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Department of Mechanical Engineering
Staff-In charge:C.Maria Antoine Pushparaj
Year & Seester: I I I r d - V t h
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RAJIV GANDHI COLLEGE O ENGINEERING
AND !ECHNOLOG"
De par t me nt of M ec ha nical E ngi neer i ng
#taff-In charge$ Maria Antoine %&'hpara( #&) Code$ ME*+
#&) Name$ D,namic' of Machiner, "ear-Cla''$ III -Mechanical
NO!E # Of LE ##ON
O. JE C! IVE $
!o un"erstan" the etho" of static force ana#$sis an" "$naic force ana#$sis of
Mechaniss
!o stu"$ the un"esira%#e effects of un%a#ance in rotors an" engines.
!o un"erstan" the concept of &i%rator$ s$stes an" their ana#$sis
!o un"erstan" the princip#es of go&ernors an" g$roscopes.
RE E RE NCE # $
!hoas 'e&an( )!heor$ of Machines)( C'S Pu%#ishers an" *istri%utors( 19+,.
-hosh A. an" Ma##ic. A./.( )!heor$ of Mechaniss an" Machines)( Affi#iate" 0ast
- 1est Press P&t. 2t".( 3e4 *e#hi( 19++.
Shig#e$ 5.0. an" 6ic.er 5.5.( )!heor$ of Machines an" Mechaniss)( Mc-ra4-7i##(Inc.(
1998.
9ao 5.S. an" *u..ipati 9.:.( )Mechanis an" Machine !heor$ )( 1i#e$-0astern
2iite"( 3e4 *e#hi( 1992.
5ohn 7annah an" Stephens 9.C.( )Mechanics of Machines)( :i&a #o4-Price" Stu"ent
0"ition( 1999.
Sa"hu Singh ;!heor$ of Machines Pearson 0"ucation( 2<<2.
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INDE/
0NI! 1 I - orce
Anal ,'i '
2 +3 Int rod& ct ion
2 43 Ne5t on6 ' La5
2 73 !,p e' of force Ana l,'i '
2 83 %rin cip le of #&p e r %o'it ion
2 *3 ree . od , Diagram
2 93 D6 Alem) e rt ' % rin cip le
2 :3 D,namic Anal,'i' of o& r ) ar M ech an i'm
2 ;3 !& rn in g M omen t Diagram
2 <3 #in gle c,lind e r d o&) le act in g en gin e
2 +=3 !& rn in g momen t d iagram fo r 8 - 't ro >e I? C en gin e
2 ++3 !& rn in g momen t d iagram fo r a m& lt i c,lin d er en gin e
2 +43 l& ct&at ion of En erg,
2 +73 l& ct& at ion of #p eed
2 +83 M a@im& m f l& ct& at ion of en erg,
2 +*3 Coefficien t of fl& ct& at ion of en erg,
2 +93 Coefficien t of fl& ct& at ion of 'p eed
2 +:3 En erg, 't ored in fl,5he el
2 +;3 l,5heel in p&n ch in g p re' '
2 +<3 Cam d ,n amic'
2 4=3 E @ a m p le % r o ) le m '
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2 +3 Int rod& ct ion $
0 N I ! 1 I - o rc e A n a l , ' i'
If the acce#eration of o&ing #in.s in a echanis is running 4ith consi"era%#e
aount of #inear an">or angu#ar acce#erations( inertia forces are generate" an" these inertia
forces a#so ust %e o&ercoe %$ the "ri&ing otor as an a""ition to the forces e?erte" %$ the
e?terna# #oa" or 4or. the echanis "oes.
2 43 Ne5t on6 ' La5 $
i r't La5
0&er$%o"$ 4i## persist in its state of rest or of unifor otion @constant &e#ocit$A in a
straight #ine un#ess it is cope##e" to change that state %$ forces ipresse" on it. !his eans
that in the a%sence of a non-Bero net force( the center of ass of a %o"$ either is at rest or
o&es at a constant &e#ocit$.
# econ d La5
A %o"$ of ass m su%ject to a force un"ergoes an acce#eration a that has the sae
"irection as the force an" a agnitu"e that is "irect#$ proportiona# to the force an" in&erse#$
proportiona# to the ass( i.e.( C ma. A#ternati&e#$( the tota# force app#ie" on a %o"$ is eDua#
to the tie "eri&ati&e of #inear oentu of the %o"$.
!h ird La5
!he utua# forces of action an" reaction %et4een t4o %o"ies are eDua#( opposite an"
co##inear. !his eans that 4hene&er a first %o"$ e?erts a force on a secon" %o"$( the secon"
%o"$ e?erts a force E on the first %o"$. an" E are eDua# in agnitu"e an" opposite in
"irection. !his #a4 is soeties referre" to as the action-reaction law( 4ith ca##e" the
)action) an" E the )reaction)
2 73 !,p e' of force Ana l,'i '$
0Dui#i%riu of e%ers 4ith t4o forces
0Dui#i%riu of e%ers 4ith three forces
0Dui#i%riu of e%ers 4ith t4o forces an" torDue
0Dui#i%riu of e%ers 4ith t4o coup#es.
0Dui#i%riu of e%ers 4ith four forces.
2 83 %rin cip le of #&p e r %o'it ion $
Soeties the nu%er of e?terna# forces an" inertia# forces acting on a echanis
are too uch for graphica# so#ution. In this case 4e app#$ the etho" of superposition. 6sing
superposition the entire s$ste is %ro.en up into @nA pro%#es( 4here n is the nu%er of
forces( %$ consi"ering the e?terna# an" inertia# forces of each #in. in"i&i"ua##$. 9esponse of a
#inear s$ste to se&era# forces acting siu#taneous#$ is eDua# to the su of responses of the
s$ste to the forces in"i&i"ua##$. !his approach is usefu# %ecause it can %e perfore" %$
graphica##$.
2 *3 ree . od , Diagram$
A free %o"$ "iagra is a pictoria# representation often use" %$ ph$sicists an"
engineers to ana#$Be the forces acting on a %o"$ of interest. A free %o"$ "iagra sho4s a##
forces of a## t$pes acting on this %o"$. *ra4ing such a "iagra can ai" in so#&ing for the
un.no4n forces or the eDuations of otion of the %o"$. Creating a free %o"$ "iagra
can a.e it easier to un"erstan" the forces( an" torDues or oents( in re#ation to one
another an" suggest the proper concepts to app#$ in or"er to fin" the so#ution to a pro%#e. !he
"iagras are a#so use" as a conceptua# "e&ice to he#p i"entif$ the interna# forcesFfor e?ap#e(
shear forces an" %en"ing oents in %easF4hich are "e&e#ope" 4ithin structures.
2 93 D6 Alem) e rt ' % rin cip le $
*GA#e%ertGs princip#e( a#so .no4n as the Lagrange1dAAlem)ert principle( is a
stateent of the fun"aenta# c#assica# #a4s of otion. It is nae" after its "isco&erer( the
Hrench ph$sicist an" atheatician 5ean #e 9on" "GA#e%ert. !he princip#e states that the su
of the "ifferences %et4een the forces acting on a s$ste an" the tie "eri&ati&es of the
oenta of the s$ste itse#f a#ong an$ &irtua# "isp#aceent consistent 4ith the constraints of
the s$ste is Bero.
2 :3 D,namic Anal,'i' of o& r ) ar M ech an i'm $
A fo&r-)ar lin>age or sip#$ a 8-)ar or fo&r-)ar is the sip#est o&a%#e #in.age.
It consists of four rigi" %o"ies @ca##e" %ars or #in.sA( each attache" to t4o others %$ sing#e joints
or pi&ots to for c#ose" #oop. Hour-%ars are sip#e echaniss coon in echanica#
engineering achine "esign an" fa## un"er the stu"$ of .ineatics.
*$naic Ana#$sis of 9eciprocating engines.
Inertia force an" torDue ana#$sis %$ neg#ecting 4eight of connecting ro".
:e#ocit$ an" acce#eration of piston.
Angu#ar &e#ocit$ an" Angu#ar acce#eration of connecting ro".
Horce an" !orDue Ana#$sis in reciprocating engine neg#ecting the 4eight of
connecting ro".
0Dui&a#ent *$naica# S$ste
*eterination of t4o asses of eDui&a#ent "$naica# s$ste
2 ;3 !& rn in g M omen t Diagram$
!he turning oent "iagra is graphica# representation of the turning oent or
cran. effort for &arious positions of cran..
2 <3 # in g le c , lind e r d o &) le a c t in g e n gi n e $
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2 +=3 ! & r n in g m o m e n t d iag r am f o r 8- ' t r o > e I ? C e n gi n e $
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2 ++3 ! & r n in g m o m e n t d iag r am f o r a m & lt i c , lin d e r e n gi n e :
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2 +43 l& ct& at ion of En erg,$
energ$.
!he "ifference in the .inetic energies at the point is ca##e" the a?iu f#uctuation of
2 +73 l& c t& a t ion of #p ee d :
!his is "efine" as the ratio of the "ifference %et4een the a?iu an" iniu
angu#ar spee"s "uring a c$c#e to the ean spee" of rotation of the cran. shaft.
2 +83 M a @ im & m f l& c t& a t ion of e n e r g , $
2 +*3 Co e ff ici e n t of f l& c t& a t ion of e n e r g,$
2 +93 Co e ff ici e n t of f l& c t& a t ion of ' p ee d $
2 +:3 E n e r g, ' t o r e d in f l,5h e el :
A f#$4hee# is a rotating ass that is use" as an energ$ reser&oir in a achine. It
a%sor%s energ$ in the for of .inetic energ$( "uring those perio"s of cran. rotation 4hen
actua# turning oent is greater than the resisting oent an" re#ease energ$( %$ 4a$ of
parting 4ith soe of its /.0( 4hen the actua# turning oent is #ess than the resisting oent.
2 +;3 l,5heel in p&n ch in g p re' '$
!he f#$4hee#s use" for prie o&ers constitute a c#ass of pro%#es in 4hich the
resisting torDue is assue" to %e constant an" the "ri&ing torDue &aries. f#$4hee#s use" in
punching( ri&eting an" sii#ar achines constitute another c#ass of pro%#es in 4hich the
actua#@"ri&ingA turning oent pro&i"e" %$ an e#ectric otor is ore or #ess constant %ut the
resisting torDue@#oa"A &aries.
