MECHANICS OF MACHINES MODULE IV GYROSCOPE

GYROSCOPIC COUPLE AND ITS EFFECT

Let

I  mass moment of inertia of the disc

  angular velocity of spin or spin velocity

Ox  axis of spin

Let the axis of spin Ox turn through a small angle d in the horizontal plane  x  z plane to
position Ox in time dt about the y axis. This motion of the axis of spin Ox about an axis
perpendicular to the axis of spin is known as precessional motion and the y axis about which it
precesses is known as axis of precession.

Figure (2) shows the vector diagram. oa represents the angular momentum vector when the axis of
spin is Ox and oa represents the new position of angular momentum vector when the axis of spin
is Ox . Therefore change in angular momentum is represented by aa .

But form figure (2),

change in angular momentum, aa  oa  d

i.e. aa  I  d

According to Newton’s second law, the torque or couple required to produce this change in angular
momentum,

I   d d
C   I 
dt dt

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d
But is the angular velocity of precession,  p . The torque or couple required to produce this
dt
change in angular momentum is known as gyroscopic couple.

Therefore, Gyroscopic couple C  I   p N m

The above couple is the couple required to cause the axis of spin to precess in the horizontal plane and
is known as the active gyroscopic couple. A reactive couple will be induced in the system whose
magnitude is the same as active couple but its direction aa is opposite to that of active couple.

By placing the thumb of the right hand in the reactive couple direction, the effect of reactive
gyroscopic couple is given by the direction of all the other four fingers which is to rotate the system in
the counter clockwise direction about the z  axis while looking from the front.

EXAMPLE – 1

A uniform disc having a mass of 8 kg and a radius of gyration of 150 mm is mounted on one end of
a horizontal arm of length 200 mm . The other end of the arm can rotate freely in a universal bearing.
The disc is given a clockwise spin of 250 rpm as seen from the disc end of the arm. Determine the
motion of the disc if the arm remains horizontal.

SOLUTION

m  8 kg k  0.15 m I  mk 2  8  0.152  0.18 kg  m 2

2  250
N  250 rpm    26.17 rad s
60

As the disc rotates, due to weight of the disc, a couple whose magnitude is equal to mgl acts on the
system in the clockwise direction about the z  axis .

oa  initial spin vector

oa  spin vector after some time during the motion of the system about the z  axis

aa  direction of active gyroscopic couple which is mgl

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aa  direction of reactive gyroscopic couple whose magnitude is also mgl

By placing the thumb of the right hand in the reactive couple direction, the effect of reactive
gyroscopic couple is given by the direction of all the four fingers which is to rotate the system in the
clockwise direction about the y  axis when viewed from top.

Let  p be the precessional velocity about the y  axis . Then

I  p  mgl

mgl 8  9.81 0.2

Therefore, p    3.332 rad s
I 0.18  26.17

Therefore the axis of spin Ox precesses about the y  axis in the clockwise direction when viewed
from top with an angular velocity 3.332 rad s .

EXAMPLE – 2

A disc with radius of gyration of 60 mm and a mass of 4 kg is mounted centrally on a horizontal

axle of 80 mm length between the bearings. It spins about the axle at 800 rpm counter-clockwise
when viewed from the right hand side bearing. The axle precesses about a vertical axis at 50 rpm in
the clockwise direction when viewed from the above. Determine the resultant reaction at each bearing
due to the mass and the gyroscopic effect.

SOLUTION

m  4 kg k  60 mm  0.06 m  I  mk 2  4  0.062  0.0144 kg  m2

2  800
N  800 rpm    83.78 rad s
60

2  50
N p  50 rpm  p   5.24 rad s
60

l  80 mm  0.08 m

Therefore, gyroscopic couple, C  I  p  0.0144  83.78  5.24  6.32 N  m

aa  direction of active gyroscopic couple which is perpendicular to the paper and towards us.

aa  direction of reactive gyroscopic couple which is perpendicular to the paper and away from us.

By placing the thumb of the right hand in the reactive couple direction, the effect of reactive
gyroscopic couple is given by the direction of all the four fingers which is to rotate the system in the
clockwise direction when viewed from front.

Let RG be the reaction at each bearing due to this reactive gyroscopic couple. For equilibrium, the
couple produced by this reactive force must be equal to and opposite to the reactive gyroscopic

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couple. Since reactive gyroscopic couple is clockwise, the couple due to reactive forces, RG  l must
be counter clockwise.

