ME 351 Machine Dynamics and Vibrations

Core Course for VI Sem B.Tech.

Lecture Notes on Gyroscope

Prepared by
Dr. S. M. Murigendrappa
Department of Mechanical Engineering
National Institute of Technology Karnataka, Surathkal
 Secret of Science

y y y

o o o x
x x


R R R
mg mg
mg

Unstable due to countering moment is zero at Stable! ?

‘O’

y y
B
x

T T

o x o x

A A
R R 
mg mg

Unstable due to countering moment is zero at ‘O’

(i) Stable! ?

(ii) Without applying torque about y-axis, wheel rotates about y-axis! ?
 CONTENTS

1) Introduction

2) Basic Equations of Rotating Disc

3) Derivation of Gyroscopic couple (Torque)

4) Examples 1-3

5) Stability of two-wheeler while taking a turn

6) Example 4

7) Stability of an automobile moving in a curved path

8) Examples 5 & 6

9) Gyroscopic effect on airplanes while turning

10) Example 7

11) Gyroscopic effect on ships while turning

12) Example 8
 Introduction

• Newton carried out studies on the motion of earth which rotates about axis
and at the same time it revolves around the sun.
• These studies further carried out by Euler and build the mathematical
relations of the principles of Gyroscopic effect.
• A gyroscope is rotating mechanism in the form of a universally mounted
spinning disc that offers resistance to movements in certain direction .
• When the gyroscope is spinning it can contain large amounts of stored
energy.

• Newton's first law of motion states that any body will continue in its state of
motion (still or travelling) until outside forces change it.
• Because of the forces when the gyroscope is spinning, if it is moved, then
the gyroscope will try to 'compensate' for this movement.
 Invention

• The gyroscope was invented in 1852 by the French experimental physicist Leon Foucault (1819-1868) as part of an investigation of

the rotation of the earth.

• His gyroscope was a rapidly rotating disk with a heavy rim, mounted in low-friction gimbals.

• As the earth rotated beneath the gyroscope, it would maintain its orientation in space. (Example: Location of satellite in space)

• This proved to be hard to do in practice because the frictional forces bring the spinning system to rest before the effect could be

observed.

• Gimbals bearings also introduce unwanted torque.

 Applications

• Before the world War II, the use of gyroscope was limited to stabilization of ships and also for gyroscopic compasses

• Later it was found in an application of guided missiles, bomb-sights, airplanes, cars, motor bikes, computer pointing devices, robots,

iphones, etc.

Gyrocompass used in ships

Torpedo(Under water missile) stabilized by gyroscope

Automatic control of ship motion using Gyroscope

Airplane with gyro stabilization

 MEMS Gyroscope used in iPhone for auto screen orientation

Gyroscope used in Unicycle

Human gyroscope used for training astronauts and pilots

MEMS Gyroscope used in GPS
Gyro stabilized platform used in Satellite

1, 3, 4 - Gyroscope

2, 12 - Motor

11 - Platform

6, 17 - Gimbal
 Sign Conventions
• Angular velocity  or angular momentum L of a rotating body is specified by
– Magnitude of angular velocity or angular momentum
– Direction of the axis of rotor using right-hand rule
– Sense of rotation of the rotor

A B a b

b
A B a


 Basic Equations of Rotating Disc
• Consider a rigid body applied externally the resultant moment M as shown
in Fig. 1, then the moments in the principal axes are given by (Euler’s
y

equations)
M x  I xx x   I zz  I yy y z
M M
y

 z

M y  I yy  y   I xx  I zz zx 
(1)
M

 z

M z  I zz z   I yy  I xx  xy 

O

M
x

where dot indicates derivative w.r.t time t. x

Fig.1

• Consider a simple disc as shown in Fig. 2 having x, y and z coordinates

rigidly attached to it and are mutually perpendicular.
• Let, m be the mass of the disc and r be the radius and mass moment of
inertia about x-, y- and z- axes are given by Y

1 1
I xx  mr 2 , I yy  I zz  mr 2 z

2 4

x
o

Fig.2
• Let us consider x -, y - and z as reference or fixed axes shown in Fig. 3
and are mutually perpendicular.

• Consider a resultant moment, M is applied to rotate the disc with resultant

speed,  and its components are s and P about x - and y -axes,
respectively.

• Since, x-, y- and z-axes are attached to the disc, these are also called
instantaneous axes.

• At any given time always the x- and x -axes coincides each other.
• Angular position of z-axis with respect to z -axis at time t when the disc
spins about x-axes is given by

  s t y


y P z
• and resultant angular velocity is given by
z

  S  P 

x
o x

s

Fig.3
• Referring to the Fig.4, the angular velocities in the instantaneous axes are
given by
x  S , y

y  P cos  , y 
y

P
z

z  P sin  
z

• Derivatives of above terms w.r.t time are given by 

 x  0, x
z

 y  P sin    sP sin  s

 z  P cos      cos 
s P Fig.4 View along x-direction

since   s
y


y P z

z

x
o x

s

Fig.3
• Substituting values for x, y and z and their derivates into Euler’s
equations, we get the moment applied about respective axes as
M x  I xx 0   I zz  I yy P cos  P sin 
M y  I yy sP sin    I xx  I zz sP sin 
M z  I zzsP cos    I yy  I xx sP cos 
• Substituting values for mass moment of inertia in to above equations, we
get
Mx  0 (2a)
1 1 1 
M y  mr 2sP sin   mr 2  mr 2 sP sin 
4 2 4  y