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2 +<3 Cam d ,n amic'$
Mechanis pro&i"es a non-#inear I>K re#ationship. *ifferent echanis #i.e sing#e or
u#ti-"egree of free"o( interittent otion echaniss an" #in.ages etc. ha&e "ifferent I>K
9e#ationship. 1hen 4e can not o%tain a certain functions fro the 4e## .no4n echaniss(
4e use a ca echanis. It is a one "egree of free"o echanis of t4o o&ing #in.s. Kne is
ca an" the other is fo##o4er.
9igi" an" e#astic %o"$ ca s$ste.
Ana#$sis of eccentric ca
Pro%#es on Ca Lfo##o4er s$ste.
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2 4=3 E@amp le % ro) lem '$
1A !he &ariation of cran.shaft torDue of a four c$#in"er petro# engine a$ %e
appro?iate#$ represente" %$ ta.ing the torDue as Bero for cran. ang#es <M an" 1+<M an" as
2J<
3 for cran. ang#es 2<M an" ,8M( the intere"iate portions of the torDue graph %eing straight
#ines. !he c$c#e is %eing repeate" in e&er$ ha#f re&o#ution. !he a&erage spee" is J<< rp.
Supposing that the engine "ri&es a achine reDuiring constant torDue( "eterine the ass of
the f#$4hee# of ra"ius of g$ration 28< ( 4hich ust %e pro&i"e" so that the tota# &ariation
of spee" sha## %e one percent.
2A A sing#e c$#in"er &ertica# engine has a %ore of =<< an" a stro.e of ,<< . !he
connecting ro" is 1 #ong an" the ass of the reciprocating parts is 1,< .g. on the e?pansion
stro.e( 4ith the cran. at =<M fro the top "ea" center( the gas pressure is <.I MPa. If the
engine runs at 28< rp( "eterine @iA net force acting on the piston @iiA resu#tant #oa" on the
gu"geon pin @iiiA thrust on the c$#in"er 4a##s( an" @i&A the spee" a%o&e 4hich( other things
reaining the sae( the gu"geon pin #oa" 4ou#" %e re&erse" in "irection.
=A A &ertica# "ou%#e acting stea engine has a c$#in"er =<< "iaeter an" ,8<
stro.e an" runs at 2<< rp. !he reciprocating parts has a ass of 228 .g an" the piston ro" is
8< "iaeter. !he connecting ro" is 1.2 #ong. 1hen the cran. has turne" through 128M
fro the top "ea" center the stea pressure a%o&e the piston is =< .3>
2
an" %e#o4 the piston
is 1.8 .3>
2
. Ca#cu#ate
@iA Cran.-pin effort
an"
@iiA !he effecti&e turning oent on the cran.
shaft.
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INDE/
63 I! L II ' A2A3C I3-
2 +3 Int rod& ct ion
2 43 . alan cin g of rot at in g ma''e'
2 73 #t at ic ) alan cin g
2 83 D,namic ) alan cin g
2 *3 Vario& ' ca'e' of ) alan cin g of rot at in g ma''e '
2 93 . alan cin g of a 'in gle rot at in g ma'' ) , 'in gle ma'' rot at in g in th e 'ame p lan e
2 :3 . alan cin g of a 'in gle rot at in g ma'' ) , t 5o ma''e ' rot at in g in th e d ifferen t p lan e
2 ;3 . alan cin g of a 'eBera l ma' 'e' rot at in g in 'ame p lan e
2 <3 . alan cin g of 'eBera l ma ''e ' rot at in g d iffere n t p lan e
2 +=3 . alan cin g of Recip rocat in g ma''e '
2 ++3 %rima r, an d 'econd ar, &n) alan ced fo rce' of recip rocat in g p art '
2 +43 . alan cin g of 'in gle c,lind e r en gin e
2+73 . al anci ng o f i nert i al for ce' i n t he m&l t i- c,li nde r e ngi ne
2 +83 %art ial ) alan cin g of Loco mot iBe'
2 +*3 Variat ion of !ract iBe fo rce
2 +93 # 5a,in g Co&p le
2 +:3 Hammer ) lo5
2 +;3 . alan cin g of In lin e en gin e'
2 +<3 . alan cin g of rad ial en gin e'
2 4=3 E @ a m p le % r o ) le m '
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0N I ! 1 I I . AL AN CI NG
2 +3 Int rod& ct ion $
'a#ancing is the process of e#iinating or at #east re"ucing the groun" forces an">or
oents. It is achie&e" %$ changing the #ocation of the ass centres of #in.s. 'a#ancing of
rotating parts is a 4e## .no4n pro%#e. A rotating %o"$ 4ith fi?e" rotation a?is can %e fu##$
%a#ance" i.e. a## the inertia forces an" oents. Hor echanis containing #in.s rotating a%out
a?is 4hich are not fi?e"( force %a#ancing is possi%#e( oent %a#ancing %$ itse#f a$
%e possi%#e( %ut %oth not possi%#e. 1e genera##$ tr$ to "o force %a#ancing. A fu##$ force
%a#ance is possi%#e( %ut an$ action in force %a#ancing se&ere the oent %a#ancing.
2 43 . alan cin g of rot at in g ma''e'$
!he process of pro&i"ing the secon" ass in or"er to counteract the effect of
the centrifuga# force of the first ass is ca##e" %a#ancing of rotating asses.
2 73 #t at ic ) alan cin g $
!he net "$naic force acting on the shaft is eDua# to Bero. !his reDuires that the #ine of
action of three centrifuga# forces ust %e the sae. In other 4or"s( the centre of the asses
of the s$ste ust #ie on the a?is of the rotation. !his is the con"ition for static %a#ancing.
2 83 D,namic ) alan cin g $
!he net coup#e "ue to "$naic forces acting on the shaft is eDua# to Bero. !he
a#ge%raic su of the oents a%out an$ point in the p#ane ust %e Bero.
2 *3 Vario& ' ca'e' of ) alan cin g of rot at in g ma''e '$
'a#ancing of a sing#e rotating ass %$ sing#e ass rotating in the
sae p#ane.
'a#ancing of a sing#e rotating ass %$ t4o asses rotating in the
"ifferent p#ane.
'a#ancing of a se&era# asses rotating in sing#e p#ane.
'a#ancing of a se&era# asses rotating in "ifferent p#anes.
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2 93 . a la n c in g of a ' in g le r o t a t in g m a ' ' ) , ' in g le m a ' ' r o t a t in g in th e ' a m e p la n e $
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2 :3 . a la n c in g of a ' in g le r o t a t in g m a ' ' ) , t 5o m a '' e ' r o t a t in g in th e d iff ere n t p la n e $
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2 ;3 . a la n c in g of a ' e B e r a l m a ' ' e ' r o t a t in g in ' a m e p la n e $
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2 <3 . a la n c in g of ' e B e r a l m a '' e ' r o t a t in g d iff er e n t p la n e $
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2 +=3 . alan cin g of Recip rocat in g ma''e '$
Mass %a#ancing encopasses a 4i"e arra$ of easures ep#o$e" to o%tain partia# or
cop#ete copensation for the inertia# forces an" oents of inertia eanating fro the
cran.shaft asse%#$. A## asses are e?terna##$ %a#ance" 4hen no free inertia# forces or
oents of inertia are transitte" through the %#oc. to the outsi"e. 7o4e&er( the reaining
interna# forces an" oents su%ject the engine ounts an" %#oc. to &arious #oa"s as 4e## as
"eforities an" &i%rator$ stresses. !he %asic #oa"s ipose" %$ gas-%ase" an" inertia# forces
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2 ++3 % r im a r , a n d ' ec o nd a r , &n) a la n c e d f o rce ' of rec ip r o c a t in g p a r t ' $
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2 +43 . alan cin g of 'in gle c,lind e r en gin e $
A sing#e c$#in"er engine pro"uces three ain &i%rations. In "escri%ing the 4e 4i##
assue that the c$#in"er is &ertica#. Hirst#$( in an engine 4ith no %a#ancing counter4eights(
there 4ou#" %e an enorous &i%ration pro"uce" %$ the change in oentu of the piston(
gu"geon pin( connecting ro" an" cran.shaft once e&er$ re&o#ution. 3ear#$ a## sing#e-c$#in"er
cran.shafts incorporate %a#ancing 4eights to re"uce this. 1hi#e these 4eights can %a#ance the
cran.shaft cop#ete#$( the$ cannot cop#ete#$ %a#ance the otion of the piston( for t4o
reasons. !he first reason is that the %a#ancing 4eights ha&e horiBonta# otion as 4e## as
&ertica# otion( so %a#ancing the pure#$ &ertica# otion of the piston %$ a cran.shaft 4eight
a""s a horiBonta# &i%ration. !he secon" reason is that( consi"ering no4 the &ertica# otion
on#$( the sa##er piston en" of the connecting ro" @#itt#e en"A is c#oser to the #arger cran.shaft
en" @%ig en"A of the connecting ro" in i"-stro.e than it is at the top or %otto of the
stro.e( %ecause of the connecting ro"Gs ang#e. So "uring the 1+<M rotation fro i"-stro.e
through top-"ea"-center an" %ac. to i"-stro.e the inor contri%ution to the pistonGs
up>"o4n o&eent fro the connecting ro"Gs change of ang#e has the sae "irection as the
ajor contri%ution to the pistonGs up>"o4n o&eent fro the up>"o4n o&eent of the
cran. pin. '$ contrast( "uring the 1+<M rotation fro i"-stro.e through %otto-"ea"-center
an" %ac. to i"-stro.e the inor contri%ution to the pistonGs up>"o4n o&eent fro the
connecting ro"Gs change of ang#e has the opposite "irection of the ajor contri%ution to the
pistonGs up>"o4n o&eent fro the up>"o4n o&eent of the cran. pin. !he piston therefore
tra&e#s faster in the top ha#f of the c$#in"er than it "oes in the %otto ha#f( 4hi#e the otion of
the cran.shaft 4eights is sinusoi"a#. !he &ertica# otion of the piston is therefore not Duite the
sae as that of the %a#ancing 4eight( so the$ canGt %e a"e to cance# out cop#ete#$.