Therefore for equilibrium, RG  l  I  p

I  p 6.32
Therefore, RG    79 N
l 0.08

Therefore, reactive force at bearing A due to gyroscopic couple  79 N (downwards)

reactive force at bearing B due to gyroscopic couple  79 N (upwards)

4  9.81
Force at each bearing due to weight of the disc   19.6 N (downward)
2

Therefore, reactive force at bearing A due to weight of disc RW  19.6 N (upwards)

reactive force at bearing B due to weight of disc RW  19.6 N (upwards)

Therefore, total reactive force at bearing A ,

RA  RG  RW  79  19.6  59.4 N  downwards 

Therefore, total reactive force at bearing B ,

RB  RG  RW  79  19.6  98.6 N  upwards 

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

GYROSCOPIC EFFECT ON AEROPLANE

I. When propeller shaft rotates clockwise when viewed from rear

(a) When aeroplane is steered towards left

oa  initial spin vector

oa  spin vector after some

time when plane is steered
towards left

aa  direction of active

gyroscopic couple

aa  direction of reactive

gyroscopic couple

By putting the thumb of the right hand in the reactive couple direction, the effect of the
reactive gyroscopic couple is given by the direction of all the other four fingers which is to lift
the nose and dip the tail.

(b) When aeroplane is steered towards right

oa  initial spin vector

oa  spin vector after some

time when plane is steered
towards right

aa  direction of active

gyroscopic couple

aa  direction of reactive

gyroscopic couple

By putting the thumb of the right hand in the reactive couple direction, the effect of the
reactive gyroscopic couple is given by the direction of all the other four fingers which is to lift
the tail and dip the nose.

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II. When propeller shaft rotates counter clockwise when viewed from rear

(c) When aeroplane is steered towards left

oa  initial spin vector

oa  spin vector after some

time when plane is steered
towards left

aa  direction of active

gyroscopic couple

aa  direction of reactive

gyroscopic couple

By putting the thumb of the right hand in the reactive couple direction, the effect of the
reactive gyroscopic couple is given by the direction of all the other four fingers which is to lift
the tail and dip the nose.

(d) When aeroplane is steered towards right

oa  initial spin vector

oa  spin vector after some

time when plane is steered
towards right

aa  direction of active

gyroscopic couple

aa  direction of reactive

gyroscopic couple

By putting the thumb of the right hand in the reactive couple direction, the effect of the
reactive gyroscopic couple is given by the direction of all the other four fingers which is to lift
the nose and dip the tail

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Magnitude of gyroscopic couple during steering

Let v  speed of aeroplane  m s 

R  radius of curvature  m 

  p  angular velocity of precession during

steering  rad s 

v

R

I  mass moment of inertia of rotating parts

 kg  m  2

 Gyroscopic couple produced during steering,

C  I  p N m

v
i.e. C  I  N m
R

EXAMPLE – 1

The rotor of a turbojet engine has a mass of 200 kg and a radius of gyration of 250 mm . The speed
of the engine is 10000 rpm in the clockwise direction when viewed from the nose end. The plane
while flying at 1000 km hr turns with a radius of 2 km to the right. Compute the gyroscopic couple
exerted by the rotor on the plane structure. Also determine whether the nose of the plane tends to rise
or fall when plane turns to the right.

SOLUTION

Mass of rotor, m  200 kg

Radius of gyration of rotor, k  250 mm  0.25 m

Therefore, mass moment of inertia of the rotor, I  mk 2  200  0.252  12.5 kg  m 2

Speed of the engine, N  10000 rpm

2 10000
Therefore, angular velocity of spin,    1047.2 rad s
60

1000
Speed of plane, v  1000 km hr  1000   277.78 rad s
3600

Radius of curvature, R  2 km  2000 m

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v 277.78
Therefore, angular velocity of precession,  p    0.1389 rad s
R 2000

Therefore, gyroscopic couple exerted by the rotor on the aeroplane structure,

C  I  p  12.5 1047.2  0.1389  1818.2 N  m

The effect of reactive gyroscopic

couple is to lift the nose and dip
the tail

EXAMPLE - 2

The engine and propeller of an aircraft has a mass of 500 kg with a radius of gyration of 450 mm .
The propeller of the engine rotates at 3000 rpm in the clockwise direction when viewed from rear. If
the aeroplane turns towards left and makes quarter of a circle of radius 90 m while flying at
240 km hr .

(a) Determine the gyroscopic couple on the aircraft and state its effect.
(b) In what way is the effect changed when
(i) The aeroplane turns towards right
(ii) The engine rotates clockwise when viewed from nose end and the aeroplane turns
(a) Left
(b) Right.

