PH 101: Sample Questions: FALL 2015

Q.1 A gyroscope with spinning speed s precesses with a speed  s . The spinning axis makes an angle with
the vertical. Find a relation between , s and . The mass of the solid, rapidly spinning disk is m and the rest are
massless. The radius of the disk is R, the distance between the center of the disk and the pivot is L. What is the
force on the pivot ?

FIG. 1: Tilted Axis Gyroscope

Ans.
A quick and dirty (but correct) answer can be obtained through the following assumptions. The reference point of
the angular momentum and the torque is the fixed pivot P which is part of the rigid body. The angular momentum
is first assumed to be constant in the rotating frame [not easy to justify since the components of the angular velocity
on the body fixed axes have to be shown to be constants]. Then we have,
d
L=
~ L
dt
We argue that the predominant contribution to L comes from s so that L Irr s r. Then we take as a given the
precession is along k direction for the titled gyro. Then,
~ = k + s r.
d
L = k Irr s r = Irr s sin()
dt
On the other hand the torque is due to gravity and is given by,
~ = mgL sin()
equating these two gives,
mgL sin() = Irr s sin()
or,
=

2gL
mgL
= 2
Irr s
R s

which is the same result we saw in the lectures for the horizontally precession gyro. Hence the precession frequency
is nearly independent of the tilt angle . For find the force acting on the pivot, first we look at force by the pivot on
the gyro
=m
Ftot = Fbypivot + mg(k)

d2 Rcm
dt2

2
But we know how the c.m. moves.
Rcm (t) = L sin()
(t) + L cos() k
where (t) = (i cos(t) + j sin(t)) is a unit vector radially outward from the center of the circle of precession and
(ijk) are the Cartesian fixed directions. Therefore,
Fbypivot = m2 (L sin()
(t)) + mg k
The force on the pivot is Fonpivot = Fbypivot . The magnitude of this force is,
p
|Fonpivot | = (m2 L sin())2 + (mg)2

Q.2 [Stability of a Bicycle: Kleppner 7.9] Many of you want to know if it is possible to solve this problem differently
by choosing a different reference point such as the center of the circular track.
Ans. Based upon this description below, you should draw the free-body diagrams and other pictures on your own.
We model the bicycle as two spinning wheels of radius a and mass m each tilted at some angle from the vertical
(leaning towards the center of the track), one behind the other such that the distance from one center to the other
is 2L and the rider is a point mass M sitting at some height H from the ground when the bicycle is upright. The
bicycle is moving on a circular path of radius R  L, a. All the mass of the wheels are on the rim and the rest of the
bicycle is massless. Suppose we want to study the problem from the point of view of the center of the track as the
reference point, then we may write,
Lnet = Lrider + Lf rontwheel + Lbackwheel

(1)

where the reference point for the angular momentum is the center of the track. We may further write (front or back),
Lwheel = Lcenterof wheel + Lwheelwithcenterasthepointof ref erence
where Lcenterof wheel is the angular momentum of the center of mass of the wheel (as if all mass is concentrated
at the center) and Lwheelwithcenterasthepointof ref erence is the angular momentum about the center (with the
center of the wheel as reference point) [prove this first using the Lecture Notes on Rigid Bodies Moodle if you are not
sure]. Now since L = r p for point particle,
Lrider = rRider (t) M r Rider (t)
where rRider (t) is the location of the rider from the center of the track.
rRider (t) = R(t) + H(cos() k sin() r(t))
Where R(t) = R
r(t) is the position from the center of the track to the midpoint of the line joining the point of contact
of the two wheels and k is perpendicular to the ground. Now,
Lcenterof f rontwheel = rcenterof f rontwheel (t) mrcenterof f rontwheel (t)
where,
+ a(cos() k sin() r(t))
rcenterof f rontwheel (t) = R(t) + L (t)
where = r k is tangential to the track in the direction of motion of the bicycle. Similarly,
Lcenterof backwheel = rcenterof backwheel (t) mrcenterof backwheel (t)
where
+ a(cos() k sin() r(t))
rcenterof backwheel (t) = R(t) L (t)
For the angular momentum about the center of the wheels [or one point fixed] we have to always adopt this algorithm.

