Acceleration Diagram:

Acceleration of A,

Choose an appropriate scale, say 1 cm → 5 m/s².

 (1) Draw a line parallel to OA to define acceleration of A, a_A. It is described by o′a′.

 (2) Plot centripetal component of acceleration a_BA, that means     by drawing line parallel to AB.

It is defined by a′ b′₁.

(3) From point b′₁, draw a line perpendicular to AB to defined direction of tangential component of acceleration a_BA.

(4) From point o′ draw a line o′ b′₂ parallel to BC to described centripetal component of acceleration of B that has magnitude illustrated by

 (5) From point b′₂, draw a line perpendicular to BC or o′ b′₂ to defined direction of tangential component of acceleration of B, that means.This line meets direction of at b′.

 (6) From point b′, draw a line b′ d′₁ parallel to BD to defined centripetal component of acceleration of a_DB that means.  .

 (7) From the point ed′₁, draw a line perpendicular to b′ d′₁ or BD to show direction of tangential component of acceleration of a_DB that means

 (8) From the point o′ draw a line parallel to the line of motion of slider D to meet direction of at point d′.