Secon"#$( there is a &i%ration pro"uce" %$ the change in spee" an" therefore
.inetic energ$ of the piston. !he cran.shaft 4i## ten" to s#o4 "o4n as the piston spee"s up an"
a%sor%s energ$( an" to spee" up again as the piston gi&es up energ$ in s#o4ing "o4n at the top
an" %otto of the stro.e. !his &i%ration has t4ice the freDuenc$ of the first &i%ration( an"
a%sor%ing it is one function of the f#$4hee#.
!hir"#$( there is a &i%ration pro"uce" %$ the fact that the engine is on#$ pro"ucing
po4er "uring the po4er stro.e. In a four-stro.e engine this &i%ration 4i## ha&e ha#f the
freDuenc$ of the first &i%ration( as the c$#in"er fires once e&er$ t4o re&o#utions. In a t4o
-stro.e engine( it 4i## ha&e the sae freDuenc$ as the first &i%ration. !his &i%ration is a#so
a%sor%e" %$ the f#$4hee#.
2 +73 . alan cin g of in ert ial fo rc e' in th e m& lt i - c,lind er en gine $
In u#ti-c$#in"er engines the utua# counteractions of the &arious coponents in the
Cran. shaft asse%#$ are one of the essentia# factors "eterining the se#ection of the
Cran. shafts configuration an" 4ith it the "esign of the engine itse#f. !he inertia# forces are
'a#ance" if the coon centre of gra&it$ for a## o&ing cran.shaft-asse%#$ coponents #ies
at the cran.shaftGs i"point( i.e. if the cran.shaft is s$etrica# @as &ie4e" fro the
frontA. !he cran.shaftGs s$etr$ #e&e# can %e "efine" using geoetrica# representations of
1st - an" 2n"- or"er forces @star "iagrasA. !he 2n" or"er star "iagra for the four-c$#in"er in-
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#ine engine is as$etrica#( eaning that this or"er is characteriBe" %$ su%stantia# free inertia#
Horces. !hese
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forces can %e %a#ance" using t4o countershafts rotating in opposite "irections at "ou%#e the
rate of the cran.shaft @2anchester s$steA.
2 +83 %art ial ) alan cin g of Loco mo t iBe'$
2 +*3 Va r ia t ion of ! r a c t iBe f o r c e :
!he resu#tant un%a#ance" force "ue to the c$#in"ers( a#ong the #ine of stro.e( is .no4n
as tracti&e force.
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2 +93 # 5a,in g Co&p le$
!he coup#e has s4a$ing effect a%out a &ertica# a?is( an" ten"s to s4a$ the
engine a#ternate#$ in c#oc. 4ise an" antic#oc.4ise "irections. 7ence the coup#e is .no4n as
s4a$ing coup#e.
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2 +:3 Hammer ) lo5$
!he a?iu agnitu"e of the un%a#ance" force a#ong the perpen"icu#ar to the #ine
of stro.e is .no4n as 7aer %#o4.
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2 +;3 . alan cin g of In lin e en gin e'$
An in-#ine engine is one 4herein a## the c$#in"ers are arrange" in a sing#e #ine( one
%ehin" the other as scheatica##$ in"icate" in Hig. Man$ of the passenger cars foun" on In"ian
roa"s such as Maruti +<<( Nen( Santro( 7on"a Cit$( 7on"a C9-:( an" !o$ota Coro##a a## ha&e
four c$#in"er in-#ine engines. !hus this is a coon#$ ep#o$e" engine an" it is of interest to
us to un"erstan" the ana#$sis of its state of %a#ance.
Hor the sa.e of sip#icit$ of ana#$sis( 4e assue that a## the c$#in"ers are i"entica# &iB.( r(
( an" are sae. Hurther 4e assue that the rotating asses ha&e %een %a#ance" out for
a## c$#in"ers an" 4e are #eft 4ith on#$ the forces "ue to the reciprocating asses.
2 +<3 . alan cin g of rad ial en gin e'$
A ra"ia# engine is one in 4hich a## the c$#in"ers are arrange" circuferentia##$ as sho4n
in Hig.!hese engines 4ere Duite popu#ar#$ use" in aircrafts "uring 1or#" 1ar II. Su%seDuent
"e&e#opents in stea>gas tur%ines #e" to the near e?tinction of these engines. 7o4e&er it is
sti## interesting to stu"$ their state of %a#ance in &ie4 of soe e#egant resu#ts 4e sha## "iscuss
short#$. Kur etho" of ana#$sis reains i"entica# to the pre&ious case i.e.( 4e procee"
4ith the assuption that a## c$#in"ers are i"entica# an" the c$#in"ers are space" at unifor
inter&a# aroun" the circuference.
Page =8 of 92
Page =J of 92
2 4=3 E@amp le % ro) lem '$
1A A shaft carries four rotating asses A( '( C an" * 4hich are cop#ete#$ %a#ance".
!he asses '( C an" * are 8< .g( +< .g an" I< .g respecti&e#$. !he asses C an" * a.e
ang#es of
9<M an" 198M respecti&e#$ 4ith ass ' in the sae sense. !he asses A( '( C an" * are
concentrate" at ra"ius I8 ( 1<< ( 8< an" +< respecti&e#$. !he p#ane of rotation
of asses ' an" C are 28< apart. *eterine @iA the agnitu"e of ass A an" its
angu#ar position an" @iiA the position p#anes A an" *.
2A !he cran.s of a t4o c$#in"er( uncoup#e" insi"e c$#in"er #ocooti&e are at right
ang#es an" are =28 #ong. !he c$#in"ers are JI8 apart. !he rotating ass per c$#in"ers
are 2<< .g at cran. pin an" the ass of the reciprocating parts per c$#in"er is 2,< .g. !he
4hee# center #ines are 1.8 apart. !he 4ho#e of the rotating an" t4o thir"s of the reciprocating
asses are to %e %a#ance" an" the %a#ance asses are to %e p#ace" in the p#anes of the rotation
of the "ri&ing 4hee#s at a ra"ius of +<< . Hin" @iA the agnitu"e an" "irection of the
%a#ancing asses. @iiA the agnitu"e of haer %#o4 @iiiA &ariation in tracti&e force an" @i&A
a?iu s4a$ing coup#e at a cran. spee" of 2,< rp.
=A @iA Hour asses
1
(
2
(
=
an"
,
attache" to a rotating shaft on the sae p#ane are
2<< .g( =<< .g( 2,< .g an" 2J< .g respecti&e#$. !he correspon"ing ra"ii of rotation are <.2
(
<.18 ( <.28 an" <.= respecti&e#$ an" the ang#es %et4een successi&e asses are ,8M(
I8M an" 1=8M. Hin" the position an" agnitu"e of the %a#ance ass reDuire"( if the ra"ius of
rotation is <.2 .
@iiA 0?p#ain 4ith neat s.etches( %a#ancing of sing#e re&o#&ing ass( %$ asses in
t4o "ifferent p#anes in a rotating s$ste
Page =I of 92
INDE/
0N I ! 1II I RE E VI . RA! I ON#
2 +3 Int rod& ct ion
2 43 . a'ic element ' of Bi) rat ion ','t em
2 73 Ca&'e' of Bi) rat ion
2 83 Effect ' o f Bi) rat ion
2 *3 M eth od ' of red& ct ion of Bi) rat ion
2 93 !,p e' of Bi) rat or, mot ion
2 :3 !erm ' & 'ed Bi) rat o r, mot ion
2 ;3 Degree' of f reed om
2 <3 #in gle d egree o f f reed o m ','t e m
2 +=3 !5o d egree of f reed o m ','t em
2 ++3 !,p e' of Vi) rat or, mot ion
2 +43 !,p e' of Vi) rat ion
2 +73 Lon git&d in al Vi) rat ion
2 +83 ree &nd amp ed lon git &d in al Bi) rat ion '
2 +*3 Nat& ral f reC& en c, of f re e &nd amp ed lon git &d in al Bi) rat ion
2 +93 EC& iBalen t 't iffn e'' of 'p rin g
2 +:3 Damp in g
2 +;3 !,p e' of d amp in g
2 +<3 Damp in g Coefficien t
2 4=3 EC& iBalen t d amp in g coefficien t
2 4+3 Damp ed Vi) rat ion
2 443 Da m p in g f a c t or
Page =+ of 92
2 473 Logarit h mic d ecre men t
2 483 !ran 'Be r' e Vi) rat ion
2 4*3 Dhirlin g of 'h aft
2 493 !or'ion al Vi) rat ion
2 4:3 !or'ion a l Bi) rat ion of a 'in gle rot or ', 't e m
2 4;3 !or'ion al Bi) rat ion of a t 5o rot or ', 't em
2 4<3 !or'ion all, eC& iBalen t 'h aft
2 7=3 E @ a m p le % r o ) le m '
Page =9 of 92
2 +3 Int rod& ct ion $
0 N I ! 1 II I R E E V I . R A ! I ON#
1hen a s$ste is su%jecte" to an initia# "istur%ance an" then #eft free to &i%rate on
its o4n( the resu#ting &i%rations are referre" to as free &i%rations .ree Bi)ration occurs 4hen a
echanica# s$ste is set off 4ith an initia# input an" then a##o4e" to &i%rate free#$. 0?ap#es
of this t$pe of &i%ration are pu##ing a chi#" %ac. on a s4ing an" then #etting go or hitting a
tuning for. an" #etting it ring. !he echanica# s$ste 4i## then &i%rate at one or ore of its
)natura# freDuencies) an" "ap "o4n to Bero.