3
(a) Write the angular velocity vector in terms of some convenient unit vectors, typically two independent vectors
one for spinning motion and one for precessing motion and the corresponding magnitudes which will be obvious from
the problem.
(b) Assume for a short while that the wheels are not spinning and write the unit vectors in (a) in terms of the
BODY FIXED unit vectors.
(c) Now when the wheels are actually spinning these formulas will have to modified to take this into account [see
below].
(d) Now you are ready to convert angular velocity vector to angular momentum vector by sticking in (multiplying)
I1 , I2 and I3 next to the body fixed unit vectors.
(e) Having done this we are free to get rid of the body fixed unit vectors and replace them with more convenient
ones we used in part (a).
Note that this seemingly lengthy procedure is important since it is only in the body fixed frame the moment of
inertia matrix is diagonal with time independent components.
Adopting this procedure for the front wheel,

~ f ront (t) = s ef,1 (t) k

(2)

where ef,1 (t) is the unit vector from the center of the front wheel pointing perpendicular to the plane of the wheel and
away from the center of the track. is the angular speed of the motion along the track. Now we have to decompose
k along the other two body axes namely ef,2 (t) and ef,3 (t). If the wheels were not spinning but the bicycle was just
sliding along on the track then the body fixed axes could be chosen to be,
ef,1 (t) = r(t) cos() + k sin()

ef,2 (t) =
r(t) sin() + k cos()

and ( = r k)
ef,3 (t) = ef,1 (t) ef,2 (t) =
(strictly speaking we should not use r but use the unit vector from the center of the track to the point of contact
of the front wheel but since the track is huge we assume these directions are the same). The above unit vectors are
body fixed only when the wheels are not spinning but the bicycle is just sliding along. If the wheels are also spinning
with speed s the body fixed axes are linear combinations of the second two unit vectors as follows.
ef,2 (t) = (
r(t) sin() + k cos()) cos(s t) + sin(s t)
and
ef,3 (t) = (
r(t) sin() + k cos()) sin(s t) + cos(s t)
and ef,1 (t) is as it is. We may now write,
k = (
ef,2 (t) cos(s t) ef,3 (t) sin(s t))cos() + ef,1 (t) sin()

(3)

Therefore in terms of the body fixed ef,1 (t), ef,2 (t), ef,3 (t) after substituting this formula for k in Eq.(2),

~ f ront (t) = (s sin()) ef,1 (t) ef,2 (t) cos(s t)cos() + ef,3 (t) sin(s t)cos()
Now we are ready to convert angular velocity to angular momentum by multiplying by the appropriate moments of
inertia ef,1 (t) ma2 ef,1 (t), ef,2 (t) 21 ma2 ef,2 (t), ef,3 (t) 12 ma2 ef,3 (t). Thus the angular momentum is,
Lf rontwheelwithcenterasthepointof ref erence
= (s sin()) ma2 ef,1 (t)

1
1
ma2 ef,2 (t) cos(s t)cos() + ma2 ef,3 (t) sin(s t)cos()
2
2

Converting back to more convenient unit vectors,

Lf rontwheelwithcenterasthepointof ref erence

4
1
= (s sin()) ma2 (
r(t) cos() + k sin()) ma2 cos() (
r(t) sin() + k cos())
2
For the back wheel also it is the same (roughly since R  a, L)
Lf rontwheelwithcenterasthepointof ref erence = Lbackwheelwithcenterasthepointof ref erence
For rolling without slipping s a = R. We can put all this together to evaluate Lnet in Eq.(1). Keeping in mind
d
d
r = and dt
= r,
that dt

rRider (t) = (R Hsin()) r(t) + Hcos() k ; r Rider (t) = (R Hsin()) (t)

or,
Lrider = ((R Hsin()) k + Hcos() r(t))M (R Hsin())
Similarly,

rcenterof f rontwheel (t) = (Rasin()) r(t)+L (t)+acos()

k ; r centerof f rontwheel (t) = (Rasin()) (t)L
r(t)
hence,
Lcenterof f rontwheel =

