15.7 :  相対運動の解析 - 加速度

In a slider-crank mechanism, the motion is not uniform due to the varying angle between the crank and the connecting rod.

The motion of segment AB can be studied by attaching a fixed reference system at point O and an additional translating frame of reference at point A.

The absolute linear velocity of point B is expressed as the vector sum of the absolute linear velocity of point A and the relative velocity of point B with respect to point A.

Taking the time derivatives gives the absolute acceleration of point B, which is the vector sum of the absolute acceleration of point A and the relative acceleration of point B with respect to point A.

The motion of point B with respect to point A is a circular path, so the relative acceleration of point B is expressed as normal and tangential components.

The motion of point B is then the result of the linear acceleration of point A, the angular acceleration, and the angular velocity of point B with respect to point A.