1
 mr 2sP sin 

(2b) y P z

2 z

1  1 1  

M z   mr 2 sP cos   mr 2  mr 2 sP cos 

4  4 2 
x

1 
  mr 2 sP cos 
o x
(2c) 

2 
s

Fig.3
• Fig. 5 depicts the following moments applied externally.
1 1 2
M x  0, M y  mr sP sin  and M   mr sP cos 
2
z
2 2 
• Resultant moment applied about z- is given by
1 
M y  M z   mr sP  I xxsP
2
M (3)
2 
• Thus, to spin the disc about x-axis with spinning velocity s and to produce
precession about y-axis with angular velocity P, the resultant moment M
must be applied externally about z-axis.
• Note: the moment M applied about an axis (z) may be found by rotating an
axis of spin (x) through an angle 90 in the direction of precession.

y y

 z 
y M P y P z
y

M z
z


M

z
x

 x
M
s o
-M x
y

s

Fig.5 Fig.3
Renaming of some of the notations used in previous section:

1. Reference/Fixed coordinates:
x‘ → x
y‘ → y
z‘ → z
2. Applied moment or couple: M → C
3. Mass moment of inertia about x-axis, Ixx → I
4. Angular velocity about x-axis: S → 
 Derivation of Gyroscopic Couple Based on Angular Momentum
• Consider a rotor spins about x-axis at an angular velocity  as shown Fig.
• Angular momentum denoted as L is given by
L  I
where I is the mass moment of inertia about x-axis. L is represented by oa
in the vector diagram
• Let L be a new angular momentum of the axis of the rotor rotating about
y-axis by an angular velocity, P with an angle  in time t and is given
by L  L  L

and its vector is ob.

y
z

B
b
x
z
 L'
P   
L


o x
o
a x
L
A 
Vector diagram viewed in the direction of y-axis
R
Frictionless support
mg
 • Thus, change of angular momentum is given by
L  L  L( t ) P
• The rate of change of angular momentum in the limit, when t  0.
is given by
L
 LP  I  P (4)
t
Rate of change of angular momentum is known as applied moment or
torque about z-axis.
• This torque is also known as gyroscopic torque and is a couple which
must be applied to the axis ox to cause it to rotate with angular velocity
P (known as angular velocity of precession) about the axis oy.
• Thus, applied gyroscopic torque is C  mgR I  P (5)
y
z
C
B
b
x
z
 L'
P   
L


o x
o
a x
L

A
Vector diagram viewed in the direction of y-axis
R
Frictionless support
mg
 • Gyroscopic torque is also known as active gyroscopic torque or applied
couple.
• Reactive gyroscopic torque or reaction torque is also applied to the axis
which tends to rotate the axis of spin in the opposite direction
• Effect of the gyroscopic couple on a rotating body is known as the
gyroscope effect on the body.
• It can be understood just as the centrifugal force (Active) on a rotating
body tends to move the body outwards, while a centripetal force
(Reactive) acts on it inwards.

y z

C
B
b b
x
z
 L'
P   
L


o x a
o
a x
L
A 
Vector diagram viewed in the direction of y-axis
R
Frictionless support
mg
 Axes and Planes

Plane of active gyro.

couple
Plane of

spinning

y Axis of active gyro.

couple
Axis of precession z
Plane of precession
x


o x


A

Axis of reactive gyro. Axis of spin

z couple
 Example 1 Gyroscopic Effect on Suspended Bicycle Wheel
• Consider a bicycle wheel suspended by means of a rope/chain at one
end of the extended shaft shown in Fig.
• Let  be the angular velocity of the wheel about x-axis.
• Magnitude of active gyroscopic torque/couple require to apply about z-
axis to produce precession with an angular velocity P is obtain by
C  I  P  L P  (i )
• There is no net force acting on the system. i.e., let T be the tension
acting along the rope in upward direction and weight of the wheel is
acting downward direction. Thus,
T  mg  0 ( ii )

z
Rope y
C
b
Wheel z
 L  L
P
L
T

o x
o x
a
L
A
R 
Shaft
mg
• However, there is net torque or couple acting about z-axis due to weight
of the wheel and given by
C  mg R (iii )
• Due to this torque, the wheel undergoes precession with an angular
velocity given by
C  C 
mg R
   ( iv )
L
P
I  I 
• Note:
a) If torque is increased then angular velocity of precession increases keeping the
angular moment, L constant. Always change of angular moment L chases the applied
torque.
b) If angular moment, L is increased by increasing the mass moment of inertia, I and/or
angular velocity of the spin,  then angular velocity of precession, P decreases.
c) Since, angular velocity of the spin is always larger than the angular velocity of
precession, thus angular moment due to precession acting about y-axis may be
ignored.
d) If no torque is applied
z then no precession
z produced even though the wheel is
spinning.y C C
B
b b
x
z
 L  L
P   
L
T


o x a
o x
a
L
A
R 
mg
 Example 2. Bicycle Wheel under going Precession with the
Application of Torque/couple for Small Interval of Time
• Consider a bicycle wheel spinning with an angular velocity  about its axis.
• For small interval of time t, wheel is subjected to a torque/couple C in
clockwise direction viewed from front and its magnitude is given by.
C FR (v )
• Change of angular moment for an interval of time t is given by
L  C t (vi )
• During this period, wheel axis under goes a precession with an angular
velocity, P for angular displacement,  in the counter-clockwise direction
viewed from the top.
• Thus, the angular velocity of precession is given by