2 43 . a'ic element ' of Bi) rat ion ','t em$
Mass or Inertia
Springiness or 9estoring e#eent
*issipati&e e#eent @often ca##e" "aperA
0?terna# e?citation
2 73 Ca&'e' of Bi) rat ion $
0n ) a la n ce $ !his is %asica##$ in reference to the rotating %o"ies. !he une&en
"istri%ution of ass in a rotating %o"$ contri%utes to the un%a#ance. A goo" e?ap#e of
un%a#ance re#ate" &i%ration 4ou#" %e the ;&i%rating a#ert in our o%i#e phones. 7ere a
sa## aount of un%a#ance" 4eight is rotate" %$ a otor causing the &i%ration 4hich a.es
the o%i#e phone to &i%rate. You 4ou#" ha&e e?perience" the sae sort of &i%ration occurring
in $our front #oa"e" 4ashing achines that ten" to &i%rate "uring the ;spinning o"e.
M i' a lig n m e nt $ !his is an other ajor cause of &i%ration particu#ar#$ in achines that
are "ri&en %$ otors or an$ other prie o&ers.
. e n t #h a f t $ A rotating shaft that is %ent a#so pro"uces the the &i%rating effect since it
#osses it rotation capa%i#it$ a%out its center.
Gea r ' in th e m a c h ine : !he gears in the achine a#4a$s ten" to pro"uce
&i%ration( ain#$ "ue to their eshing. !hough this a$ %e contro##e" to soe e?tent( an$
pro%#e in the gear%o? ten"s to get enhance" 4ith ease.
. e a r in g ' $ 2ast %ut not the #east( here is a ajor contri%utor for &i%ration. In ajorit$ of
the cases e&er$ initia# pro%#e starts in the %earings an" propagates to the rest of the e%ers
of the achine. A %earing "e&oi" of #u%rication ten"s to 4ear out fast an" fai#s Duic.#$( %ut
%efore this is notice" it "aages the reaining coponents in the achine an" an initia# #oo.
4ou#" see as if soething ha" gone 4rong 4ith the other coponents #ea"ing to the %earing
fai#ure.
2 83 Effect ' of Bi) rat ion $
2a3.ad Effect'$
!he presence of &i%ration in an$ echanica# s$ste pro"uces un4ante" noise(
high stresses( poor re#ia%i#it$( 4ear an" preature fai#ure of parts. :i%rations are a great
source of
huan "iscofort in the for of ph$sica# an" enta# strains.
2)3Good Effect'$
A &i%ration "oes usefu# 4or. in usica# instruents( &i%rating screens( sha.ers( re#i&e
pain in ph$siotherap$.
2 *3 M eth od ' of red& ct ion of Bi) rat ion $
-un%a#ance is its ain cause( so %a#ancing of parts is necessar$.
-using shoc. a%sor%ers.
-using "$naic &i%ration a%sor%ers.
-pro&i"ing the screens @if noise is to %e re"uce"A
2 93 ! , p e ' of Bi ) r a t o r , m o t io n :
Hree :i%ration
Horce" :i%ration
2 :3 !erm ' & 'ed Bi) rat o r, mot ion $
2a3!ime period 2or3period of Bi)ration$
It is the tie ta.en %$ a &i%rating %o"$ to repeat the otion itse#f.tie perio" is
usua##$ e?presse" in secon"s.
2)3 C,cle:
It is the otion cop#ete" in one tie perio".
2c3 %eriodic motion$
A otion 4hich repeats itse#f after eDua# inter&a# of tie.
2d3Amplit&de 2/3
!he a?iu "isp#aceent of a &i%rating %o"$ fro the ean position.it is usua##$
e?presse" in i##ieter.
2e3 reC&enc, 2f3
!he nu%er of c$c#es cop#ete" in one secon" is ca##e" freDuenc$
2 ;3 D e g r ee ' of f ree d o m :
!he iniu nu%er of in"epen"ent coor"inates reDuire" to specif$ the otion of
a s$ste at an$ instant is .no4n as *.K.H of the s$ste.
2 <3 # in g le d e g r e e o f f r ee d o m ' , ' t e m $
!he s$ste sho4n in this figure is 4hat is .no4n as a Sing#e *egree of Hree"o s$ste.
1e use the ter "egree of free"o to refer to the nu%er of coor"inates that are reDuire" to
specif$ cop#ete#$ the configuration of the s$ste. 7ere( if the position of the ass of
the s$ste is specifie" then accor"ing#$ the position of the spring an" "aper are a#so
i"entifie". !hus 4e nee" just one coor"inate @that of the assA to specif$ the s$ste
cop#ete#$ an" hence it is .no4n as a sing#e "egree of free"o s$ste.
2 +=3 ! 5o d e g r e e of f r ee d o m ' , ' t e m $
A t4o "egree of free"o s$ste 1ith reference to autoo%i#e app#ications( this is
referre" as ;Duarter car o"e#. !he %otto ass refers to ass of a?#e( 4hee# etc coponents
4hich are %e#o4 the suspension spring an" the top ass refers to the ass of the portion of the
car an" passenger. Since 4e nee" to specif$ %oth the top an" %otto ass positions to
cop#ete#$ specif$ the s$ste( this %ecoes a t4o "egree of free"o s$ste.
2 ++3 !,p e' of Vi) rat or, mot ion $
2 +43 !,p e' of Vi) rat ion $
@aA2ongitu"ina# &i%ration @%A!rans&erse :i%ration @ cA!orsiona# :i%ration.
2 +73 Lon git&d in al Vi) rat ion $
1hen the partic#es of the shaft or "isc o&es para##e# to the a?is of the shaft( then
the &i%rations .no4n as #ongitu"ina# &i%rations.
2 +83 ree & nd amp ed lon git & d in al Bi) rat ion 'E
1hen a %o"$ is a##o4e" to &i%rate on its o4n( after gi&ing it an initia#
"isp#aceent( then the ensuring &i%rations are .no4n as free or natura# &i%rations. 1hen the
&i%rations ta.e p#ace para##e# to the a?is of constraint an" no "aping is pro&i"e"( then
it is ca##e" free un"ape" #ongitu"ina# &i%rations.
2 +*3 Na t& r al f r e C& e n c , of f r e e &nd a m p e d lo n gi t &d in al Bi ) r a t io n :
2 +* ? a3 E C & ili) r i& m m e t h od or N e 5t on 6 ' m e t h od $
Page ,, of 92
Page ,8 of 92
Page ,J of 92
2+*?)3Energ, Method
In free &i%rations( no energ$ is transferre" into the s$ste or fro the s$ste. !herefore(
the tota# energ$ @su of /0 an" P0Ais constant an" is sae a## the ties.
Page ,I of 92
2c3Ra,leigh6' method
In this etho"( the a?iu .inetic energ$ at ean position is a"e eDua# to
the a?iu potentia# energ$ at the e?tree position.
2 +93 EC& iBalen t 't iffn e'' of 'p rin g?
@1A Springs in series
@2A Springs in para##e#
@=A Co%ine" springs
@,A Inc#ine" springs
Page ,+ of 92
2 +:3 Da m p ing $
It is the resistance to the otion of a &i%rating %o"$. !he &i%rations associate" 4ith this
resistance are .no4n as "ape" &i%rations.
2 +;3 !,p e' of d amp in g$
@1A :iscous "aping
@2A *r$ friction or cou#o% "aping
@=A So#i" "aping or structura# "aping
@,A S#ip or interfacia# "aping.
Page ,9 of 92
2 +<3 Damp in g Coefficient $
!he "aping force per unit &e#ocit$ is .no4n as "aping coefficient.
2 4=3 EC& iBalen t d amp in g coefficient $
*apers a$ %e connecte" either in series or in para##e# to pro&i"e reDuire" "aping.
2 4+3 Da m p e d Vi ) r a t io n :
!he &i%rations associate" 4ith this resistance are .no4n as "ape" &i%rations.
2 443 Damp in g fact or:
*aping factor can %e "efine" as the ratio of actua# "aping coefficient to
critica# "aping coefficient.
Page 8< of 92
!hus ain#$ three cases arise "epen"ing on the &a#ue of
1hen the s$ste un"ergoes aperio"ica##$ "eca$ing otion an" hence such s$stes are sai" to
%e
OBerdamped #,'tem'.
An e?ap#e of such a s$ste is a "oor "aper L 4hen 4e open a "oor an" enter a roo( 4e 4ant the
"oor to gra"ua##$ c#ose rather than e?hi%it osci##ator$ otion an" %ang into the person entering the roo
%ehin" usO So the "aper is "esigne" such that
Criticall, damped motion @ a h$pothetica# %or"er#ine case separating osci##ator$ "eca$ fro
a
perio"ic "eca$A I the fastest "eca$ing aperio"ic
otion.
1hen ; P 1( ?@tA is a "ape" sinusoi" an" the s$ste e?hi%its a &i%rator$ otion 4hose ap#itu"e
.eeps "iinishing. !his is the ost coon &i%ration case an" 4e 4i## spen" ost of our tie stu"$ing
such s$stes. !hese are referre" to as 0nderdamped ','tem'.
2 473 Logarit h mic d ecre ment $
It is "efine" as the natura# #ogarith of ratio of an$ t4o successi&e ap#itu"es of
an un"er "ape" s$ste. It is a "iension#ess Duantit$.
1e "efine *aping factor as
Page 81 of 92
2 483 !ran 'Be r' e Vi) rat ion $
1hen the partic#es of the shaft or "isc o&es appro?iate#$ perpen"icu#ar to the a?is
of the shaft( then the &i%rations .no4n as trans&erse &i%rations.
Page 82 of 92
2 4*3 D h ir lin g ' p ee d of ' h a f t :
!he spee"( at 4hich the shaft runs so that the a""itiona# "ef#ection of the shaft fro
the a?is of rotation %ecoes infinite( is .no4n as critica# or 4hir#ing spee".
3o shaft can e&er %e perfect#$ straight or perfect#$ %a#ance". 1hen an e#eent of ass is a
"istance fro the a?is of rotation( centrifuga# force( 4i## ten" to pu## the ass out4ar".
!he e#astic properties of the shaft 4i## act to restore the ;straightness. If the freDuenc$ of
rotation is eDua# to one of the resonant freDuencies of the shaft( 4hir#ing 4i## occur. In or"er to
sa&e the achine fro fai#ure( operation at such 4hir#ing spee"s ust %e a&oi"e".