SOLUTION

Mass of rotating parts, m  500 kg

Radius of gyration, k  450 mm  0.45 m

Therefore, mass moment of inertia, I  mk  500  0.45  101.25 kg  m

2 2 2

Speed of rotation, N  3000 rpm

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2  N 2  3000
Therefore, angular velocity of spin,     314.16 rad s
60 60

240 1000
Speed of aeroplane, v  240 km hr   66.67 m s
3600

Radius of curvature, R  90 m

v 66.67
Therefore, angular velocity of precession,  p    0.7407 rad s
R 90

(a) When propeller shaft rotates clockwise when viewed from rear and plane takes a left turn
Gyroscopic couple, C  I  p  101.25  314.16  0.7407
 23563.18 N  m  23.56318 kN  m

The effect of reactive

gyroscopic couple is to lift
the nose and dip the tail

(b)
(i) When plane turns towards right

The effect of reactive

gyroscopic couple is to lift
the tail and dip the nose.

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(ii) When propeller shaft rotates clockwise when viewed from front
a) When aeroplane turns left

The effect of reactive

gyroscopic couple is to lift
the tail and dip the nose

b)

(b) When aeroplane turns right

The effect of reactive

gyroscopic couple is to lift
the nose and dip the tail.

GYROSCOPIC EFFECT ON NAVAL SHIPS

Bow or Fore – It is the front end of the ship.

Stern or Aft – It is the rear or back end of the

ship.

Port – It is the left hand side of the ship

looking from the rear end.

Starboard – It is the right hand side of the

ship looking from the rear end.

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

As the ship moves through sea, any of the three motions are possible.

1. Steering

Steering is the motion of the ship in a

curve either towards port or towards
starboard when looking from top. During
steering, the ship can be assumed to be
rotating about the vertical axis. Since the
vertical axis, about which the ship rotates
during steering, is perpendicular to the
longitudinal spin axis, there will be
gyroscopic effect produced during
steering.

2. Pitching

Pitching is the limited angular motion of the

ship about the transverse axis. Since the
transverse axis, about which the ship rotates
during pitching, is perpendicular to the
longitudinal spin axis, there will be
gyroscopic effect produced during pitching.

3. Rolling
Rolling motion is the limited
angular motion of the ship
about its longitudinal axis.
Since the longitudinal axis,
about which the ship rotates
during rolling, is parallel to the
longitudinal spin axis, there
will not be any gyroscopic
effect produced during rolling.

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STEERING MOTION
GYROSCOPIC EFFECT DURING STEERING

1. When propeller shaft rotates clockwise when viewed from stern

(a) When ship is steered towards port

oa  initial spin vector

oa  spin vector after some

time when plane is steered
towards left

aa  direction of active

gyroscopic couple

aa  direction of reactive

gyroscopic couple

The effect of reactive gyroscopic couple is to lift the bow and

dip the stern.

(b) When ship is steered towards starboard

oa  initial spin vector

oa  spin vector after some

time when plane is steered
towards right

aa  direction of active

gyroscopic couple

aa  direction of reactive

gyroscopic couple

The effect of reactive gyroscopic couple is to lift the stern

and dip the bow.

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2. When propeller shaft rotates counter clockwise when viewed from stern

(c) When ship is steered towards port

oa  initial spin vector

oa  spin vector after some

time when plane is steered
towards left

aa  direction of active

gyroscopic couple

aa  direction of reactive

gyroscopic couple

The effect of reactive gyroscopic couple is to lift the stern and

dip the bow.

(d) When ship is steered towards starboard

oa  initial spin vector

oa  spin vector after some

time when plane is steered
towards right

aa  direction of active

gyroscopic couple

aa  direction of reactive

gyroscopic couple

The effect of reactive gyroscopic couple is to lift the bow and

dip the stern.

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MAGNITUDE OF GYROSCOPIC COUPLE DURING STEERING

Let
v  speed of the ship  m s 
R  radius of curvature  m 
  p  angular velocity of precession
during steering  rad s 
v

R

I  mass moment of inertia of rotating


parts kg  m2 
  angular velocity of spin  rad s 

 C  gyroscopic couple  N  m

 I  p

v
i.e. C  I N m
R

PITCHING MOTION
GYROSCOPIC EFFECT DURING PITCHING

1. When propeller shaft rotates clockwise when viewed from stern

(a) When bow rises

oa  initial spin vector

oa  spin vector after some time when

the bow rises

aa  direction of active gyroscopic couple

aa  direction of reactive gyroscopic

couple

The effect of reactive gyroscopic couple is to steer

the ship towards starboard.