(R asin())m(R asin()) k L mL k + (acos())m((R asin()) r(t) + L (t))

similarly,
Lcenterof backwheel =

(R asin())m(R asin()) k L mL k + (acos())m((R asin()) r(t) L (t))

Keeping in mind that k is constant we my write for the rate of change of Lnet
d
d
Lnet = (Hcos() r(t))M (R Hsin())
dt
dt

+2

[(acos())m((R asin()) r(t) + L (t))]

dt

[(acos())m((R asin()) r(t) L (t))]

dt

d
1
[(s sin()) ma2 (
r(t) cos()) ma2 cos() (
r(t) sin())]
dt
2

Making the approximation R  a,

d

+ 2s ma2 (t)
cos()
Lnet (Hcos() (t))M
(R Hsin()) + 2acos()mR 2 (t)
dt
We have to equate this to the total torque about the center of the track.
+ (R
N1 k + (R
N2 k
~net = Rcm (M g + 2mg)(k)
r + L)
r L)
also,
Rcm =

+ 2m((R asin())

M ((R Hsin())
r(t) + Hcos()k)
r(t) + acos()k)
M + 2m

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Also the net normal force should balance the net weight.
N1 + N2 = M g + 2mg
Equating ~net =

d
dt Lnet

gives us N1 N2 and (s a = R),

cos() = (Rcm R

(Hcos() (t))M
(R Hsin()) + 4R2 ma (t)
r) (M g + 2mg)(k)
or,
tan() =
In the official solution, ycm

M H+2ma
M +2m

(M H + 4ma) 2 R
(M H + 2ma) g

= 2a. In this case (Mtot = M + 2m),


tan() =

m
1+
Mtot

2 R
g

The tilted rolling coin problem in Kleppner is very similar.

We can see that a clever choice of origin simplifies the calculations a lot. But the official posted solutions hides
many steps and asks you to believe many simplifying assumptions. But this solution exposes all those issues. If you
understood all the steps above you are ready to tackle nearly any question in rigid bodies.
Attempt these sample questions below to be well prepared for Quiz II and Endsem

6
Q.3 [Variant of Grain Mill Question] The Q-branch wants to customize James Bonds car Aston Martin DB10 with
specifications shown below such that it can execute tight high-speed turns without toppling over. One way to do this
is to fit disks inside each door on either side of the driver such that the plane of the disks are parallel to the door. The
rapid spinning of the disks are controlled by an on board computer. It is given that the disks weigh 10 kgs each and
are quite thin but have a radius of 20cm. The coefficient of friction between the tyres and a typical road is = 0.7.
Assume rolling without slipping for tyres. Also the distance between tyres on either side of the driver is 61in and the
distance between the front and back tyres is 140in. Hint : Key equation is ~ =
~ L.