!he 4hir#ing freDuenc$ of a s$etric cross section of a gi&en #ength %et4een t4o points is
gi&en %$:
9PM
1here 0 C $oungGs o"u#us( I C Secon" oent of area( C ass of the shaft( 2C
#ength of the shaft %et4een points
A shaft 4ith 4eights a""e" 4i## ha&e an angu#ar &e#ocit$ of 3 @rpA eDui&a#ent as fo##o4s:
Page 8= of 92
2 493 !or'ion al Vi) rat ion $
1hen the partic#es of the shaft or "isc o&e in a circ#e a%out the a?is of the shaft(
then the &i%rations .no4n as tensiona# &i%ration
Page 8, of 92
Page 88 of 92
2 4:3 ! o r ' io n al Bi ) r a t ion of a ' in g le r o t o r ' , ' t e m $
Page 8J of 92
2 4;3 ! o r ' io n al Bi ) r a t ion of a t 5o r o t or ' , ' t e m $
Page 8I of 92
2 4<3 ! o r ' io n al l, e C& iBa le n t ' h a f t $
Page 8+ of 92
2 7=3 E@amp le % ro) lem '$
1A A spring ass s$ste has spring stiffness of ;. 3> an" a ass of ;M .g. It has the
natura# freDuenc$ of &i%ration as 12 7B. An e?tra 2 .g ass is coup#e" to M an" the natura#
freDuenc$ re"uces %$ 2 7B. Hin" the &a#ues of . an" ;M.
2A A steppe" shaft of <.<8 in "iaeter for the first <.J #ength( <.<+ "iaeter for the
ne?t
1.+ an" <.<= "iaeter for the reaining <.28 #ength. 1hi#e the <.<8 "iaeter en" is
fi?e"( the <.<= "iaeter en" of the shaft carries a rotor of ass oent of inertia 1,.I .g-

2
. If the o"u#us of e#asticit$ of the shaft ateria# is <.+= ? 1<
11
3>
2
( fin" the natura#
freDuenc$ of torsiona# osci##ations( neg#ecting the inertia effect of the shaft.
=A. 'et4een a so#i" ass of 1< .g an" the f#oor are .ept t4o s#a%s of iso#ators( natura# ru%%er
an" fe#t( in series. !he natura# ru%%er s#a% has a stiffness of =<<< 3> an" an eDui&a#ent
&iscous "aping coefficient of 1<< 3.sec>. !he fe#t s#a% has a stiffness of 12<<< 3> an"
eDui&a#ent &iscous "aping coefficient of ==< 3.sec>. *eterine the un"ape" an" the
"ape" natura# freDuencies of the s$ste in &ertica# "irection( neg#ecting the ass of iso#ators.
Page 89 of 92
INDE/
0N I ! 1I V ORCE D VI . RA! I ON#
2 +3 Int rod& ct ion
2 43 Ca& ' e ' r e ' o n a n c e
2 73 o r ce d Bi ) r a t ion of a ' in g le d e g re e - o f - f ree d o m ' , ' t e m
2 83 #t ead , #t at e Re'p on 'e d& e t o Harmon ic O'c il lat ion
2 *3 o r ce d Bi ) r a t ion 5i t h d a m p in g
2 93 Ro t a t in g &n) a la n c e f o r c e d Bi ) r a t ion
2 :3 Vi) rat ion I'olat ion an d !ran ' mi' 'i) ilit ,
2 ;3 Vi) rat ion I'olat or'
2 <3 Re'p on 'e 5ith o&t d amp in g
2 +=3 E @ a m p le % r o ) le m '
Page J< of 92
0NI!- IV ORCED VI. RA! ION
2 +3 Int rod& ct ion $
1hen a s$ste is su%jecte" continuous#$ to tie &ar$ing "istur%ances( the
&i%rations resu#ting un"er the presence of the e?terna# "istur%ance are referre" to as force"
&i%rations.
orced Bi)ration is 4hen an a#ternating force or otion is app#ie" to a
echanica# s$ste. 0?ap#es of this t$pe of &i%ration inc#u"e a sha.ing 4ashing achine "ue
to an i%a#ance( transportation &i%ration @cause" %$ truc. engine( springs( roa"( etcA( or
the &i%ration of a %ui#"ing "uring an earthDua.e. In force" &i%ration the freDuenc$ of the
&i%ration is the freDuenc$ of the force or otion app#ie"( 4ith or"er of agnitu"e %eing
"epen"ent on the actua# echanica# s$ste.
1hen a &ehic#e o&es on a rough roa"( it is continuous#$ su%jecte" to
roa" un"u#ations causing the s$ste to &i%rate @pitch( %ounce( ro## etcA. !hus the autoo%i#e is
sai" to un"ergo force" &i%rations. Sii#ar#$ 4hene&er the engine is turne" on( there is a
resu#tant resi"ua# un%a#ance force that is transitte" to the chassis of the &ehic#e through the
engine ounts( causing again force" &i%rations of the &ehic#e on its chassis. A %ui#"ing 4hen
su%jecte" to tie &ar$ing groun" otion @earthDua.eA or 4in" #oa"s( un"ergoes force"
&i%rations. !hus ost of the practica# e?ap#es of &i%rations are in"ee" force" &i%rations.
2 43 Ca& ' e ' r e ' o n a n c e $
9esonance is sip#e to un"erstan" if $ou &ie4 the spring an" ass as energ$
storage e#eents L 4ith the ass storing .inetic energ$ an" the spring storing potentia# energ$.
As "iscusse" ear#ier( 4hen the ass an" spring ha&e no force acting on the the$ transfer
energ$ %ac. an" forth at a rate eDua# to the natura# freDuenc$. In other 4or"s( if energ$
is to %e efficient#$ pupe" into %oth the ass an" spring the energ$ source nee"s to fee" the
energ$ in at a rate eDua# to the natura# freDuenc$. App#$ing a force to the ass an" spring
is sii#ar to pushing a chi#" on s4ing( $ou nee" to push at the correct oent if $ou 4ant the
s4ing to get higher an" higher. As in the case of the s4ing( the force app#ie" "oes not
necessari#$ ha&e to %e high to get #arge otionsQ the pushes just nee" to .eep a""ing energ$ into
the s$ste.
!he "aper( instea" of storing energ$( "issipates energ$. Since the "aping force is
proportiona# to the &e#ocit$( the ore the otion( the ore the "aper "issipates the energ$.
!herefore a point 4i## coe 4hen the energ$ "issipate" %$ the "aper 4i## eDua# the energ$
%eing fe" in %$ the force. At this point( the s$ste has reache" its a?iu ap#itu"e an" 4i##
continue to &i%rate at this #e&e# as #ong as the force app#ie" sta$s the sae. If no "aping
e?ists( there is nothing to "issipate the energ$ an" therefore theoretica##$ the otion 4i##
continue to gro4 on into infinit$.
Page J1 of 92
2 73 orced Bi) rat ion of a 'in gle d egree - of- f reed o m ','t e m$
1e sa4 that 4hen a s$ste is gi&en an initia# input of energ$( either in the
for of an initia# "isp#aceent or an initia# &e#ocit$( an" then re#ease" it 4 i##( un"er
the right con"itions( &i%rate free#$. If there is "aping in the s$ste( then the osci##ations "ie
a4a$. If a s$ste is gi&en a continuous input of energ$ in the for of a continuous#$ app#ie"
force or a continuous#$ app#ie" "isp#aceent( then the conseDuent &i%ration is ca##e" force"
&i%ration. !he energ$ input can o&ercoe that "issipate" %$ "aping echaniss an" the
osci##ations are sustaine".
1e 4i## consi"er t4o t$pes of force" &i%ration. !he first is 4here the groun" to
4hich the s$ste is attache" is itse#f un"ergoing a perio"ic "isp#aceent( such as the &i%ration
of a %ui#"ing in an earthDua.e. !he secon" is 4here a perio"ic force is app#ie" to the ass( or
o%ject perforing the otionQ an e?ap#e ight %e the forces e?erte" on the %o"$ of a car %$
the forces pro"uce" in the engine. !he sip#est for of perio"ic force or "isp#aceent is
sinusoi"a#( so 4e 4i## %egin %$ consi"ering force" &i%ration "ue to sinusoi"a# otion of the
groun". In a## rea# s$stes( energ$ 4i## %e "issipate"( i.e. the s$ste 4i## %e "ape"( %ut often
the "aping is &er$ sa##. So #et us first ana#$Be s$stes in 4hich there is no "aping.
(83 #t ead , #t at e Re'p on 'e d & e t o Harmon ic O'c il lat ion $
Consi"er a spring-ass-"aper s$ste as sho4n in figure ,.1. !he eDuation
of otion of this s$ste su%jecte" to a haronic force can %e gi&en %$
@,.1A
4here( m ( k an" c are the ass( spring stiffness an" "aping coefficient of the s$ste( F is
the ap#itu"e of the force( w is the e?citation freDuenc$ or "ri&ing freDuenc$.
Higure ,.1 7aronica##$ e?cite" s$ste
Higure ,.2: Horce po#$gon
!he stea"$ state response of the s$ste can %e "eterine" %$ so#&ing eDuation@,.1A in an$
"ifferent 4a$s. 7ere a sip#er graphica# etho" is use" 4hich 4i## gi&e ph$sica#
un"erstan"ing to this "$naic pro%#e. Hro so#ution of "ifferentia# eDuations it is .no4n that
the stea"$ state so#ution @particu#ar integra#A 4i## %e of the for
@,.2A
As each ter of eDuation @,.1A represents a forcing ter &iB.( first( secon" an" thir" ters(
represent the inertia force( spring force( an" the "aping forces. !he ter in the right han"
si"e of eDuation @,.1A is the app#ie" force. Kne a$ "ra4 a c#ose po#$gon as sho4n in figure
,.2 consi"ering the eDui#i%riu of the s$ste un"er the action of these forces.
Consi"ering a reference #ine these forces can %e presente" as fo##o4s.
Spring force C @!his force 4i## a.e an ang#e 4ith
the reference #ine( represente" %$ #ine KAA.
*aping force C @!his force 4i## %e perpen"icu#ar to the
spring force( represente" %$ #ine A'A.