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(b) When bow lowers

oa  initial spin vector

oa  spin vector after some time

when the bow lowers

aa  direction of active gyroscopic

couple

aa  direction of reactive

gyroscopic couple

The effect of reactive gyroscopic couple is to steer

the ship towards port.

2. When propeller shaft rotates counter clockwise when viewed from stern
(c) When bow rises
oa  initial spin vector

oa  spin vector after some time

when the bow rises

aa  direction of active gyroscopic

couple
aa  direction of reactive
gyroscopic couple

The effect of reactive gyroscopic couple is to steer

the ship towards port.

(d) When bow lowers

oa  initial spin vector
oa  spin vector after some time
when the bow lowers

aa  direction of active gyroscopic

couple
aa  direction of reactive
gyroscopic couple

The effect of reactive gyroscopic couple is to steer the ship

towards starboard.

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Magnitude of gyroscopic couple during pitching

The pitching motion is assumed to be simple harmonic in nature. Thus at any instant during pitching,
the position of the spin axis can be expressed as

   sin 0t --------------------------------------------------------------------- (1)

Where   maximum displacement from mean equilibrium position or amplitude of SHM

during pitching  rad s 

0  circular frequency of simple harmonic motion  rad s 

2
 where T  time period of pitching motion  sec 
T

Therefore, angular velocity of precession during pitching,

d
p   0 cos 0t -------------------------------------------------- (2)
dt

Angular velocity of precession is maximum when cos 0t is maximum, i.e. when cos 0t  1 .

Therefore, maximum angular velocity of precession during pitching,

2
 
p max  0 
T
 -------------------------------------------------- (3)

Therefore, maximum gyroscopic couple produced during pitching,

2
Cmax  I   p   I  0   I   ------------------------------ (4)
max T

Angular acceleration during pitching,

d
  0 cos 0t    0 2 sin 0t ------------------------------ (5)
dt

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Maximum angular acceleration occurs when sin 0t is maximum, i.e. when sin 0t  1 .

Therefore, maximum angular acceleration during pitching,

 max   0 2 ----------------------------------------------------------- (6)

The negative sign indicates that acceleration is always directed towards the mean equilibrium
position.

Note

1. Maximum angular velocity of precession and hence maximum gyroscopic couple is produced
when the ship passes through the mean equilibrium position during pitching.
2. Maximum angular acceleration occurs at the extreme position during pitching.

ROLLING MOTION
Rolling is the limited angular motion of the ship about its longitudinal axis. Since the longitudinal axis
about which the ship rotates during rolling is parallel to the spin axis, no gyroscopic effect is produced
during rolling.

EXAMPLE – 1

A ship is propelled by a turbine rotor having a mass of 6 tonnes and a speed of 2400 rpm . The
direction of rotation of the rotor is anticlockwise when viewed from stern. The radius of gyration of
the rotor is 450 mm . Determine the gyroscopic effect when

(a) The ship steers to the right in a curve of 60 m radius at a speed of 18 knots
1 knot  1.86 km hr  .
(b) The ship pitches with 7.5 degrees above and below the normal position and the bow is
descending with its maximum velocity. The pitching motion is simple harmonic with a time
period of 18 seconds.
(c) The ship rolls and at the instant, its angular velocity is 0.035 rad s clockwise when viewed
from stern.
Also find the maximum angular acceleration during pitching.

SOLUTION

Mass of rotor, m  6 tonnes  6000 kg

Radius of gyration, k  450 mm  0.45 m

Therefore, mass moment of inertia of the rotor, I  mk 2  6000  0.452  1215 kg  m 2

Speed of rotor, N  2400 rpm

2  2400
Therefore, angular velocity of spin,    251.33 rad s
60

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(a) When ship is steered towards right

Radius of curvature, R  60 m
1000
Velocity of ship, v  18 knots  18 1.86   9.3 m s
3600
Therefore, angular velocity of precession during steering,
v 9.3
p    0.155 rad s
R 60
Therefore, gyroscopic couple produced during steering,
C  I  p  1215  251.33  0.155  47331.72 N  m  47.332 kN  m

oa  initial spin vector

oa  spin vector after some

time when plane is steered
towards right

aa  direction of active

gyroscopic couple

aa  direction of reactive

gyroscopic couple

The effect of reactive gyroscopic couple is to lift the bow and

dip the stern.