  (vii )
P
t
• Once the applied torque/couple removed then no precession is produced.
Note that self weight will not produce torque/couple about y-axis.
y C=FR z
y
C=FR b
F z
 b L  L
P
B L
A B x

 x o

R a y x
o
L a
F A L =Ct

 Example 3 

• Data: B
1
B
2

– Diameter of disc, d = 150 mm

– Mass, m = 5 kg 100 mm

– Speed of shaft, N = 1000 rpm

– Speed of precession about vertical NP = 60 rpm
– Distance between bearings is 100mm
– Direction of spin is as shown in figure. Find the resultant reaction at each
bearing due to the mass and gyroscopic effects.

• Solution

– Angular velocity of rotor,  = 2 N/60 = 104.7 rad/sec

– Angular velocity of precession, P = 2 NP /60 = 6.28 rad/sec
– Mass moment of inertial of rotor, I = m r2/2 = 0.014kgm2
– Gyroscopic couple acting on the rotor, C = I  P = 9.2 Nm
 y
F F z

C
b
b
L  L



o x o a
L a
B B
1 2 ab – Applied/active couple

ba – Reaction/reactive couple


x = 100 mm

R R
1 2

– Let F – force at each bearing due to the gyroscopic couple,

F = C/ x = 9.2 / 0.1 = 92 N
– Support reactions due to weight of rotor,
R1 = R2 = 5  9.81/2 = 24.5 N

– Resultant reaction at each bearing:

Bearing B1 : F + R1 = 92 + 24.5 = 116.5 N (Upward direction)
Bearing B2 : F - R1 = 92 - 24.5 = 67.5 N (Downward direction)
 Stability of Two-wheeler Taking a Turn

• When a two wheeler moves straight on road, vehicle remains stable under
the action of various forces like tractive effort, resistance forces etc.,
• As the speed of two wheeler increases it becomes more stable. In this
condition, if rider leave the handle, the vehicle is under stable condition
due to gyroscopic couple which maintains front wheel straight on road.
Left turn Right turn

• When two wheeler is steered to the left or right, the axis of the wheels and
v
other rotating parts undergoes precession along with spinning, intern

produces gyroscopic couple also act with other forces.

Front wheel

Engine

Rear wheel
• Symbols:
Left turn
I – mass moment of inertia of each wheel,
W v

I – mass moment of inertia of rotating parts of the engine,

E R
r - radius of wheel,
W
R - radius of track or curvature,

 - angular velocity of wheels =v/r , Front wheel

W W
 – angular velocity of the engine parts,
E
G - Gear ratio =  /  ,
E W Engine

v – linear velocity of vehicle

h – height of CG of vehicle and rider

Rear wheel
W – weight of vehicle and rider

m - mass of vehicle and rider

 - inclination of the vehicle to the vertical during equilibrium

y
y


CG CG

x o x o

W W
• Two couples i.e., gyroscopic couple and couple due to the centrifugal force
will be acting on the moving vehicle when it takes right or left turn

y Axis of precession
y
C
Active


z

CG
F
h c x
h cos  o

o A
x s
h sin Axis of Spin
z
W
Axis of Active couple

a a
o
C
90 

b L
b
a
s
a) To find the gyroscopic couple acting on the vehicle:
v
P 
– Angular velocity of precession, R
v
W 
– Angular velocity of wheels, rW
v
L  2I   2I
r
W W W W
W
– Angular momentum of two wheels,
v
L  I   I G  I G
r
E E E E W E
– Angular momentum of engine rotating parts, W

v Gv
L L L  2I I
r r
W E W E

– Total angular momentum of all rotating parts

W
is given by
W

v
  2IW  GIE   (6)
rW

– Sing Convention:
 • As vehicle takes a turn, it does not remain in the vertical plane but its
plane inclined to the vertical plane.
– Total angular momentum “L” is perpendicular to the plane of the
vehicle (oaS) .
– Component “L cos ” (i.e. “oa”) under goes precession in the
horizontal plane as vehicle moves along the curved path.
– Thus, the active gyroscopic couple, CActive is given by

C Active
 L cos   P

v  v 
   2IW  GIE   cos    
 rW  R 
 v2 
  2IW  GIE   cos   (7 )
C
y  RrW 
Active

a
a o

90 
CG

b L
o b
x a
s
b) To find the couple due to centrifugal force:
mv 2
Fc  m R 
2
P
– Centrifugal force, R

– This force acts horizontally through the centre of gravity along the
outward direction 2
 mv 
Cc  Fc h cos    h cos   (8 )
Left turn  R 
– Thus the centrifugal couple,
v

R C
C
y

Front wheel

CG
F
h c
Engine
h cos

o
x

Rear wheel h sin

• Since the centrifugal couple has a tendency to overturn the vehicle ,
therefore, the Total Overturning Couple is given by