Inertia force C @this force is perpen"icu#ar to the
"aping force an" is in opposite "irection 4ith the spring force an" is represente" %$
#ine 'CA .
App#ie" force C 4hich can %e "ra4n at an ang#e 4ith respect to the
reference #ine an" is represente" %$ #ine KC.
Hro eDuation @1A( the resu#tant of the spring force( "aping force an" the inertia force 4i## %e
the app#ie" force( 4hich is c#ear#$ sho4n in figure ,.2.
It a$ %e note" that ti## no4( 4e "onGt .no4 a%out the agnitu"e of X an" 4hich can %e easi#$ copute"
fro
Higure 2. *ra4ing a #ine C* para##e# to A'( fro the triang#e KC* of Higure 2(
Hro the pre&ious o"u#e of free-&i%ration it a$
%e reca##e" that
3atura# freDuenc$
Critica# "aping
*aping factor or "aping ratio
7ence(
or
As the ratio is the static "ef#ection of the spring( is .no4n
as the agnification factor or ap#itu"e ratio of the s$ste
2 *3 o r ce d Bi ) r a t ion 5i t h d a m p in g$
In this section 4e 4i## see the %eha&iour of the spring ass "aper o"e# 4hen 4e
a"" a haronic force in the for %e#o4. A force of this t$pe cou#"( for e?ap#e( %e generate"
%$ a rotating i%a#ance.
If 4e again su the forces on the ass 4e get the fo##o4ing or"inar$ "ifferentia#
eDuation: !he s t ea " $ s t a t e so#ution of this pro%#e can %e 4ritten as:
!he resu#t states that the ass 4i## osci##ate at the sae freDuenc$( f( of the app#ie"
force( %ut 4ith a phase shift R.
!he ap#itu"e of the &i%ration ;S is "efine" %$ the fo##o4ing
foru#a.
1here ;r is "efine" as the ratio of the haronic force freDuenc$ o&er the un"ape"
natura# freDuenc$ of the assLspringL"aper
o"e#.
!he phase shift ( R( is "efine" %$ the fo##o4ing
foru#a.
!he p#ot of these functions( ca##e" )the freDuenc$ response of the s$ste)( presents one of the
ost iportant features in force" &i%ration. In a #ight#$ "ape" s$ste 4hen the
forcing freDuenc$ nears the natura# freDuenc$ @ A the ap#itu"e of the &i%ration can get
e?tree#$
high. !his phenoenon is ca##e" r e ' o n a n c e @su%seDuent#$ the natura# freDuenc$ of a s$ste
is often referre" to as the resonant freDuenc$A. In rotor %earing s$stes an$ rotationa# spee"
that e?cites a resonant freDuenc$ is referre" to as a c r it ic a # s p e e " .
If resonance occurs in a echanica# s$ste it can %e &er$ harfu# L #ea"ing
to e&entua# fai#ure of the s$ste. ConseDuent#$( one of the ajor reasons for &i%ration ana#$sis
is to pre"ict 4hen this t$pe of resonance a$ occur an" then to "eterine 4hat steps to
ta.e to pre&ent it fro occurring. As the ap#itu"e p#ot sho4s( a""ing "aping can
significant#$ re"uce the agnitu"e of the &i%ration. A#so( the agnitu"e can %e re"uce" if the
natura# freDuenc$ can %e shifte" a4a$ fro the forcing freDuenc$ %$ changing the stiffness or
ass of the s$ste. If the s$ste cannot %e change"( perhaps the forcing freDuenc$ can
%e shifte" @for e?ap#e( changing the spee" of the achine generating the forceA.
!he fo##o4ing are soe other points in regar"s to the force" &i%ration sho4n in the freDuenc$
response p#ots.
At a gi&en freDuenc$ ratio( the ap#itu"e of the &i%ration( X( is "irect#$ proportiona#
to the ap#itu"e of the force F
<
@e.g. if $ou "ou%#e the force( the &i%ration "ou%#esA
1ith #itt#e or no "aping( the &i%ration is in phase 4ith the forcing freDuenc$ 4hen
the freDuenc$ ratio r P 1 an" 1+< "egrees out of phase 4hen the freDuenc$ ratio r T 1
1hen r 1 the ap#itu"e is just the "ef#ection of the spring un"er the static
force F
<
. !his "ef#ection is ca##e" the static "ef#ection U
st
. 7ence( 4hen r 1 the effects of the
"aper an" the ass are
inia#.
1hen r 1 the ap#itu"e of the &i%ration is actua##$ #ess than the static "ef#ection U
st
.
In this region the force generate" %$ the ass @F C maA is "oinating %ecause the acce#eration
seen
%$ the ass increases 4ith the freDuenc$. Since the "ef#ection seen in the spring( X( is re"uce"
in this region( the force transitte" %$ the spring @F C kxA to the %ase is re"uce". !herefore
the assLspringL"aper s$ste is iso#ating the haronic force fro the ounting %ase L
referre" to as & i% r a t io n is o #a t io n . Interesting#$( ore "aping actua##$ re"uces the effects
of &i%ration
iso#ation 4hen r 1 %ecause the "aping force @F C cvA is a#so transitte" to the
%ase.
2 93 Rot at in g &n) alan ce forc ed Bi) rat ion $
Kne a$ fin" an$ rotating s$stes in in"ustria# app#ications. !he un%a#ance"
force in such a s$ste can %e represente" %$ a ass m 4ith eccentricit$ e ( 4hich is rotating
4ith angu#ar &e#ocit$ as sho4n in Higure ,.1.
Higure ,.1 : :i%rating s$ste 4ith rotating un%a#ance
Figure 4.2. Freebody diagram of the system
2et x %e the "isp#aceent of the nonrotating ass @M-mA fro the static
eDui#i%riu position( then the "isp#aceent of the rotating ass m is
Hro the free%o"$ "iagra of the s$ste sho4n in figure ,.2( the eDuation of otion is
(4.1)
or (4.2)
!his eDuation is sae as eDuation @1A 4here F is rep#ace" %$ . So fro the force
po#$gon as sho4n in figure ,.=
(4.3)
or (4.4)
or (4.5)
Figure 4.3: Force polygon
or (4.6)
and (4.)
So the cop#ete so#ution %ecoes
(4.!)
2 :3 Vi) rat ion I'olat ion an d !ran ' mi' 'i) ilit , $
1hen a achine is operating( it is su%jecte" to se&era# tie &ar$ing forces %ecause of 4hich it
ten"s to e?hi%it &i%rations. In the process( soe of these forces are transitte" to the foun"ation L
4hich cou#" un"erine the #ife of the foun"ation an" a#so affect the operation of an$ other achine on the
sae foun"ation. 7ence it is of interest to iniiBe this force transission. Sii#ar#$ 4hen a s$ste is
su%jecte" to groun" otion( part of the groun" otion is transitte" to the s$ste as 4e just "iscusse"
e.g.( an autoo%i#e going on an une&en roa"Q an instruent ounte" on the &i%rating surface of an aircraft
etc. In these cases( 4e 4ish to iniiBe the otion transitte" fro the groun" to the s$ste. Such
consi"erations are use" in the "esign of achine foun"ations an" in or"er to un"erstan" soe of the %a sic
issues in&o#&e"( 4e 4i## stu"$ this pro%#e %ase" on the sing#e ".o.f o"e# "iscusse" so far.
4e get the e?pression for force transitte" to the %ase as fo##o4s:
2 ;3 Vi) rat ion I'olat or'$
Consi"er a &i%rating achineQ %o#te" to a rigi" f#oor @Higure 2aA.!he force
transitte" to the f#oor is eDua# to the force generate" in the achine. !he transitte"
force can %e "ecrease" %$ a""ing a suspension an" "aping e#eents @often ca##e"
&i%ration iso#atorsA Higure 2% ( or %$ a""ing 4hat is ca##e" an inertia %#oc.( a #arge ass
@usua##$ a %#oc. of cast concreteA( "irect#$ attache" to the achine @Higure 2cA.Another
option is to a"" an a""itiona# #e&e# of ass @soeties ca##e" a seisic ass( again a %#oc.
of cast concreteA an" suspension @Higure 2"A.
H igur e 2. : i%r at io n iso #at io n s $st es: aA Machine %o #t e" to a r ig i" fo
un"at io n
%A S up po r t e" o n is o #at io n s p r ing s ( r ig i" fo u n" at io n c A a c h ine a t t a
c he " to a n
inert ia # %#o c.. "A Supporte" o n iso #at io n spr ings( no n - r igi" fo un"at io n @
such as a f#o orA Q or achine o n iso #at io n spr ings( seisic ass an" seco n"
#e&e # o f iso #ator spr ings
1hen osci##ator$ forces arise una&oi"a%#$ in achines it is usua##$ "esire"
to pre&ent these forces fro %eing transitte" to the surroun"ings. Hor e?ap#e( soe
un%a#ance" forces are ine&ita%#e in a car engine( an" it is uncoforta%#e if these are 4ho##$
transitte" to the car %o"$. !he usua# so#ution is to ount the source of &i%ration on sprung
supports. :i%ration iso#ation is easure" in ters of the otion or force transitte" to the
foun"ation. !he #esser the force or otion transitte" the greater the &i%ration iso#ation
Suppose that the foun"ation is effecti&e#$ rigi" an" that on#$ one "irection of
o&eent is effecti&e#$ e?cite" so that the s$ste can %e treate" as ha&ing on#$ one "egree of
free"o.
(9) Res po n se wi thou t dam pi ng :
!he ap#itu"e of the force transitte" to the foun"ations is 1here k is the
Stiffness of the support an" x(t) is the "isp#aceent of the ass m.
!he go&erning eDuation can %e "eterine" %$ consi"ering that the tota# forcing on the achine
is eDua# to its ass u#tip#ie" %$ its acce#eration @3e4tonVs secon" #a4A
2+=3 E @amp l e %ro) le m'$
1A A ass of 1< .g is suspen"e" fro one en" of a he#ica# spring( the other en" %eing fi?e".