(b) When the ship pitches with bow descending


Amplitude during pitching,   7.50  7.5   0.131 rad
180
Time period of pitching motion, T  18 sec
2 2
Therefore, circular frequency during pitching, 0    0.349 rad s
T 18
Therefore, maximum angular velocity of precession,
 
p max  0   0.349  0.131  0.0457 rad s
Therefore, maximum gyroscopic couple during pitching,
Cmax  I  p   1215  251.33  0.0457  13963.66 N  m
max

 13.964 kN  m

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oa  initial spin vector

oa  spin vector after some time
when the bow lowers

aa  direction of active gyroscopic

couple
aa  direction of reactive
gyroscopic couple

The effect of reactive gyroscopic couple is to steer

the ship towards starboard.

(c) When ship rolls

Angular velocity of precession during rolling,  p  0.035 rad s
Therefore, gyroscopic couple during rolling,
C  I  p  1215  251.33  0.035  10687.8 N  m
 10.6878 kN  m
Since the rolling axis is parallel to the spin axis, no gyroscopic effect is produced during
rolling.

The maximum angular acceleration of the ship during pitching,

 max  02  0.3492  0.131  0.016 rad s 2

EXAMPLE – 2

The turbine rotor of a ship has a mass of 20 tonnes and a radius of gyration of 0.75 m . Its speed is
2000 rpm . The ship pitches 6 0 above and below the horizontal position. One complete oscillation
takes 18 seconds and the motion is simple harmonic. Calculate

(a) The maximum couple tending to shear the holding down bolts of the turbine
(b) The maximum angular acceleration of the ship during pitching
(c) The direction in which the bow will tend to turn while rising, if the rotation of the rotor is
clockwise when viewed from rear.

SOLUTION

Mass of rotor, m  20 tonnes  20,000 kg

Radius of gyration, k  0.75 m

Therefore, mass moment of inertia of the rotor, I  mk 2  20, 000  0.752  11250 kg  m2

Speed of the rotor, N  2000 rpm

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2  2000
Therefore, angular velocity of spin,    209.44 rad s
60


Amplitude of pitching motion,   60  6   0.1047 rad
180

Time period of pitching motion, T  18 sec

(a) Maximum couple

2 2
Circular frequency of pitching, 0    0.349 rad s
T 18
Therefore, maximum angular velocity of precession during pitching,
 
p max  0   0.1047  0.349  0.0365 rad s
Therefore, maximum gyroscopic couple,
Cmax  I  p   11250  209.44  0.0365  86112.5 N  m
max

 86.1125 kN  m

(b) Maximum angular acceleration

Maximum angular acceleration during pitching,

 max  02  0.3492  0.1047  0.01275 rad s 2

(c) Direction in which the bow tends to turn while rising

oa  initial spin vector

oa  spin vector after some time when

the bow rises

aa  direction of active gyroscopic couple

aa  direction of reactive gyroscopic

couple

The effect of reactive gyroscopic couple is to steer

the ship towards starboard.

Therefore, the bow will tend to turn towards starboard.

EXAMPLE – 3

The mass of a turbine rotor of a ship is 8 tonnes and has a radius of gyration of 0.6 m . It rotates at
1800 rpm clockwise when looking from the stern. Determine the gyroscopic effects in the following
cases.

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

(a) If the ship, travelling at 100 km hr , steers to the right in a curve of 75 m radius.
(b) If the ship is pitching and the bow is descending with maximum velocity. The pitching is
simple harmonic, the time period being 20 seconds and the total angular movement between
the extreme positions is 100 .
(c) If the ship is rolling and at a certain instant, it has an angular velocity of 0.03 rad s
clockwise when looking from stern.

SOLUTION

Mass of turbine rotor, m  8 tonnes  8000 kg

Radius of gyration, k  0.6 m

 Mass moment of inertia, I  mk 2  8000  0.62  2880 kg  m2

Speed of rotor, N  1800 rpm

2 1800
 Angular velocity of spin,    188.49 6 rad s
60

(a) When ship steers to the right

1000
Velocity of the ship during steering, v  100 km hr  100   27.78 m s
3600
Radius of curvature, R  75 m
v 27.78
 Angular velocity of precession during steering,  p    0.3704 rad s
R 75
 Gyroscopic couple produced during steering,
C  I  p  2880 188.496  0.3704  210078.5 N  m
 201.0785 kN  m

oa  initial spin vector

oa  spin vector after some time

when plane is steered towards
right

aa  direction of active

gyroscopic couple

aa  direction of reactive

gyroscopic couple

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

The effect of reactive gyroscopic couple is to lift the bow and dip the stern.