CO = Reactive gyroscopic couple + Centrifugal couple

v2 mv 2
  2IW  GIE  cos   h cos 
RrW R
v 2  2IW  GIE 
   mh  cos  (9)
R  rW 
C
O

CG
F
h c

o
x
c) Balancing couple due to weight of the vehicle acting in counter-clock wise
direction, is given by
C
CW  Wh sin  O
y

 m g h sin  (10 ) C
W


CG

 For equilibrium or stability of the vehicle during turning, we have

h

o
x

CO  CW
h sin

v 2  2IW  GIE 
  mh  cos   mg h sin  (11)
R rW 
 From the above condition, the angle of heel  can be determined to avoid overturning or skidding of the vehicle.

 i.e., if vehicle overturns:

CO  CW
 and if vehicle skids:

CO  CW
 Example 4
Mass of the motor cycle along with the rider is 180 kg. The height of the centre
of gravity of total mass is 60cm above the ground when it moves straight. Each
wheel has diameter equal to 70cm and polar mass moment of inertia of each
wheel is 2kg-m2. The engine rotates at a speed 5 times the road wheel and
engine rotating parts have polar mass moment of inertia equal to 0.2kgm2.
Determine the angle of heel required if motor cycle negotiates a curve of radius
100m at a speed of 108 km/hr.

Data:
IW = 2 kgm2 , IE = 0.2 kgm2
rW = 0.35m, R = 100m
v = (1081000) / (60 60)=30m/s , G - Gear ratio = E / W = 5
h =0.6m, m = 180kg.
Assuming wheels and engine rotating parts are rotating in same sense.
While negotiating turn, the angle of heel,  is obtained by using equilibrium
condition: 2
v  2IW  GIE 
  mh  cos   mgh sin 
R  rW 
Thus,  = 46
 Stability of an Automobile Moving in a Curved Path
• When a four wheel automobile negotiates a curve of radius R, the axis of
rotating parts undergoes precession and gyroscopic couple comes into
picture
• Vehicle will be stable condition if no wheel is lifted from ground. This
condition is fulfilled as long as the vertical reaction of the ground on any of
the wheels is positive (or upwards)
Left turn
• Symbols:

I – mass moment of inertia of each wheel,

W R v
I – mass moment of inertia of rotating parts of the engine,
E
r - radius of wheel,
W Front
R - radius of track or curvature,
Outer
 - angular velocity of wheels =v/r , Engine
Inner wheels
W W
wheels CG
 – angular velocity of the engine parts,
E b
 – angular velocity of precession
P
G - Gear ratio =  /  ,
E W
v – linear velocity of vehicle

h – height of CG of vehicle Rear

W – weight of vehicle

m - mass of vehicle CG

a - distance between two wheels on axle or track width

h
b – perpendicular distance between front and rear wheels or wheel base
a
• Computation of Loads acting on all wheels:

a) Reaction due to Weight

W mg
 
4 4
– Weight on each wheel (downwards)
W mg
RW  
4 4
– Reaction of ground on each wheel, (upwards) v

Front

Engine

R R
W W

R R
W W

CG

W
b) Reaction due to Effect of Gyroscopic Couple:

v2
– Gyroscopic couple due to four wheels,
CW  4IW W P  4IW
RrW
– Gyroscopic couple due to engine rotating parts,
CE  IEEP
 IEGW P Left turn

– Total gyroscopic couple,

CG  CW  CE
R v

– Assuming that C
G
is positive and the vehicle takes a left turn, the reaction gyroscopic couple on it is clockwise

when viewed from the rear of the vehicle Front

– Reaction couple is provided by equal and opposite forces on the outer and inner wheels.
Engine

– Forces on the two outer wheels (downwards)

– Forces on the two inner wheels
R R
W W
R
CG G R
(upwards)  G

a
C
– Reaction of ground on each outer wheel,  G
(upwards)
a
R R
C W W
– Reaction of ground on each inner wheel, (downwards) RG  G R R
2a G
C
G

G
C
RG  G
2a
h

a
c) Reaction due to Effect of Centrifugal Couple:

mv 2
– Centrifugal force acting at CG in the outward direction,
Fc  m R  2

R
P

– mv 2h Left turn
Centrifugal couple,
CC  FC h 
R
R v
– This couple acts in clockwise when viewed from the rear of the vehicle

Front
– Forces on the two outer wheels (downwards)
CC
 Engine

2a
– Forces on the two inner wheels (upwards) R
W
R
W
C R R
 C G G

– Reaction of ground on each outer wheel, 2a

(upwards)
R
C
R
C

CC
RC 
– Reaction of ground on each inner wheel, (downwards) 2a
R R
W W
CC R R
RC  G
R
G

2a R
C
C

C
C

F
C
h

a
• Vertical reaction on each outer wheel is given by
W CG CC
ROuter  RW  RG  RC    (upwards)
4 2a 2a
Left turn
• Vertical reaction on each inner wheel is given by
W CG CC R v
RInner  RW  RG  RC    (upwards)
4 2a 2a
Front
• When Rinner is zero or negative, the inner wheels
are lifted from the ground. Engine