!he stiffness of the spring is 1< 3>. !he &iscous "aping causes the ap#it u"e to "ecrease
to one tenth of the initia# &a#ue in four cop#ete osci##ations. If a perio"ic force of 18< cos 8< t
3 is app#ie" at the ass in the &ertica# "irection( fin" the ap#itu"e of the force" &i%rations.
1hat is its &a#ue at resonanceW
2A A achine supporte" s$etrica##$ on four springs has a ass of +< .g. !he ass of the
reciprocating parts is 2.2 .g 4hich o&e through a &ertica# stro.e of 1<< 4ith sip#e
haronic otion. 3eg#ecting "aping( "eterine the co%ine" stiffness of the spring so that
the force transitte" to foun"ation is 1>2<
th
of the ipresses force. !he achine cran. shaft
rotates at +<< rp.
If un"er 4or.ing con"itions( the "aping re"uces the ap#itu"es of successi&e &i%rations
%$
=<X( fin" @iA the force transitte" to the foun"ation at resonance an" @iiA the ap#itu"e of
&i%ration at resonance.
INDE/
63 I! - : M 0C 7A3I SM HK9 C K3 !9 K 2
2+3 Int rod& ct ion
243 % rin cip le o f Dor>in g
273 Cla' 'ifi cat ion of goBern o r'
283 Heig h t of goB e r n or
2*3 # lee Be lif t
293 I' o c h r o n i' m
2:3 #t a ) ilit ,
@+A H &nt in g
@9A # e n ' it iBene ' '
2+=3 Cha r a c t e r i ' t ic' a n d C& a lit ie' of ce nt r if & g a l goB e r n o r
2++3Da t t goB e r n or
2+43%ort e r goBern o r
2+73%roe ll goBe rn o r
2+83 Ha r tn e ll goB e r n o r
2+*3 Ha r t&n g goB e r n or
2+93 Dil'on Hartn ell goBe rn o r
2+:3% ic > e r in g goB e r n o r
2+;3 Di ff e r e n c e ) e t 5 ee n a f l,5h e e l a n d a goB e r n o r
2+<3 G, r o ' c o p e
24=3 D e ' c r ipt ion a n d d iag r am
2 4 + 3 E f f e c t o f t h e G , r o ' c o p i c C o & p l e o n a n A e r o p l a n e
2 443 E ff e c t o f g , r o ' c o p i c c o & p l e
2473 E ff ec t of g , r o ' c o p ic c o &p le on ' h ip
2 4 8 3 E f f e c t o f G , r o ' c o p i c C o & p l e o n a N a B a l # h i p d & r i n g p i t c
h i n g
2 4 * 3 E f f e c t o f G , r o ' c o p i c c o & p l e o n a N a B a l # h i p d & r i n g
Rol lin g
2 4 9 3 E f f e c t o f G , r o ' c o p i c c o & p l e o n a 8 - 5 h e e l d r i B e
24:3 E @ a m p le % r o ) le m '
0N I! - V ME CHAN I #M OR CON! ROL
G oBe r nor
2 + 3 I nt r o d& c t io n $
A centrif&gal goBernor is a specific t$pe of g o & e r n o r that contro#s the s p e e "
of an e n g ine %$ regu#ating the aount of fu e # @or 4o r . in g f#u i" A a"itte"( so as to aintain a
near constant spee" 4hate&er the #o a " or fue# supp#$ con"itions. It uses the princip#e of
p r o p o rt io n a # c o n t ro #.
It is ost o%&ious#$ seen on s t e a e n g in e s 4here it regu#ates the a"ission of stea
into the c $ #in" e r @sA. It is a#so foun" on in t e r n a # c o %u s t io n e n g in e s an" &arious#$ fue##e"
t u r % in e s( an" in soe o"ern s t r i. ing c #o c . s.
2 43 %rin cip le of Dor>in g $
Po4er is supp#ie" to the go&ernor fro the engineGs output shaft %$ @in
this instanceA a %e#t or chain @not sho4nA connecte" to the #o4er %e#t 4hee#. !he
go&ernor is connecte" to a t h r ot t #e &a#&e that regu#ates the f#o4 of 4 o r . in g f#u i" @steaA
supp#$ing the p r ie o & e r @prie o&er not sho4nA. As the spee" of the prie o&er
increases( the centra# spin"#e of the go&ernor rotates at a faster rate an" the .inetic energ$ of
the %a##s increases. !his a##o4s the t4o a ss e s on #e&er ars to o&e out4ar"s an" up4ar"s
against gra&it$. If the otion goes far enough( this otion causes the #e&er ars to pu## "o4n
on a t h r u s t % ea r in g( 4hich o&es a %ea #in.age( 4hich re"uces the a p e r t u r e of a thrott#e
&a#&e. !he rate of 4or.ing-f#ui" entering
the c$#in"er is thus re"uce" an" the spee" of the prie o&er is contro##e"( pre&enting
o&er spee"ing.
Mechanica# stops a$ %e use" to #iit the range of thrott#e otion( as seen near
the asses in the iage at right.
!he "irection of the #e&er ar ho#"ing the ass 4i## %e a#ong the & ec to r s u
of the r eac t i& e c e n t r ifug a # fo r c e &ector an" the gra&itationa# force.
2 73 C la '' if ica t ion of goB e r n o r ' $
-o&ernors are c#assifie" %ase" upon t4o "ifferent
princip#es. !hese are:
1. Centrifuga# go&ernors
2. Inertia go&ernors
Centrifuga# go&ernors are further c#assifie" as L
2 83 Heig h t of goB e r n or
It is the &ertica# "istance %et4een the centre of the go&ernor ha##s an" the point
of intersection %et4een the upper ars on the a?is of spin"#e is .no4n as go&ernor height. It is
genera##$ "enote" %$ h.
2 *3 # leeBe lift
!he &ertica# "istance the s#ee&e tra&e#s "ue to change in the eDui#i%riu
Spee" is ca##e" the s#ee&e #ift. !he &ertica# "o4n4ar" tra&e# a$ %e tere"
as 3egati&e #ift
2 93 I'och ron i' m
!his is an e?tree case of sensiti&eness. 1hen the eDui#i%riu spee" is constant for a##
ra"ii of rotation of the %a##s 4ithin the 4or.ing range( the go&ernor is sai" to %e in
isochronis. !his eans that the "ifference %et4een the a?iu an" iniu eDui#i%riu
spee"s is Bero an" the sensiti&eness sha## %e infinite.
2 :3 #t a) ilit ,
Sta%i#it$ is the a%i#it$ to aintain a "esire" engine spee" 4ithout H#uctuating. Insta%i#it$
resu#ts in hunting or osci##ating "ue to o&er correction. 0?cessi&e sta%i#it$ resu#ts in a "ea"-%eat
go&ernor or one that "oes not correct sufficient#$ for #oa" changes
2 ;3 H&nt in g
!he phenoenon of continuous f#uctuation of the engine spee" a%o&e an" %e#o4 the
ean spee" is tere" as hunting. !his occurs in o&er-
sensiti&e or isochronous go&ernors. Suppose an isochronous go&ernor is fitte" to an engine
running at a stea"$ #oa". 1ith a s#ight increase of #oa"( the spee" 4i## fa## an" the s#ee&e 4i##
ie"iate#$ fa## to its #o4est position. !his sha## open the contro# &a#&e 4i"e an" e?cess
supp#$ of energ$ 4i## %e gi&en( 4ith the resu#t that the spee" 4i## rapi"#$ increase an" the
s#ee&e 4i## rise to its higher position. As a resu#t of this o&eent of the s#ee&e( the contro#
&a#&e 4i## %e cut offQ the supp#$ to the engine an" the spee" 4i## again fa##( the c$c#e %eing
repeate" in"efinite#$. Such a go&ernor 4ou#" a"it either ore or #ess aount of fue# an" so
effect 4ou#" %e that the engine 4ou#" hunt.
2 <3 # en 'itiBene''
A go&ernor is sai" to %e sensit i&e( if its change of spee" s fro no 2oa" to fu## #oa" a$
%e as sa## a fraction of the ean eDui#i%riu spee" as possi%#e an" the correspon"ing s#ee&e
#ift a$ %e as #arge as possi%#e.
Suppose
Y1 C a?. 0Dui#i%riu spee"
Y2 C in. eDui#i%riu spee"
Y C ean eDui#i%riu spee" C @Y1Z Y2A>2
!herefore sensiti&eness C @Y1- Y2A>2
2 +=3 Charact eri't ic ' an d C& alit ie' of cent rif& ga l goBern o r $
Hor satisfactor$ perforance an" 4or.ing a centrifuga# go&ernor shou#" possess
!he fo##o4ing Dua#ities.
a. Kn the su""en reo&a# of #oa" its s#ee&e shou#" reach at the top ost position at Knce.
%. Its response to the change of spee" shou#" %e fast.
c. Its s#ee&e shou#" f#oat at soe intere"iate position un"er nora# operating Con"itions.
". At the #o4est position of s#ee&e the engine shou#" "e&e#op a?iu po4er.
e. It shou#" ha&e sufficient po4er( so that it a$ %e a%#e to e?ert the reDuire" force
At the s#ee&e to operate the contro# & echanis
2 ++ 3 Da t t goB e r n o r $
Page II of 92
Page I+ of 92
2 +43 % o r t e r goB e r n o r $
Page I9 of 92
2 +73 %roe ll goBe rn o r$
2 +83 Ha r tn e ll goB e r n o r $
Page +< of 92
2 +*3 Ha r t&n g goB e r n o r $
Page +1 of 92
2 +93 Di l' on Ha r tn e ll goB e r n o r $
Page +2 of 92
2 +:3 %ic>e rin g goBe rn o r$
2 +;3 Di ff ere n c e ) e t 5 ee n a f l,5he e l a n d a goB e r n o r $
Page += of 92
G,r o' c ope a nd it' ap plic a ti on'
2 +<3 G,ro'cop e
A g$roscope is a "e&ice for easuring or aintaining orientation( %ase" on the princip#es
of conser&ation of angu#ar oentu. A echanica# g$roscope is essentia##$ a spinning 4hee#
or "is. 4hose a?#e is free to ta.e an$ orientation. !his orientation changes uch #ess in
response to a gi&en e?terna# torDue than it 4ou#" 4ithout the #arge angu#ar oentu
associate" 4ith the g$roscopeGs high rate of spin. Since e?terna# torDue is iniiBe" %$
ounting the "e&ice in gi%a#s( its orientation reains near#$ fi?e"( regar"#ess of an$ otion
of the p#atfor on 4hich it is ounte". -$roscopes %ase" on other operating princip#es a#so
0?it( such as the e#ectronic( icrochip-pac.age" M0MS g$roscope "e&ices foun" in consuer
e#ectronic "e&ices( so#i" state ring #asers( fi%er optic g$roscopes an" the e?tree#$ sensiti&e
Duantu g$roscope. App#ications of g$roscopes inc#u"e na&igation @I3SA 4hen agnetic
copasses "o not 4or. @as in the 7u%%#e te#escopeA or are not precise enough @as in IC'MsA or
for the sta%i#iBation of f#$ing &ehic#es #i.e ra"io-contro##e" he#icopters or 6A:s. *ue to
higher precision( g$roscopes are a#so use" to aintain "irection in tunne# ining.
