GYROSCOPE

SHIP

 Steering – Turning of a complete ship in a curve towards the left or right

 Pitching – Cyclic up and down motion of the bow and stern in a vertical plane about transverse axis.
 Rolling – Cyclic oscillating in a vertical plane along the transverse axis and about the longitudinal axis.

FORMULAS TO BE REMEMBER:
 Angular velocity: ω = 2.Π.N / 60
 Mass moment of inertia I = m.k2
Steering
 Maximum angular velocity of precession ωp = v/R
 Maximum Gyroscopic couple Cmax = I.ω.ωp
 Effects
PROPELLER rotates in CLOCKWISE direction when seen from Front end and Ship turns
towards LEFT
PROPELLER rotates in CLOCKWISE direction when seen from Rear end and Ship turns
towards RIGHT

PROPELLER rotates in CLOCKWISE direction when seen from Front end and Ship turns
towards RIGHT
PROPELLER rotates in COUNTERCLOCKWISE direction when seen from Front end and Ship
turns towards LEFT

PROPELLER rotates in COUNTERCLOCKWISE direction when seen from Front end and Ship
turns towards RIGHT
 PITCHING
 Angular velocity of SHM ωo = 2.Π / tp
 Maximum angular velocity of precession ωp = Φ. ωo
 Maximum Gyroscopic couple Cmax = I.ω.ωp
 Maximum angular acceleration of precession Alphap = Φ. ωo2
 Effects

PROPELLER rotates in CLOCKWISE direction and Ship pitches downward

PROPELLER rotates in CLOCKWISE direction and Ship pitches Upward

PROPELLER rotates in COUNTERCLOCKWISE direction and Ship pitches downward

 PROPELLER rotates in COUNTERCLOCKWISE direction and Ship pitches Upward

ROLLING
 Maximum Gyroscopic couple Cmax = I.ω.ωp
 Effects – No effects.
UNIVERSITY PROBLEMS AND SOLUTION:

1. A turbine rotor of a ship has a mass of 20 tones and a radius of gyration of 0.75 m. Its speed is 2000
rpm. The ship pitches 6o above and below the horizontal position. One complete oscillation takes 20
seconds and the motion is simple harmonic. Calculate the maximum couple tending to shear the
holding down bolts of the turbine and the maximum angular acceleration of the ship during pitching &
the direction in which the bow will tend to turn while rising, if the rotation of the rotor is clockwise when
looking from rear.
GIVEN DATA:
Mass m = 20 Tones
Radius of gyration k = 0.75 m
Speed N = 2000 rpm
Pitching angle θ = 6o
Time taken for one cycle t = 20 sec
TO FIND
(i) Maximum Couple , (ii) Maximum angular acceleration - Pitching
SOLUTION:
(i) Moment of inertia of rotor
I = m.k2
I = 20 x 1000 x 0.75 = 11250 kg-m2
(ii) Angular velocity
ω = 2.Π.N / 60
ω = 2.Π.2000 / 60 = 209.44 rad/sec
(iii) Maximum angular velocity of precession
ωpmax = Φ . ωo = Φ . 2.Π / tp
ωpmax = 0.105 x 2 xΠ / 20 = 0.033 rad/sec
(iv) Maximum Gyroscopic couple
Cmax = I.ω.ωpmax
Cmax = 11250 x 209.44 x 0.033 =77755 N-m = 77.755 kN-m
(v) Maximum angular acceleration of the ship during pitching
Alphamax = Φ. ωo2 = Φ. (2.Π / tp) 2
Alphamax = 0.105 x (2 xΠ / 20)2 = 0.0105 rad/sec2
(vi) Gyroscopic effect
When the rotor rotes in clockwise direction looking from rear end, the ship pitching upwards is
turn the ship towards star-board side.
RESULT:
 Maximum Gyroscopic couple Cmax = 77.755 kN-m
 Maximum angular acceleration Alphamax = 0.0105 rad/sec2