• For stability of the vehicle RInner  0 R

W
R
W
R R
G G

W CG  CC R
C
R
C
RW R
orG  RC 
4 2a
 Vehicle may overturn, when R
W
R
W

– h is high (CG location from ground level) R

G
R
G
R
– R is small (sharp turn) R
C
C

– W is large (overloaded) C
C

– W is high (vehicle running at high speed) F

C
h

a
 Example 5
Each wheel of a four-wheeled rear engine automobile has a moment of
inertia of 2.4kgm2 and an effective diameter of 660mm. The rotating parts
of the engine have a moment of inertia of 1.2kgm2. The gear ratio of engine
to the back wheel is 3 to 1. The engine axis is parallel to the rear axle and
the crankshaft rotates in the same sense as the road wheels. The mass of
the vehicle is 2200kg and the centre of the mass is 550mm above the road
level. The track width of the vehicle is 1.5m. Determine the limiting speeds
of the vehicle around a curve with 80m radius so that all the four wheels
maintain contact with the road surface.
Data:
IW = 2.4 kgm2 , IE = 1.2 kgm2, rW = 0.33m, R = 80m, G - Gear ratio = E / W = 3

h =0.55m, m = 2200kg and a = 1.5m.

mg
RW   5395.5N (upwards)
4
(i) Reaction due to weight,
v2
(ii) Reaction due to gyroscopic couple:CW  4IW  0.364v 2
RrW
gyroscopic couple due to wheels,
CE  IEGW P  0.136v 2
gyroscopic couple due to engine parts
Therefore total reactive gyroscopic couple is
CG  CW  CE  (0.364  0.136)v 2  0.5v 2

Reaction due to reactive gyroscopic couple:

Reaction of ground on each outer wheel, RG  CG  0.167v 2 (upwards)
2a
Reaction of ground on each inner wheel, RG  CG  0.167v 2 (downwards)
2a
(iii) Reaction due to centrifugal couple:
2
Centrifugal couple, C  F h  mv h  15.125v 2
C C
R
Reaction of ground on each outer wheel, R  CC  5.042 v 2 (upwards)
C
2a
Reaction of ground on each inner wheel, R  CC  5.042 v 2 (downwards)
C
2a
For maximum safe speed provided the vehicle is in stable condition: if reactions at
the inner wheels are such that

RW  RG  RC
Thus, the maximum safe speed, v = 32.18m/s or = 115.9km/h.
 Example 6

A 2200kg racing car has a wheel base of 2.4m and a track of 1.4m. The
centre of mass of the car lies at 0.6m above the ground and 1.4m from the
rear axle. Equivalent mass of engine parts is 140kg with radius of gyration of
150mm. The rear axle ratio is 5. the engine shaft and flywheel rotate
clockwise when viewed from front. Each wheel has a diameter of 0.8m and a
moment of inertia of 0.7kgm2.
Determine the load distribution on the wheels when the car is rounding a
curve of 100m radius at a speed of 72km/hr to the (a) left and (b) right.

Data:
IW = 0.7kgm2, rW = 0.4m, R = 100m, G - Gear ratio = E/W = 5, h=0.6m,
m=2200kg, mE =140kg a = 1.4m, b = 2.4m and radius of gyration, k =0.15m.

IE = mE k2 = 3.15 kgm2
v =(721000) / (60  60) = 20m/s.
W =m g = 2200  9.81 = 21582N
 Left turn

a) Car turning left : R v

1 2
(i) Reaction due to weight: Front

Front wheels;
 x 1 R R
RW 1,2  W     6495 N () R
W1 W2

 b 2 GW1 R
GW2
CG

Rear wheels;

b=2.4m
 (b  x )  1 x=1.4m
4
RW 3,4  W     4496N ()
3

 b  2
(ii) Reaction due to gyroscopic couples of wheels:
R R
W3 W4
R R
GW3 GW4
Reactive gyroscopic couple,C v2
W  4IW  28Nm
RrW C
W

Reaction of ground on outer wheels,R CW

GW 2, 4   10N ()
2a h

a
Reaction of ground on inner wheels,R C
GW 1,3  W  10N ()
2a
 Left turn
(iii) Reaction due to gyroscopic couples of engine parts:
R v
Reactive gyroscopic couple, CE  IEGW P  157 .5Nm
1 2
Front

Reaction of ground on front wheels,

CE
RGE 1,2   32.8N () R R
2b W1 W2
Reaction of ground on rear wheels, R
GW1 CG
R
GW2

CE R
R
RGE 3,4   32.8N ()
GE1

b=2.4m
GE2
R
2b C1 R
C2
(iv) Reaction due to centrifugal couple: 3 4

2
Centrifugal couple, C  F h  mv h  5280 Nm
C C
R R
W3
R
W4
R R
GW3
Reaction of ground on outer wheels, R R
GW4

GE3 GE4
CC R R
RC 2,4   1886 N () C3 C4

2a
C
Reaction of ground on inner wheels, C

F
C C
RC1,3  C  1886 N () h
2a
a
(v) Total reactions at each wheels: Left turn

R
v
Wheel 1:
1 2

R1  RW 1  RGW 1  RGE 1  RC1  4431 .8N () Front

Wheel 2: R
W1
R
W2
R
R2  RW 2  RGW 2  RGE 2  RC 2  8223 .8N () R
GW1
R
GW2
CG R
GE1 GE2
Wheel 3: R
C1
R
C2

3 4
R3  RW 3  RGW 3  RGE 3  RC 3  2567 .2N ()
Wheel 4: R R
W3 W4
R R
GW3 GW4

R4  RW 4  RGW 4  RGE 4  RC 4  6359 .2N () R

GE3
R
GE4
R R
C3 C4

F
C
h

a
(b) Car turning right: Right turn

 All the reactions due to gyroscopic and v R

centrifugal couples changes sign. Thus, Total
2
reactions at each wheel is given by 1