(b) When ship is pitching with bow falling

Time period of pitching motion, T  20 sec
2 2
 Circular frequency of pitching motion, 0    0.3142 rad s
T 20
Since total angular movement between two extreme positions during pitching is
100  i.e. 2  100  , amplitude of pitching motion,
10 
   50  5   0.0873 rad
2 180
We know that maximum angular velocity of precession during pitching,
 
p max  0  0.0837  0.3142  0.0274 rad s
 Maximum gyroscopic couple produced during pitching,
Cmax  I  p   2880 188.496  0.0274  14890.69 N  m
max

 14.89069 kN  m

oa  initial spin vector

oa  spin vector after some time

when the bow lowers

aa  direction of active gyroscopic

couple

aa  direction of reactive

gyroscopic couple

The effect of reactive gyroscopic couple is to steer

the ship towards port.

(c) When ship rolls

Angular velocity of precession during rolling,  p  0.03 rad s
 Gyroscopic couple produced during rolling,
C  I  p  2880 188.496  0.03  16286.05 N  m
 16.28605 kN  m
Since the rolling axis is parallel to the spin axis, no gyroscopic effect is produced during
rolling.

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

STABILITY OF TWO WHEELED VEHICLE

Let

m  mass of vehicle + rider  kg 

v  linear velocity of vehicle  m s 

r  radius of each wheel  m 

R  radius of curvature  m 

w  angular velocity of wheels  rad s 

v
 p  angular velocity of precession  rad s  
R

e  angular velocity of engine  rad s 

e
G  gear ratio or back axle ratio 
w

I w  mass moment of inertia of each wheel  kg  m2 

I e  mass moment of inertia of rotating engine parts  kg  m2 

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

h  vertical height of centre of gravity above ground  m 

  angle of heel  degrees 

1. Gyroscopic couple and its effect

Since the spin axis is inclined to the precession axis,
the spin vector  w is also inclined to the precession
axis. The component of spin vector perpendicular to
the precession axis only is going to produce the
gyroscopic couple and gyroscopic effect.
Gyroscopic couple produced by one wheel
 I w w cos  p
Therefore, gyroscopic couple produced by both the
wheels, Cw  2I w w cos  p

Gyroscopic couple produced by rotating engine parts, Ce  Ie e cos   p

i.e. Ce  Ie Gw cos  p

Therefore, total gyroscopic couple produced,

CG  Cw  Ce  2I w w cos  p  Ie e cos p

v  v v  v
i.e. CG  2 I w  cos    GI e  cos  
r  R r  R

v2
i.e. CG   2 I w  GI e  cos 
Rr

ve sign is used when engine parts rotate in the same sense
as that of the wheels and  ve sign is used when the engine
parts rotate in the opposite direction as that of the wheels.

ob  initial spin vector

ob  spin vector after some time during steering towards

left

bb  direction of active gyroscopic couple which is perpendicular to the paper and towards
us.

bb  direction of reactive gyroscopic couple which is perpendicular to the paper and away
from us.

The effect of this reactive gyroscopic couple is to rotate the two wheeler in the clockwise
direction when viewed from rear; i.e. to overturn the vehicle outward.

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

v2
Therefore, CG   2I w  GI e  cos   clockwise ---------- (1)
Rr

2. Centrifugal couple and its effect

Centrifugal force acts through the centre of gravity outwards horizontally which is given by.
mv 2
FC 
R
Therefore, magnitude of centrifugal couple, (i.e. moment of FC about O ),
mv 2
CC  h cos 
R
The effect of this couple is to rotate the vehicle in the clockwise direction when viewed from
rear; i.e. to overturn the vehicle outward.
mv 2
Therefore, centrifugal couple, CC  h cos   clockwise ---------- (2)
R
3. Couple due to self weight and its effect
The weight of motorcycle and the rider acts through the centre of gravity G vertically
downwards and its magnitude is equal to mg .
Therefore, magnitude of couple due to weight ' mg ' , i.e. moment of weight mg about O .
CW  mg h sin 
The effect of this couple is to rotate the vehicle in the counter clockwise direction when
viewed from rear.
Therefore, couple due to weight, CW  mg h sin   counter clockwise ---------- (3)

For equilibrium of the vehicle, the net couple acting on the vehicle must be equal to zero. i.e.