2. The mass of a turbine rotor of the ship is 8 tones and has a radius of gyration of 0.6m. It rotates at
1800 rpm clockwise when looking from the stern. Determine the gyroscopic effects in the following
cases: (i) If the ship travelling at 100 km/h steers to the left in a curve of 75m radius. (ii) If the ship is
pitching and the bow is descending with maximum velocity. The pitching is simple harmonic, the
periodic time being 20 seconds and the total angular movement between the extreme positions is 10 o.
(iii) If the ship is rolling and at a certain instant has an angular velocity of 0.03rad/s clockwise when
looking from stern.
GIVEN DATA:
Mass m = 8 Tones
Radius of gyration k = 0.6 m
Speed N = 1800 rpm
Turning radius R = 75 m
Turning velocity = 100 km/h = 27.78 m/sec
Pitching angle Φ = 10o = 10 x Π / 180 = 0.175 rad
Pitching time period tp = 20 sec
Rolling angular velocity = 0.03 rad/sec
Turbine rotor rotates clockwise viewed from aft or stern.
TO FIND
Maximum Couple and Effect, when (i) The ship turns left at a radius of 75 m with a speed of
100 km/h. (ii) The ship pitches with the bow descending at maximum velocity. (iii) The ship
rolls at an angular velocity of 0.03rad/s.
SOLUTION:
(i) Moment of inertia of rotor
I = m.k2
I = 8 x 1000 x 0.62 = 2880 kg-m2
(ii) Angular velocity
ω = 2.Π.N / 60
ω = 2.Π.1800 / 60 = 188.5 rad/sec
When the ship turns at a radius of 75 m with a speed of 100 km/h
(iii) Maximum angular velocity of precession
ωp = v/R
ωp = 27.78 / 75 =0.37 rad/sec
(iv) Maximum Gyroscopic couple
Cmax = I.ω.ωp
Cmax = 2880 x 188.5 x 0.37 =200866 N-m = 200.9 kN-m
(v) Gyroscopic effect
The rotor rotes in clockwise direction when viewed from aft and the ship steer to left the
gyroscopic effect are to aft depressed and bow raised.
The ship pitches with the bow rising at an angular velocity of 0.8rad/s
(vii) Maximum angular velocity of precession
ωpmax = Φ . ωo = Φ . 2.Π / tp
ωpmax = 0.175 x 2 xΠ / 20 = 0.055 rad/sec
(vi) Maximum Gyroscopic couple
Cmax = I.ω.ωp
Cmax = 2880 x 188.5 x 0.055 =29858.4 N-m = 29.9 kN-m
(vii) Gyroscopic effect
The ship is pitching with bow rising- the effect of maximum gyroscopic couple are to turn the
ship towards Port side.
When the ship rolls at an angular velocity of 0.03rad/s
(viii) Maximum Gyroscopic couple
Cmax = I.ω.ωp
Cmax = 2880 x 188.5 x 0.03 =16286.4 N-m = 16.3 kN-m
(ix) Gyroscopic effect
The ship is rolling the axis of precession is always parallel to the axis of spin for all positions;
therefore there is no effect of gyroscopic effect.
3. The turbine rotor of a ship has mass of 2.2 tones and rotates at 1800 rpm clockwise when viewed from
the aft. The radius of gyration of the rotor is 320 mm. Determine the gyroscopic couple and its effect
when (i) The ship turns right at a radius of 250m with a speed of 25km/h. (ii) The ship pitches with the
bow rising at an angular velocity of 0.8rad/s. (iii) The ship rolls at an angular velocity of 0.1rad/s.
GIVEN DATA:
Mass m = 2.2 Tones
Radius of gyration k = 0.32 m
Speed N = 1800 rpm
Turning radius R = 250 m
Turning velocity = 25 km/h = 6.94 m/sec
Pitching Angular velocity = 0.8 rad/sec
Rolling angular velocity = 0.1 rad/sec
Turbine rotor rotates clockwise viewed from aft.
TO FIND
Maximum Couple and Effect, when (i) The ship turns right at a radius of 250m with a speed
of 25km/h. (ii) The ship pitches with the bow rising at an angular velocity of 0.8rad/s. (iii) The
ship rolls at an angular velocity of 0.1rad/s.
SOLUTION:
(i) Moment of inertia of rotor
I = m.k2 = 2.2 x 1000 x 0.322 = 225.28 kg-m2
(ii) Angular velocity
ω = 2.Π.N / 60 = 2.Π.1800 / 60 = 188.5 rad/sec
When the ship turns at a radius of 250 m with a speed of 25 km/h
(iii) Maximum angular velocity of precession
ωp = v/R
ωp = 6.94 / 250 =0.028 rad/sec
(iv) Maximum Gyroscopic couple
Cmax = I.ω.ωp
Cmax = 225.28 x 188.5 x 0.028 =1189.1 N-m = 1.2 kN-m
(v) Gyroscopic effect
The rotor rotes in clockwise direction when viewed from aft and the ship steer to right the
gyroscopic effect are to aft rise and bow depressed.
The ship pitches with the bow rising at an angular velocity of 0.8rad/s
(vi) Maximum Gyroscopic couple
Cmax = I.ω.ωp = 225.28 x 188.5 x 0.8 =33972.2 N-m = 34 kN-m
(vii) Gyroscopic effect
The ship is pitching with bow rising- the effect of maximum gyroscopic couple are to turn the
ship towards Star board.
When the ship rolls at an angular velocity of 0.1rad/s
(viii) Maximum Gyroscopic couple
Cmax = I.ω.ωp = 225.28 x 188.5 x 0.1 =4246.5 N-m = 4.25 kN-m
(ix) Gyroscopic effect
The ship is rolling the axis of precession is always parallel to the axis of spin for all positions;
therefore there is no effect of gyroscopic effect.
4. 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 effects upon the
ship. (i) When the ship is steering to the left on a curve of 100 m radius at a speed of 36km/h. (ii)
 When the ship is pitching in a single harmonic motion, the bow falling with its maximum velocity. The
period of pitching is 40 seconds and the total angular displacement between the two extreme positions
