Five-Sided Mechanism, Determination of Acceleration

The aim of this paper is the presentation of the general form of the constraint equations necessary to calculate the accelerations occuring on a five sided spatial mechanism. Using these equations the computing of the accelerations for any part of any plain or spatial mechanism will be possible. The constraint equations of the acceleration are obtained by computing the time derivatives of the velocity equations (which in general form are given by [1] and [2]) followed by the correspondent grouping of the unknowns