Net overturning couple = net restoring couple

i.e. CG  CC  CW

v2 mv 2
i.e.  2I w  GI e  cos   h cos   mg h sin 
Rr R

 v2 mv 2 
i.e.  2 I w  GI e  R r  R h  cos   mg h sin 
 

 v2 mv 2 

 w   
R 
2 I GI e h
or tan    Rr
------------------------------ (4)
mgh

From the above equation (4), for a given radius of curvature and velocity, the angle of heel
  required to keep the vehicle in equilibrium can be found out.

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

EXAMPLE – 1

Each road wheel of a motorcycle has a mass moment of inertia of 1.5 kg  m 2 . The rotating parts of
the engine of the motorcycle have a mass moment of inertia of 0.25 kg  m 2 . The speed of the
engine is 5 times the speed of the wheels and is in the same sense. The mass of the motorcycle with
its rider is 250 kg and its centre of gravity is 0.6 m above the ground level. The cycle is travelling
at 50 km hr and is taking a turn of 30 m radius. The wheel diameter is 0.6 m . Find

(a) The angle of heel

(b) The correct angle of banking of the track so that there is no tendency to side slip.

SOLUTION

Mass moment of inertia of each wheel, I w  1.5 kg  m 2

Mass moment of inertia of rotating engine parts, I e  0.25 kg  m 2

e
Since e  5 w , gear ratio, G   5
w

Mass of motorcycle and rider, m  250 kg

Height of centre of gravity above ground, h  0.6 m

1000
Speed of motorcycle, v  50 km hr  50   13.89 m s
3600

Radius of curvature, R  30 m

Wheel diameter, d  0.6 m

0.6
Therefore, radius of each wheel, r   0.3 m
2

(a) Since the engine parts rotate in the same sense as that of wheels, gyroscopic couple,
v2
CG   2I w  GI e  cos 
Rr

13.892
i.e. CG   2 1.5  5  0.25  cos 
30  0.3

i.e. CG  91.092 cos  N m ------------------------------ (1)

mv 2
Centrifugal couple, CC  h cos 
R

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

250 13.892
i.e. CC   0.6  cos 
30

i.e. CC  964.66 cos  N  m ------------------------------ (2)

Therefore, total overturning couple  CG  CC  91.092 cos   964.66 cos 

 1055.752 cos N  m ------------------------------ (3)

The couple due to weight or restoring couple,

CW  mg h sin   250  9.81  0.6  sin 

i.e. CW  1471.5 sin  N  m ------------------------------ (4)

For equilibrium, Overturning Couple  Restoring Couple

Therefore, equating equations (3) and (4), we get

1055.752 cos  1471.5 sin 

i.e. tan   0.717    35.7 0

Therefore, angle of heel necessary for equilibrium,   35.70

(b) Let   angle of banking of the track

Inorder to determine the angle of banking of the track, the effect of gyroscopic couple is
neglected. Therefore,
Centrifugal couple = Restoring couple
mv 2
i.e. h cos   mg h sin 
R
v2 13.892
or tan     0.655    33.250
Rg 30  9.81
Therefore, angle of banking of the track required to avoid side slipping,   33.250

EXAMPLE – 2

Find the limiting speed of a two wheeler negotiating a turn. Given:

Combined mass of the vehicle and rider is 250 kg , moment of inertia of engine flywheel is
0.3 kg  m2 , moment of inertia of each road wheel is 1 kg  m 2 , speed of the engine flywheel is 5
times the speed of road wheels and in the same direction, height of centre of gravity of the rider with
vehicle is 0.6 m , angle of heel possible is 500 , wheel radius is 300 mm , radius of turn is 50 m .

SOLUTION

m  250 kg , IW  1 kg  m 2 , I e  0.3 kg  m 2

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

e
Since e  5 w , Gear ratio, G   5
w

h  0.6 m , R  50 m , r  300 mm  0.3 m ,   500

v2
We know that gyroscopic couple, CG   2I w  GI e  cos 
Rr

v2
i.e. CG   2 1  5  0.3 cos 500  0.15 v 2
50  0.3

i.e. CG  0.15 v 2 N  m -------------------------------------------------- (1)

mv 2 250  v 2
Centrifugal couple, CC  h cos    0.6  cos 500
R 50

i.e. CC  1.9284 v 2 N  m -------------------------------------------------- (2)

Therefore, total overturning couple  CG  CC  0.15 v 2  1.9284 v 2

 2.0784 v 2 ---------------------------------------- (3)

Couple due to weight or restoring couple, CW  mg h sin   250  9.81  0.6  sin 500

i.e. CW  1127.2344 N  m -------------------------------------------------- (4)

For equilibrium of the vehicle, the overturning couple and the restoring couple must be the same.
Therefore, equating equations (3) and (4), we get

1127.2344
2.0784 v 2  1127.2344  v  23.2886 m s
2.0784

3600
i.e. v  23.2886   83.84 km hr
1000

Therefore, the limiting speed of the vehicle while taking the turn is 83.84 km hr . Above this speed,
either the vehicle will skid or it will overturn.