Front

Wheel 1: R
W1
R
W2
R
R1  RW 1  RGW 1  RGE 1  RC1  8158 .2N () GW1 CG
R
GW2
R
GE1 R
GE2
R
Wheel 2: C1 R
C2
3 4
R2  RW 2  RGW 2  RGE 2  RC 2  4366 .2N ()
Wheel 3:
R R
W3 W4

R3  RW 3  RGW 3  RGE 3  RC 3  6424 .8N ()

R R
GW3 GW4
R R
GE3 GE4

Wheel 4: R
C3
R
C4

C
C

R4  RW 4  RGW 4  RGE 4  RC 4  2632 .8N () F

C

h
 Gyroscopic effect on airplane while turning

a) Engine propeller rotates with angular velocity  in clock-wise direction

when viewed from tail end. While taking left turn, the gyroscopic effect
acts on airplane.

Gyroscopic couple, C  IP Tail Noseend

end


y C
z
b
b
B L  L
x

 C
   a
o a
L

o x
ab – Applied/active couple

 ba – Reaction/reactive couple
A

z

 When reactive gyroscopic couple acts, this tends to raise nose and
depress the tail of the airplane.
b) Engine propeller rotates with angular velocity  in clock-wise direction
when viewed from tail end. While taking right turn, the gyroscopic effect
acts on airplane.

Gyroscopic couple, C  IP

Tail Noseend
end


z

o a a
o x 
C  C

A
L  L
b b

z B x
y    ab – Applied/active couple

ba – Reaction/reactive couple

 When reactive gyroscopic couple acts, this tends to depress nose and
raises the tail of the airplane.
c) Engine propeller rotates with angular velocity  in counter clock-wise
direction when viewed from tail end. While taking left turn, the gyroscopic
effect acts on airplane.

Gyroscopic couple, C  IP Tail Noseend

end
y


z

 L

o a a o

x  C
A
L L
b b

   ab – Applied/active couple
B
x
ba – Reaction/reactive couple
C

z  When reactive gyroscopic couple acts, this tends to depress nose and
raise the tail of the airplane.
d) Engine propeller rotates with angular velocity  in counter clock-wise
direction when viewed from tail end. While taking right turn, the
gyroscopic effect acts on airplane.

Gyroscopic couple, C  IP Tail Noseend

end


B
x z
b b
 L L
C
C

 
o a a o
L
x
A
ab – Applied/active couple

ba – Reaction/reactive couple
z
y

 When reactive gyroscopic couple acts, this tends to raise nose and
depress the tail of the airplane.
 Example 7

An airplane consists of a propeller and engine. The mass moment of

inertia of propeller and engine is 100kgm2. The engine rotates at
2500rpm in the clockwise direction if viewed from the front of the
airplane. The airplane completes half circle of radius 1000m while flying
at 500km/hr. Determine the gyroscopic couple on the airplane and state
its effects.

Data:
I = 100 kgm2, N = 2500 rpm, R = 1000m,  = 2N/60 =261.8 rad/s, h=0.6m,
v =(5001000) / (60  60) = 138.8 m/s.
P = v / R = 138.8/1000 = 0.1388 rad/s

Gyroscopic couple, C  IP  100  261.8  0.1388  3639Nm

Its effects on airplane are discussed in the cases (c) and (d).
 Gyroscopic Effects on Ship while turning
• Terms used in Ship:
– Bow or fore is the front end
– Stern or aft is the rear end
– Starboard is the right-hand side when viewing from stern
– Port is the left-hand side side when viewing from stern
– Steering is turning on the side when viewing from top
– Pitching is limited angular motion of the ship about transverse axis
– Rolling is limited angular motion of the ship about the longitudinal axis

Axis of spin

Rising
Bow
Stern
Rotor (Fore) Pitching
(Aft)

Transverse axis Lowering

Longitudinal axis Port

Left

Steering
Rolling

Starboard
Right
 Gyroscopic Effect on Naval Ship while Turning
a) Engine propeller rotates with angular velocity  in clock-wise direction
when viewed from stern end. While taking left turn, the gyroscopic effect
acts on ship.
Rising

Gyroscopic couple, C  IP Stern Bow

Pitching
Rotor
(Aft) (Fore)

y C
z Port
Left

B
x
Steering

Starboard
  

o x b
b
L L

A
 C

a
z o a
L

ab – Applied/active couple

ba – Reaction/reactive couple

 When reactive gyroscopic couple acts, this tends to raise bow and
lower the stern of the ship.
b) rotates with angular velocity  in clock-wise direction when viewed from
stern end. While taking right turn, the gyroscopic effect acts on ship.
Gyroscopic couple, C  IP

