After learning about position and velocity analyses in Chaps. 3 and 4 , respectively, now it’s time to take a derivative of velocity with respect to time and analyze acceleration in mechanisms. Therefore, acceleration is the second time derivative of position. Unlike position analysis, velocity and acceleration analyses deal with linear problems and therefore they do not need application of numerical methods; the way position analysis does. In this chapter, the application of several methods for acceleration analysis is presented. They are the algebraic, vector loop, and relative motion methods. Several illustrative problems provide examples for use of each of these methods. One fundamental importance of the acceleration analysis is that it provides a link that connects kinematic analysis to kinetic analysis using Newton’s second law. Once accelerations of mass center G of each member and the angular accelerations of each member are computed, calculating the corresponding inertia forces (i.e., \( -m{\overrightarrow{a}}_G \) ) and inertia moments (i.e., \( -{I}_G\overrightarrow{\alpha} \) ) can be easily done by just multiplying each acceleration term by its corresponding inertia and at the end change the sign of the obtained result. The inertia forces and the inertia moments can then be used in the dynamic analysis of the mechanism. Details of this matter are presented in Chaps. 12 and 13 .