of pitching is 12o.
GIVEN DATA:
Mass m = 3500 kg
Radius of gyration k = 0.45 m
Speed N = 3000 rpm
Turning radius R = 100 m
Turning velocity = 36 km/h = 10 m/sec
Pitching angle Φ = 12o = 12 x Π / 180 = 0.209 rad
Pitching time period tp = 40 sec
Turbine rotor rotates clockwise viewed from aft or stern.
TO FIND
Maximum Couple and Effect, when (i) The ship turns left at a radius of 100 m with a speed
of 36 km/h. (ii) The ship pitches with the bow falling with maximum.
SOLUTION:
(i) Moment of inertia of rotor
I = m.k2 = 3500 x 0.452 = 708.75 kg-m2
(ii) Angular velocity
ω = 2.Π.N / 60 = 2.Π.3000 / 60 = 314.16 rad/sec
When the ship turns at a radius of 100 m with a speed of 36 km/h
(iii) Maximum angular velocity of precession
ωp = v/R
ωp = 10 / 100 =0.1 rad/sec
(iv) Maximum Gyroscopic couple
Cmax = I.ω.ωp = 707.75 x 314.16 x 0.01 =2223.5 N-m = 2.2 kN-m
(v) Gyroscopic effect
The rotor rotes in clockwise direction when viewed from aft and the ship steer to left the
gyroscopic effect are to aft depressed and bow raised.
The ship pitches with the bow falling
(viii) Maximum angular velocity of precession
ωpmax = Φ . ωo = Φ . 2.Π / tp
ωpmax = 0.209 x 2 xΠ / 40 = 0.033 rad/sec
(vi) Maximum Gyroscopic couple
Cmax = I.ω.ωp = 707.75 x 314.16 x 0.033 =7337.4 N-m = 7.34 kN-m
(vii) Gyroscopic effect
The ship is pitching with bow falling- the effect of maximum gyroscopic couple is to turn the
ship towards port side.
5. A ship is propelled by a turbine rotor which has a mass of 5 tonnes and a speed of 2100 rpm. The rotor
has a radius of gyration of 0.5 m and rotates in a clockwise direction when viewed from the stern. Find
the gyroscopic effect in the following conditions: (i) The ship sails at a speed of 30 km/hr and steers to
the left in curve having 60 m radius; (ii) The ship pitches 6 o above and below the horizontal position.
The bow is descending with its maximum velocity. The motion due to pitching is SHM and the periodic
time is 20 seconds. (iii) The ship rolls and at a certain instant it has an angular velocity of 0.03 rad/sec
clockwise when viewed from stern. Determine also the maximum angular acceleration during pitching.
GIVEN DATA:
Mass m = 5 Tones
 Radius of gyration k = 0.5 m
Speed N = 2100 rpm
Turning radius R = 60 m
Turning velocity = 30 km/h = 8.33 m/sec
Pitching angle Φ = 6o = 6 x Π / 180 = 0.105 rad
Pitching time period tp = 20 sec
Rolling angular velocity = 0.03 rad/sec
Turbine rotor rotates clockwise viewed from aft or stern.
TO FIND
Maximum Couple and Effect, when (i) The ship turns left at a radius of 60 m with a speed of
30 km/h. (ii) The ship pitches with the bow descending at maximum velocity. (iii) The ship rolls
at an angular velocity of 0.03rad/s. (iv) Maximum angular acceleration during pitching.
SOLUTION:
(i) Moment of inertia of rotor
I = m.k2
I = 5 x 1000 x 0.52 = 1250 kg-m2
(ii) Angular velocity
ω = 2.Π.N / 60
ω = 2.Π.2100 / 60 = 219.9 rad/sec
When the ship turns at a radius of 60 m with a speed of 30 km/h
(iii) Maximum angular velocity of precession
ωp = v/R
ωp = 8.33 / 60 =0.14 rad/sec
(iv) Maximum Gyroscopic couple
Cmax = I.ω.ωp
Cmax = 1250 x 219.9 x 0.14 =38482.5 N-m = 38.5 kN-m
(v) Gyroscopic effect
The rotor rotes in clockwise direction when viewed from aft and the ship steer to left the
gyroscopic effect are to aft depressed and bow raised.
The ship pitches with the bow descending
(vi) Maximum angular velocity of precession
ωpmax = Φ . ωo = Φ . 2.Π / tp
ωpmax = 0.105 x 2 xΠ / 20 = 0.033 rad/sec
(vii) Maximum Gyroscopic couple
Cmax = I.ω.ωp
Cmax = 1250 x 219.9 x 0.033 =9070.9 N-m = 9.07 kN-m
(viii) Gyroscopic effect
The ship is pitching with bow descending- the effect of maximum gyroscopic couple is to turn
the ship towards Port side.
When the ship rolls at an angular velocity of 0.03rad/s
(ix) Maximum Gyroscopic couple
Cmax = I.ω.ωp
Cmax = 1250 x 219.9 x 0.03 =8246.25 N-m = 8.25 kN-m
(x) Gyroscopic effect
The ship is rolling the axis of precession is always parallel to the axis of spin for all positions;
therefore there is no effect of gyroscopic effect.
6. Each paddle wheel of a steamer has a mass of 1600 kg and radius of gyration of 1.2 m. The steamer
turns to port in a circle of 160 m radius at 24 km/hr. The speed of the paddle is 90 rpm. Find the
magnitude and effect of the gyroscopic couple acting on the steamer.
GIVEN DATA:
Mass m = 1600 kg
Radius of gyration k = 1.2 m
Speed N = 90 rpm
Turning radius R = 160 m
Turning velocity = 24 km/h = 6.67 m/sec
TO FIND
Maximum Couple and Effect- when the ships turn right at a radius of 160 m with a speed of
24 km/h.
SOLUTION:
(i) Moment of inertia of rotor
I = m.k2
I = 1600 x 1.22 = 2304 kg-m2
(ii) Angular velocity
ω = 2.Π.N / 60
ω = 2.Π.90 / 60 = 9.43 rad/sec
When the ship turns at a radius of 160 m with a speed of 24 km/h
(iii) Maximum angular velocity of precession
ωp = v/R
ωp = 6.67 / 160 =0.042 rad/sec
(iv) Maximum Gyroscopic couple
Cmax = I.ω.ωp
Cmax = 2304 x 9.43 x 0.042 =915.5 N-m
(v) Gyroscopic effect