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

EFFECT OF GYROSCOPIC COUPLE ON A DISC FIXED

TIGIDLY AT AN ANGLE TO A ROTATING SHAFT

Consider a disc fixed rigidly to a rotating shaft

such that polar axis of the disc makes an angle
 with the shaft axis. Let the shaft rotates
with an angular velocity  rad s in the
clockwise direction when viewed from the
right side. The disc will also rotate about the
shaft axis with the same angular velocity
 rad s .

Let OP  polar axis

OD  diametral axis

Then the component of angular velocity vector  along the polar axis   cos

the component of angular velocity vector  along the diametral axis   sin 

Let m  mass of rotating disc

r  radius of the disc

t  thickness of the disc

mr 2
Then mass moment of inertia of the disc about the polar axis, I p 
2

 r2 t2 
mass moment of inertia of the disc about the diametral axis, I d  m   
4 12 

mr 2
If the thickness t is very small as compared to radius r , then I d 
4

CASE – 1: If polar axis is considered as spin axis

If polar axis is considered as spin axis, then diametral axis becomes the precession axis.

Therefore, angular velocity of spin   cos

Angular velocity of spin   sin 

mr 2
Mass moment of inertia of the disc  I p 
2

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

mr 2
Therefore, magnitude of gyroscopic couple, C1  I  p   cos    sin  
2

mr 2 2 mr 2 2  2sin  cos  
i.e. C1   sin  cos     
2 2  2 

mr 2 2
i.e. C1   sin 2
4

oa  initial position of spin vector

oa  spin vector position after some time during precession about
the diametral axis

aa  direction of active gyroscopic couple which is perpendicular

to the paper and away from us

aa  direction of reactive gyroscopic couple which is

perpendicular to the paper and towards us

The effect of reactive gyroscopic couple is to rotate the system in

the counter clockwise direction when viewed from front.

mr 2 2
 C1   sin 2  counter clockwise  ---------------------------------------- (1)
4

CASE – 2: If diametral axis is considered as spin axis

If diametral axis is considered as spin axis, then polar axis becomes the precession axis.

Therefore, angular velocity of spin   sin 

Angular velocity of spin   cos

mr 2
Mass moment of inertia of the disc  I d 
4

mr 2
Therefore, magnitude of gyroscopic couple, C2  I  p   sin    cos  
4

mr 2 2 mr 2 2  2sin  cos  
i.e. C2   sin  cos     
4 4  2 

mr 2 2
i.e. C2   sin 2
8

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MECHANICS OF MACHINES MODULE IV GYROSCOPE

ob  initial position of spin vector

ob  spin vector position after some time during precession about the
polar axis

bb  direction of active gyroscopic couple which is perpendicular to

the paper and towards us

bb  direction of reactive gyroscopic couple which is perpendicular

to the paper and away from us

The effect of reactive gyroscopic couple is to rotate the system in the clockwise direction when
viewed from front.

mr 2 2
 C2   sin 2  clockwise  ---------------------------------------- (2)
8

Therefore, resultant gyroscopic couple acting on the disc, C  C1  C2

mr 2 2 mr 2 2
i.e. C   sin 2   sin 2
4 8

mr 2 2
i.e. C   sin 2 ---------------------------------------- (3)
8

If C is ve , then the direction of reactive gyroscopic couple is counter clockwise and if C is  ve ,
the direction of reactive gyroscopic couple is clockwise.

EXAMPLE – 1

A shaft carries a uniform disc of 0.6 m diameter and mass 30 kg . The disc is out of truth and makes
an angle of 10 with a plane at right angles to the axis of the shaft. Find the gyroscopic couple acting
on the bearing when shaft rotates at 1200 rpm .

SOLUTION

d  0.6 m  r  0.3 m , m  30 kg ,   10

2 1200
N  1200 rpm    125.7 rad s
60

mr 2 2
Therefore, gyroscopic couple acting on the bearing, C   sin 2
8

30  0.32
i.e. C   125.7 2  sin 20  186 N  m
8

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