rotation, the magnitude of the linear velocity of any point
attached to the link is related to the angular velocity of the link.

ABE 412 – MACHINE DESIGN FOR AB PRODUCTION

Relative Velocity
Relative velocity is a term used when the velocity of one object is related to
that of another reference object, which can also be moving.

ABE 412 – MACHINE DESIGN FOR AB PRODUCTION

Relative Velocity
Example 2: The presented Figure shows a cargo lift mechanism for a delivery truck. At
this instant, point A has a velocity of 12 in./s in the direction shown, and point B has a
velocity of 10.4 in./s, also in the direction shown. Determine the angular velocity of the
lower link and the relative velocity of point B relative to point A.

Kinematic diagram

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Relative Velocity
Solution:
The Angular Velocity of Link 2:

The relative velocity of point B relative to point A

Kinematic diagram

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Analytical velocity analysis: Relative Velocity Method
❑ Analytical velocity analysis involves exactly the same logic as employed in
graphical analysis.

Example 4: The presented figure shows a

primitive well pump that is common in
undeveloped areas. To maximize water flow,
the piston should travel upward at a rate of
50 mm/s. In the position shown, determine
the angular velocity that must be imposed
on the handle to achieve the desired piston
speed.

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Analytical velocity analysis: Relative Velocity Method
Solution:

Therefore,

Kinematic diagram
Analytical velocity analysis: Relative Velocity Method
Solution: Velocity Polygon

82.95 deg 82.05 deg

15 deg

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Analytical velocity analysis: Relative Velocity Method
Solution: Velocity Polygon

Calculate the Velocity of Point B: 82.05 deg

82.95 deg

Determine the Angular Velocity of Link 2:

15 deg

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 Acceleration Analysis
Acceleration Analysis
❑ Acceleration analysis involves determining the manner in which certain points on the
links of a mechanism are either “speeding up” or “slowing down.”.

Linear Acceleration of Rectilinear Points

A point most commonly found on a link that is attached to the frame with a sliding joint.

For short time periods,

ABE 412 – MACHINE DESIGN FOR AB PRODUCTION

 Constant Rectilinear Motion
❑ The velocity change that occurs during a period of constant acceleration,

❑ The corresponding displacement that occurs during a period of constant acceleration,

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Constant Rectilinear Motion
Example 1: Calculate Acceleration
An express elevator used in tall buildings can reach a full speed of 15 mph in 3
s. Assuming that the elevator experiences constant acceleration, determine the
acceleration and the displacement during the 3 s.
Solution:
The velocity change, Acceleration calculated as,

ABE 412 – MACHINE DESIGN FOR AB PRODUCTION

Constant Rectilinear Motion
Example 1: Calculate Acceleration
An express elevator used in tall buildings can reach a full speed of 15 mph in 3
s. Assuming that the elevator experiences constant acceleration, determine the
acceleration and the displacement during the 3 s.
Solution:

Normalize the acceleration due to gravity: The Displacement during the 3-Second
Interval:

ABE 412 – MACHINE DESIGN FOR AB PRODUCTION

Constant Rectilinear Motion
Example 2 : Determine the Motion Parameters during Speed-Up
An automated assembly operation requires linear motion from a servo actuator. The total
displacement must be 10 in. For design reasons, the maximum velocity must be limited to 2
in./s, and the maximum acceleration or deceleration should not exceed 4 in./s2. Plot the
velocity profile for this application.
Solution:
Time consumed during speed-up: The magnitude of the displacement during speed-up

ABE 412 – MACHINE DESIGN FOR AB PRODUCTION

Constant Rectilinear Motion
Example 2 : Determine the Motion Parameters during Speed-Up
An automated assembly operation requires linear motion from a servo actuator. The total
displacement must be 10 in. For design reasons, the maximum velocity must be limited to 2
in./s, and the maximum acceleration or deceleration should not exceed 4 in./s2. Plot the
velocity profile for this application.
Solution:
Motion Parameters during Steady-State:

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 Linear Acceleration of a General Point
Tangential Acceleration, 𝑨𝒕
Acceleration acting along the path of motion.

Normal Acceleration, 𝑨𝒏
Centrifugal acceleration that acts
perpendicular to the direction of the path of
motion.