FIG. 2: Two-door Aston Martin DB10 sports car specifications

(a) At top speed, find the smallest radius in which the car can turn so that it will not topple over assuming the
disks in the doors are not spinning. Ignore the angular momentum of the spinning tyres.
(b) If I want to make the car turn with a smaller radius than this then I can make one of the disks in the door (or
both, find this out) spin rapidly in some appropriate direction (clockwise or anticlockwise, which one is it?) thereby
stabilising the car as it executes this much sharper turn. Find the speed and direction with which the disks have to
spin if I want the radius of the turn to be 75% of the answer in (a). Ignore the angular momentum of the spinning
tyres.
Ans.
When the car is about to topple, the two wheels closer to the center of the track do not press down on the ground
so we can ignore their presence. The forces acting on the front wheel farther away from the center of the track are
k NF which is the normal reaction and fF which is the friction force on the front tyre. Similarly for the rear tyre we
have k NR and fR . The center of mass of the car is at some location we call Rcm and the force acting here is the
g.
weight of car plus the two disks kM
We now have to equate net force to rate of change of net momentum and the net torque to the rate of change of
angular momentum.
Net force = k (NF + NR M g) + fF + fR
2
Rate of change of net momentum = MRv0 (
r).
where v is the top speed of the car and R0 is the distance to the center of the track.
Equating these two we get,
NF + NR M g = 0 ; fF + fR =

M v2
(
r)
R0

g). Here RF and RR are locations of the

Net torque = RF (k NF + fF ) + RR (k NR + fR ) + Rcm (kM
0
0
points of contact of the front and rear tyres respectively. Define RF = RF Rcm and RR = RR Rcm . Then,
g)] + R0 (k NF + fF ) + R0 (k NR + fR )
N et torque = Rcm [(k NF + fF ) + (k NR + fR ) + (kM
F
R
= Rcm

0
0
M v2
(
r) + RF (k NF + fF ) + RR (k NR + fR )
R0

(4)

Now this has to equated to the rate of change of angular momentum. The car plus the two disks is not one rigid
body but three separate rigid bodies. The angular momentum of the two spinning disks and the car can be split up
as follows.
+ L1 ; Ldisk2 = Rd2 (mdisk v )
+ L2
Ldisk1 = Rd1 (mdisk v )
The first term is the angular momentum of the center of mass of the two disks. Rd1 , Rd2 are the positions of the
centers of the two disks and mdisk v is the momentum of the center of mass of each disk. L1 is the angular momentum
of the spinning disk 1 (nearer the center of the track) relative to the center of this disk. L2 is the angular momentum
of the spinning disk 2 (farther away from the center of the track) relative to the center of this disk. Now for a rapidly
and L2 = I0 s (s2 r) + 1 I0 v (k)
where s > 0 is the magnitude of the
spinning disk, L1 = I0 s (s1 r) + 21 I0 Rv0 (k)
2
R0
rapid angular speed. If disk 1 is spinning clockwise (same sense as the tyres), s1 = +1 if it is spinning anticlockwise
(opposite sense of the tyres) s1 = 1 and if it is not spinning s1 = 0, similarly for disk 2. Also I0 = 12 mdisk a2 . The
All put together we get,
angular momentum of the car without the two disks is Lcar = Rcm (M 2mdisk )(v ).
+ L1 + Rd2 (mdisk v )
+ L2 + Rcm (M 2mdisk )(v )

Ltot = Rd1 (mdisk v )

0

Write Rd1 = Rd1 Rcm and Rd2 = Rd2 Rcm . This means,
0
+ L1 + R0 (mdisk v )
+ L2 + Rcm M v
Ltot = Rd1 (mdisk v )
d2
0

Since Rd1 is the position of the disk relative to the center of mass of the car, it is clear that this quantity has a time
0
0
independent magnitude and its direction is
r so that, Rd1 =
rd. Similarly, Rd2 = +
rd where d is the distance
from the center of each disk and the center of mass of the car. Hence,
Ltot = L1 + L2 + Rcm M v
The rate of change of this is,
dLtot
dL1
dL2
dRcm
d
=
+
+
M v + Rcm M v
dt
dt
dt
dt
dt
Now by definition,
d
r
Thus,
= v .
dt

dRcm
dt

Hence
= v .

d(v )
dt

d2 Rcm
dt2

v2
r).
R0 (

Also,

dL1
dt

r
= I0 s (s1 d
dt ) and

dL2
dt

r
= I0 s (s2 d
dt ) where

R0

v
dLtot
v
v2
= I0 s (s1 )
+ I0 s (s2 )
+ Rcm M
(
r)
dt
R0
R0
R0
Equating Eq.(4) and Eq.(5)
Rcm

