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Acceleration for the planer mechanism is the functions of the position
vectors 
is calculated in the position analysis, with
the angular velocities 
and also 
is calculated in the velocity analysis,
angular acceleration 
and 
that is evidently are to calculated from the
time derivative of below equation 1;
The unknown in equation 2 are the double time derivative, therefore again three cases corresponding to the position analysis are indentified follows
Case 1: have two unknowns are 
whereas the double derivative of unknown in
case1 positions analysis 
is calculated from equation 3
Case 2:
The two unknown are 
k and p may or may not equal. The unknowns are
double time derivative of that case in case 2 for the position analysis 
Case 3:
The two unknowns are 
the double time derivative of unknowns in case 3
of positional analysis 
is calculated
After
all the unknown the angular acceleration 
is calculated, the
joints of the accelerations and the centre of eth gravity of links is
calculated through the simple Vectorial operations
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