Bow Pitching
Stern Rotor
(Fore)
(Aft)

Lowering

Port

Steering

Starboard
Right
z

L
a a
o x o 
C  C


A
L  L b b

z B x ab – Applied/active couple
y   
ba – Reaction/reactive couple

 When reactive gyroscopic couple acts, this tends to bow lowered and
raises the stern of the ship.
 Gyroscopic effect during Pitching
• Transverse axis is the axis of precession.
• Pitching is the movement of complete ship up and down in vertical plane
about transverse axis.
• Pitching of ship is assumed to take place with simple harmonic motion,
i.e., the motion of axis of spin about transverse axis is SHM
• Due to this motion, the gyroscopic effect acts on ship.

z z

C
max B Rising

x  x
Pitching
 x
  

 Lowering
o 
x
Axis of spin /
 Mean line
A
 b
P1 b
y L  L
C Longitudinal axis
max


a x
o a
L Rotor

ab – Applied/active couple
Transverse axis
ba – Reaction/reactive couple y
– Angular displacement of the axis of spin from mean position after time t
second is given by
θ   sin ω1t
where
 - angular displacement of axis of spin
 - amplitude of swing i.e., maximum angle turned from the mean position
1 – angular velocity of SHM is defined by
2 2
ω1  
Time period of SHM in seconds tp

d d
ω
– Angular velocity of precession, P 1   ( sin 1t )  1 cos 1t
dt dt

– Angular velocity of precession will be maximum when cos 1t = 2 1.

ωP 1 max  1 
tp
– Thus, maximum angular velocity of precession,

 2 
– Maximum gyroscopic  I  Pdue
Cmax couple 
to I  
pitching is given by
1 max  t 
 p 
 • Pitching effects:
a) When bow is rising, the reaction couple is clock-wise on viewing from top
and thus the ship would move towards right or starboard side.

z

Rising
z

x Pitching
C
max B  x

x

  
Axis of spin /

o Mean line
x


A Longitudinal axis

P1
y
b b Steering
L  L x
C Rotor
max
Right

Transverse axis
a y
o a
L

ab – Applied/active couple

ba – Reaction/reactive couple
 b) When bow is lowered, the reaction couple is counter clock-wise on viewing
from top and thus the ship would move towards left or port side.


P1 y

o Pitching
x
 x
 Lowering
A 


B x
C x
max Axis of spin /
   z
Mean line

y
z Longitudinal axis

Left
L
a
a
o x Steering
 C Rotor
max

L  L Transverse axis
b b

ab – Applied/active couple

ba – Reaction/reactive couple
 Gyroscopic Effect during Rolling

• For the effect of gyroscopic couple to occur, the axis of precession

should always be perpendicular to the axis of spin.
• If the axis of precession becomes parallel to the axis of spin, there will
be no effect of the gyroscopic couple acting on the body.
• In case of rolling of a ship, the axis of precession (i.e., longitudinal axis)
is always parallel to the axis of spin for all positions.
• Hence, there is no effect of the gyroscopic couple acting on the ship.

Axis of spin

Bow
Rotor (Fore)

Transverse axis

Longitudinal axis Port

Rolling

Starboard
 Example 8
The turbine rotor of a ship has a mass of 3500kg. It has a radius of
gyration of 0.45m and a speed of 3000rpm clockwise when looking
from stern. Determine the gyroscopic couple and its effect upon the
ship:
i) when the ship is steering to the left on a curve of 100m radius at a
speed of 36km/hr.
ii) when the ship is pitching in a simple harmonic motion, the bow
falling with its maximum velocity. The period of pitching is 40seconds
and the total angular displacement between the two extreme positions
of pitching is 12.
Data:
m= 3500kg, N = 3000rpm, k = 0.45m,  = 2N/60 = 314.2 rad/s
R = 100m, v = 36km/hr = 10m/s, tP = 40s and 2 = 12.

Case (i): P = v / R = 10/100 = 0.1 rad/s, I = mk2 = 708.75kg-m2

Gyroscopic couple, C  I  P  708 .75  314 .2  0.1  22.27kNm

When reactive gyroscopic couple acts, this tends to raise bow and
lower the stern of the ship (CASE HAS BEEN DISCUSSED IN “WHILE
TAKING TURN TO LEFT”)
Case (ii)

– Amplitude of swing,   12 / 2  6  6   / 180  0.105 rad

2 2
– Angular velocity of SHM, ω1    0.157 rad / s
tp 40
– Maximum angular velocity of precession,

ωP 1 max  1  0.105  0.157  0.0165 rad / s

– Maximum gyroscopic couple due to pitching is given by

Cmax  I  P 1 max  708 .75  314 .2  0.0165  3675 Nm

– When bow is lowered, the reaction couple is counter clock-wise on viewing from top and thus the ship would move towards left

or port side.
 REFERENCES

1) RL Norton, Design of Machinery, 2nd Edition, McGraw-Hill

2) HH Mabie and CF Reinholtz , Mechanisms & Dynamics of Machinery, 4 th Edition, John Wiley &
Sons
3) JJ Uicker, Jr et. al Theory of Machines and Mechanisms, 3 rd Edition, Oxford
4) SS Rattan , Theory of Machines, Tata McGraw Hill Publishing Company Ltd., New Delhi,
2nd Edition, 2006
5) RK Bansal and JS Brar, Theory of Machines, Laxmi Publications (P)Ltd., New Delhi, 2008
6) JS Rao, The Theory of Machines, New Age International Publishers, New Delhi, 2009
7) JBK Das and PL Srinivasa Murthy, Dynamics of Machinery, Sapna Book Housing, Bangalore,
2005
 Videos of Gyroscopes