0
0
M v2
(
r) + RF (k NF + fF ) + RR (k NR + fR )
R0

= I0 s (s1

v
v
v2
) + I0 s (s2 )
+ Rcm M
(
r)
R0
R0
R0

Or,
0
0
v
RF (k NF + fF ) + RR (k NR + fR ) = I0 s (s1 + s2 )
R0

(5)

8
A.

Equations to solve

The equations to solve are,

NF + NR M g = 0 ; fF + fR =

M v2
(
r)
R0

and,
0
0
v
RF (k NF + fF ) + RR (k NR + fR ) = I0 s (s1 + s2 )
R0

Also,
0
H
W
D
RF = k + r +
2
2
2

RR = k

W
D
H
+ r
2
2
2

Here H is the height of the car, W is the distance between the two front tyres and D is the distance between the
front and rear tyres on the same side of the car. Write NR = (NR + NF )/2 + (NR NF )/2 e.t.c. to get,
0

RF (k

NF NR M g M v 2
fF fR
+k
+
(
r) +
)
2
2
2R0
2

0
NR NF
M g M v2
v
fR fL
+RR (k
+ k
+
) = I0 s (s1 + s2 )
(
r) +
2
2
2R0
2
R0

or,
0

(RF + RR ) (k

0
0
NF NR
fF fR
v
M g M v2
+
(
r)) + (RF RR ) (k
+
) = I0 s (s1 + s2 )
2
2R0
2
2
R0

Take dot product on both sides with and terms with difference between front and back tyres will drop out to give,
H

M v2
v
Mg
= I0 s (s1 + s2 )
+W
2R0
2
R0
2

v
when the discs are not spinning, the smallest radius is given by, H M
2R0 +W

Mg
2
2

(6)
= 0 or R0 =

Hv 2
Wg .

According to data
2

given H = 50.4in = 1.28m and W = 61in, v = 302km/h = 84m/s, g = 9.8m/s . This means R0 = 50.484
619.8 = 595m.
Answer to a) 595 m
2
HM v
To answer part b) we must ensure that R0 = 0.75 Hv
W g . This means s (s1 + s2 ) = 8I0 . Thus the most sensible
option would be for both the disks to spin anticlockwise (opposite sense of the tyres) so that s1 = s2 = 1 and the
magnitude of the spinning speed required is,
s =

HM v
HM v
1.28 1715 84
=
=
= 57, 624rad/sec
16I0
16I0
16 12 10 (0.2)2

This means the disks spin 9171 full revolutions per second. This much of spin on a 10 kg disk will consume enormous
power and is therefore not practical. 75 per cent reduction is too much to ask for.

9
Q.4 In the video shown in class, a cart of mass M has two horizontally precessing gyroscopes pivoted on a vertical
pole welded to the platform of the cart. The gyros spin with frequency s = 2 104 /s and precess with frequency
= 20/s. The mass of each disk is m = 10kg and radius is a = 10cm and everything else is massless. The distance
from the pivot to the center of each gyro is 1m. Find the torque on the cart as a function of time. Examine if this
torque depends the clockwise or anti clockwise nature of the precession(s) in relation to the spinning direction(s).
Also see if this torque depends on the initial relative angle between the two horizontal shafts (rods of length 50cm
each) to the ends of which the disks are attached.
Advanced topics: If you are interested
Q. [Stability of a spinning coin] Study this work [open link below] carefully and understand a lot about the stability
of a spinning coin.
http://www.hep.princeton.edu/ mcdonald/examples/rollingdisk.pdf
Q [Challenging variant of Q.1] Redo the above question by taking into account the possibility that may be slowly
(f req.  s ) oscillating with time (
0 , 0 + ),  0 . This is called nutation. You have to use Euler
equations and keep in mind that now dL
dt rot 6= 0.