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 Linear Acceleration of a General Point
Angular Acceleration, 𝜶
angular velocity of that link per unit of time. ❑ Angular acceleration is expressed in the units
of angular velocity (angle per time) divided
by time, or angle per squared time.
❑ In both the U.S. Customary System and the
International System, the common units used
are degrees per squared second (deg/𝒔𝟐 ),
revolutions per squared second (rev/ 𝒔𝟐 ), or
For short time periods, the preferred unit of radians per squared
second (rad/ 𝒔𝟐 )

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 Constant Angular Acceleration
❑ the angular velocity change that occurs during a period of constant angular
acceleration,

❑ the corresponding angular displacement that occurs during a period of constant

angular acceleration,

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Constant Angular Acceleration
Example 1:
An electric motor drives the grinding wheel clockwise, as shown in the figure. It will speed up to 1800
rpm in 2 s when the power is turned on. Assuming that this speed-up is at a constant rate, determine
the angular acceleration of the grinding wheel. Also determine the number of revolutions that the
wheel spins before it is at full speed.
Solution:
1. Calculate the Acceleration

For short time period,

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Constant Angular Acceleration
Example 1:
An electric motor drives the grinding wheel clockwise, as shown in the figure. It will speed up to 1800
rpm in 2 s when the power is turned on. Assuming that this speed-up is at a constant rate, determine
the angular acceleration of the grinding wheel. Also determine the number of revolutions that the
wheel spins before it is at full speed.
Solution:
2. Calculate the Displacement during the 2-Second Interval

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Normal and Tangential Acceleration
Tangential Acceleration
❑ The tangential component is formed as a result of a change in the magnitude of the
velocity vector

The magnitude of the tangential acceleration of point A on a rotating link 2 can be expressed
as:

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Normal and Tangential Acceleration
Normal Acceleration
❑ The normal component is created as a result of a change in the direction of the
velocity vector.

The magnitude of the normal acceleration of a point:

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Normal and Tangential Acceleration
Total Acceleration
❑ the vector resultant of the tangential and normal components.

Mathematically expressed as:

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Normal and Tangential Acceleration
Example 1:
The mechanism shown in the figure is used in a distribution
center to push boxes along a platform and to a loading area.
The input link is driven by an electric motor, which, at the
instant shown, has a velocity of 25 rad/s and accelerates at a
rate of 500 𝑟𝑎𝑑/𝑠 2 . Knowing that the input link has a length of
250 mm, determine the instantaneous acceleration of the end
of the input link in the position shown.
Solution:
1. Draw a Kinematic Diagram and Calculate Degrees of Freedom

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Normal and Tangential Acceleration
Example 1:
The mechanism shown in the figure is used in a distribution
center to push boxes along a platform and to a loading area.
The input link is driven by an electric motor, which, at the
instant shown, has a velocity of 25 rad/s and accelerates at a
rate of 500 𝑟𝑎𝑑/𝑠 2 . Knowing that the input link has a length of
250 mm, determine the instantaneous acceleration of the end
of the input link in the position shown.
Solution:
2. Determine the Tangential Acceleration of Point A:

3. Determine the Normal Acceleration of Point A:

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Normal and Tangential Acceleration
Example 1:
The mechanism shown in the figure is used in a distribution
center to push boxes along a platform and to a loading area.
The input link is driven by an electric motor, which, at the
instant shown, has a velocity of 25 rad/s and accelerates at a
rate of 500 𝑟𝑎𝑑/𝑠 2 . Knowing that the input link has a length of
250 mm, determine the instantaneous acceleration of the end
of the input link in the position shown.
Solution: Angle of the total acceleration vector from the
4. Determine the Total Acceleration of Point A normal component:

Direction of the total acceleration vector:

Total Acceleration:

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Relative Acceleration Analysis: Analytical Method
You Try!
For the compressor linkage in the figure, at the instant shown, the crank is rotating clockwise at 1800
rpm and accelerating at 12,000 rad/𝑠 2 .Use the relative acceleration method to analytically determine
the linear velocity and linear acceleration of the piston.

ABE 412 – MACHINE DESIGN FOR AB PRODUCTION