Page +, of 92
2 4=3 De'cript ion an d d iagram$
*iagra of a g$ro 4hee#. 9eaction arro4s a%out the output a?is @%#ueA correspon"
to forces app#ie" a%out the input a?is @greenA( an" &ice &ersa. 1ithin echanica# s$stes
or "e&ices( a con&entiona# g$roscope is a echanis coprising a rotor journa# #e" to spin
a%out one a?is( the journa#s of the rotor %eing ounte" in an inner gi%a# or ring( the inner
gi%a# is journa# #e" for osci##ation in an outer gi%a# 4hich is journa# #e" in another gi%a#.
So %asica##$ there are three gi%a#s. !he o&ter gim)al or ring 4hich is the g$roscope frae is
ounte" so as to pi&ot a%out an a?is in its o4n p#ane "eterine" %$ the support. !his outer
gi%a# possesses one "egree of rotationa# free"o an" its a?is possesses none. !he ne?t inner
gim)al is ounte" in the g$roscope frae @outer gi%a#A so as to pi&ot a%out an a?is in its o4n
p#ane that is a#4a$s perpen"icu#ar to the pi&ota# a?is of the g$roscope frae @outer gi%a#A.
!his inner gi%a# has t4o "egrees of rotationa# free"o. Sii#ar#$( ne?t innermo't gim)al
is attache" to the inner gi%a# 4hich has three "egree of rotationa# free"o an" its a?is
posses t4o. !he a?#e of the spinning 4hee# "efines the spin a?is. !he rotor is journa#e" to spin
a%out an a?is 4hich is a#4a$s perpen"icu#ar to the a?is of the innerost gi%a#. So( the
rotor possesses four "egrees of rotationa# free"o an" its a?is possesses three. !he 4hee#
respon"s to a force app#ie" a%out the input a?is %$ a reaction force a%out the output a?is.
!he %eha&ior of a g$roscope can %e ost easi#$ appreciate" %$ consi"eration of
the front 4hee# of a %ic$c#e. If the 4hee# is #eane" a4a$ fro the &ertica# so that the top of the
4hee# o&es to the #eft( the for4ar" ri of the 4hee# a#so turns to the #eft. In other 4or"s(
rotation on one a?is of the turning 4hee# pro"uces rotation of the thir" a?is.
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2 4 + 3 E f f e c t o f t h e G , r o ' c o p i c C o & p l e o n a n A e r o p l a n e
2 44 3 E E C ! O G " R O # C O %I C C O 0 % L E
!his coup#e is( therefore( to raise the nose an" "ip the tai# of the aero p#ane.
Note'
1. 1hen the aero p#ane ta.es a right turn un"er sii#ar Con"itions as "iscusse" a%o&e( the effect
of the reacti&e Coup#e 4i## %e to "ip the nose an" raise the tai# of the aero p#ane.
2. 1hen the engine or prope##er rotates in antic#oc.4ise "irection 4hen &ie4e" fro the rear or
tai# en" an" the aero p#ane ta.es a #eft turn( then the effect of reacti&e g$roscopic coup#e 4i## %e
to "ip
the nose an" raise the tai# of the aero
p#ane.
=. 1hen the aero p#ane ta.es a right turn un"er sii#ar Con"itions as entione" in note 2
a%o&e( the effect of 9eacti&e g$roscopic coup#e 4i## %e to raise the nose an" "ip the of the aero
p#ane.
,. 1hen the engine or prope##er rotates in c#oc.4ise "irection 4hen &ie4e" fro the front an"
the aero p#ane ta.es a #eft turn( then the effect of reacti&e g$roscopic coup#e 4i## %e to raise the
tai# an" "ip the nose of the aero p#ane.
8. 1hen the aero p#ane ta.es a right turn un"er sii#ar con"itions as entione" in note,
a%o&e( the effect of reacti&e g$roscopic coup#e 4i## %e to raise the nose an" "ip the tai# of the
aero p#ane.
2 473 Effect of g, ro 'cop ic co&p le on 'h ip
!he top an" front &ie4s of a na&a# ship are sho4n in fig. !he fore en" of the ship is
ca##e" %o4 an" the rear en" is .no4n as stern or aft. !he #eft han" an" the right han" si"es of
the ship( 4hen &ie4e" fro the stern are ca##e" port an" star %oar" respecti&e#$. 1e sha## no4
"iscuss the effect of g$roscopic coup#e in the na&a# ship in the fo##o4ing three cases:
1. Steering
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2. Pitching( an"
=. 9o##ing
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2 4 83 E f f e c t o f G , r o ' c o p i c C o & p l e o n a N a B a l # h i p d & r i n g
p i t c h i n g F # t e e r i n g
Steering is the turning of a complete ship in a curve towards left or right, while it moves
forward, considers the ship taking a left turn, and rotor rotates in the clockwise
direction when viewed from the stern, as shown in Fig. below. The effect of gyroscopic
couple on a naval ship during steering taking left or right turn may be obtained in the
similar way as for an aero plane as discussed in Art.
When the rotor of the ship rotates in the clockwise direction
when viewed from the stern, it will have its angular momentum vector in the direction ox
as shown in Fig. A. As the ship steers to the left, the active gyroscopic couple will
change the angular momentum vector from ox to ox!. The vector xx! now
represents the active gyroscopic couple and is perpendicular to ox. Thus the plane of
active gyroscopic couple is
Page ++ of 92
perpendicular to xx! and its direction in the axis "# for left hand turn is clockwise as
shown in Fig below. The reactive gyroscopic couple of the same magnitude will act in
the opposite direction $i.e in anticlockwise direction%. The effect of this reactive
gyroscopic couple is to raise the bow and lower the stern.
N o t e '
. When the ship steers to the right under similar condition as discussed above, the effect of
the reactive gyroscopic couple, as shown in Fig. &, will be to raise the stern and lower
the bow.
'. When the rotor rotates in the anticlockwise direction, when viewed from the stern and
the ship is steering to the left, then the effect of reactive gyroscopic couple will be to
lower the bow and raise the stern.
(. When the ship is steering to the right under similar conditions as discussed in note '
above, then the effect of reactive gyroscopic couple will be to raise the bow and lower
the stern.
). When the rotor rotates in the clockwise direction when viewed from the bow or fore
end and the ship is steering to the left, then the effect of reactive gyroscopic couple will
be to raise the stern and lower the bow.
*. When the ship is steering to the right under similar conditions as discussed in note )
above, then the effect of reactive gyroscopic couple will be to raise the bow and lower
the stern.
+. The effect of the reactive gyroscopic couple on a boat propelled by a turbine taking left
or
right turn.
2 4 *3 E f f e c t o f G , r o ' c o p i c c o & p l e o n a N a B a l # h i p d & r i n g Rollin g$
1e .no4 that( for the effect of g$roscopic coup#e to occur( the a?is of
precession shou#" a#4a$s %e perpen"icu#ar to the a?is of spin. If( ho4e&er( the a?is of
precession %ecoes para##e# to the a?is of spin( there 4i## %e no effect of the g$roscopic coup#e
acting on the %o"$ of the ship. In case of ro##ing of a ship( the a?is of precession @i.e.
#ongitu"ina# a?isA is a#4a$s para##e# to the a?is of spin for a## positions. 7ence( there is no effect
of the g$roscopic coup#e acting on the %o"$ of a ship.
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2 4 9 3 E f f e c t o f G , r o ' c o p i c c o & p l e o n a 8 - 5 h e e l d r i B e $
Page +9 of 92
Page 9< of 92
Page 91 of 92
2 4:3 E@amp le % ro) lem '$
1A A ship is prope##e" %$ a tur%ine rotor 4hich has a ass of 8 tonnes an" a spee" of 21<< rp.
!he rotor has a ra"ius of g$ration of <.8 an" rotates in a c#oc.4ise "irection 4hen
&ie4e" fro the stern. Hin" the g$roscopic effect in the fo##o4ing con"itions. @iA the ship sai#s
at a spee" of =< .>hr an" steers to the #eft in cur&e ha&ing J< ra"ius. @iiA the ship pitches
JM a%o&e an"
JM %e#o4 the horiBonta# position. !he %o4 is "escen"ing 4ith its a?iu &e#ocit$. !he
otion "ue to pitching is sip#e haronic an" the perio"ic tie is 2< secon"s. @iiiA the ship
ro##s at a certain instant it has an angu#ar &e#ocit$ of <.<= ra">sec c#oc.4ise 4hen &ie4e" fro
stern.
2A !he #ength of the upper an" #o4er ars of a porter go&ernor are 2<< an" 28<
respecti&e#$. 'oth the ars are pi&ote" on the a?is of rotation. !he centra# #oa" is 18< 3( the
4eight of each %a## is 2< 3 an" the friction on the s#ee&e together 4ith the resistance of the
operating gear is eDui&a#ent to a force of =< 3 at the s#ee&e. If the #iiting inc#inations of the
upper ars to the &ertica# are =<M an" ,<M( "eterine the range of spee" of the go&ernor.
Page 92 of 92