1) http://www.gyroscopes.org/history.asp
2) http://www.metacafe.com/watch/1971195/gyroscope/
3) http://techtv.mit.edu/videos/717-mit-physics-demo----bicycle-wheel-gyroscope
4) http://www.youtube.com/watch?v=cquvA_IpEsA
5) http://www.youtube.com/watch?NR=1&feature=endscreen&v=tNcZyDSM6GI
6) http://www.youtube.com/watch?v=0hLKwSfuJZA&feature=watch_response
7) http://www.youtube.com/watch?v=x3cte6Pm-1M&feature=watch_response
8) http://www.youtube.com/watch?v=nn25vUXHhdE&feature=related
9) http://www.youtube.com/watch?v=x5G8wEX29Eo&feature=related
10) http://www.youtube.com/watch?v=7GnDkfXD8Dc&feature=related
11) http://www.youtube.com/watch?v=rUVXNeHa5EA&feature=related
12) http://www.youtube.com/watch?v=gtrq2tTEREQ&feature=endscreen&NR=1
13) http://www.youtube.com/watch?v=VPpPei5ussY&feature=related
14) http://www.youtube.com/watch?v=Layz-3XxZC4&feature=related
15) http://www.youtube.com/watch?v=6ZbFz-19jac&feature=related
16) http://www.youtube.com/watch?v=2hIuFc_S3Tc&feature=relmfu
---------------END---------------
 Relation Based on Angular Acceleration
• Let a rotor spins about the axis ox at a angular velocity  and it is
represented by oa in the vector diagram
• If the angular velocity changes to ( + ) and direction of the axis of
the spin to ox in time t and its vector ob.
• Joining ab which represents the change in the angular velocity of the
rotor. y
b
z
  
B
x


  
o
a c
 
o x


A

z

• Referring to the vector diagram, vector ab can be resolved into two

components:
– ac representing angular velocity change in a plane normal to ac or x-axis
– cb representing angular velocity change in a plane normal to cb or z-axis
• Let t – Tangential component of angular acceleration along oa
• c – Normal component of angular acceleration which is normal to oa
• The expressions for these components are obtained as:
– t = Rate of change of angular velocity in tangential direction or along oa
Change of angular velocity in tangential direction

Time
ac oc  oa ob cos   oa (   ) cos   
   
t t t t

d
–  t   (1)
In the limit,
dt as t approaches to zero, i.e., cos   1.

Change of angular velocity in normal direction


Time
– c = Rate of change of angular velocity in normal direction or normal to oa
cb ob sin  (   ) sin 
  
t t t
– In the limit, as t approaches to zero, i.e., sin   .
(  d )d
c 
dt
d d   d 
 
dt dt

d
  c 
– Neglecting 
second term which is small value,
dt
 c   P  ( 2)

– where P is the rate of change of the direction of the vector oa or

rate or rate of change of the direction of the axis of the spin and it is
also known as angular velocity of precession.
• Vector sum of t and c gives the total angular acceleration of the rotor,
i.e.,   t  c
d d
   (3 )
dt dt
• Note:
 If the direction of the axis of the rotor is not changing, then P = 0,
hence c = 0. Thus,  = t.

 If the direction of the axis of the rotor changing but angular velocity of
the rotor is constant, then d/dt = 0 and hence t = 0. Thus,  = c.
Direction of this acceleration will be at right angles to the direction of
angular velocity, .

 c is known as gyroscopic acceleration of the rotor, which acts normal

b

to the direction of angular velocity  and acts clockwise

   when viewed
from front along the axis- z.

o
a c

 Axes and Planes

Plane of active gyro.

couple
Plane of

spinning

y Axis of active gyro.

couple
Axis of precession z
Plane of precession
x


o x


A

Axis of reactive gyro. Axis of spin

z couple
 Gyroscope Couple (Torque)

• Let I – mass moment of inertia of the disc about axis of spin, ox.
• Change in angular velocity, ab = ob – oa =  

• Angular acceleration,   
t
d
• In the limit, when t  0,      P  ( 4)
dt
• Torque required to produce this acceleration is known as gyroscopic
torque and is a couple which must be applied to the axis of spin to cause it
to rotate with angular velocity P about the axis of precession, oy.
• Acceleration torque or gyroscopic torque, C  I  I  P  (5 )
y
z
b b
B   
x


   a
o a


o x
ab – Applied/active couple

 ba – Reaction/reactive couple
A

z
• Gyroscopic torque is also known as active gyroscopic torque or applied
couple.

• Reactive gyroscopic torque or reaction torque is also applied to the axis

which tends to rotate the axis of spin in the opposite direction

• It can be understood just as the centrifugal force (Active) on a rotating

body tends to move the body outwards, while a centripetal force
(Reactive) acts on it inwards.

• Effect of the gyroscopic couple on a rotating body is known as the

gyroscope effect on the body.