7. The rotor of a turbine yacht rotates at 1200 rpm clockwise when viewed from stern. The rotor has a
mass of 750 kg and radius of gyration of 250 mm .Find the maximum gyroscopic couple transmitted to
the hull when yacht pitches with a maximum angular velocity of 1 rad/sec. What is the effect of this
couple?
GIVEN DATA:
Mass m = 750 kg
Radius of gyration k = 0.25 m
Speed N = 1200 rpm
Pitching angular velocity ωp = 1 rad/sec
Turbine rotor rotates clockwise viewed from aft or stern.
 TO FIND
Maximum Couple and Effect
SOLUTION:
(i) Moment of inertia of rotor
I = m.k2
I = 750 x 0.252 = 46.88 kg-m2
(ii) Angular velocity
ω = 2.Π.N / 60
ω = 2.Π.1200 / 60 = 125.66 rad/sec
(iii) Maximum Gyroscopic couple
Cmax = I.ω.ωp
Cmax = 46.88 x 125.66 x 1 =5890.9 N-m = 5.89 kN-m
(iv) Gyroscopic effect
The ship is pitching with bow descending- the effect of maximum gyroscopic couple is to turn
the ship towards Port side.
The ship is pitching with bow rising- the effect of maximum gyroscopic couple is to turn the
ship towards star board.

FOUR WHEEL MOTOR CYCLE

The forces accounting for the stability of the vehicle are:

 Weight of the vehicle
 Precession of vehicle
 Dead weights:
 Reaction of ground on each front wheel Wf / 2 = W.l2/ 2.l
 Reaction of ground on each rear wheel Wr / 2 = W.l1/ 2.l
 Centrifugal force acting outward at the CG of the vehicle Fc = M.v2 / R
 Centrifugal couple Cc = Fc. h = M.h.v2 / R
 Reaction of ground on each outer wheel Q/2 = Cc / 2.a - Upward
 Reaction of ground on each inner wheel Q/2 = Cc / 2.a – Downward
  Gyroscopic Couple due to wheels:
 Moment of inertia of each wheel Iw = Mw.kw2
 Moment of inertia of engine, flywheel, rotating parts = Ie = Me.ke2
 Velocity of spin of each wheel about its own axis ωw = v / rw
 Velocity of spin of engine , flywheel ωe = i. ωw
 Angular velocity of precession of wheels ωpw = ωpe = v/R
 Gyroscopic couple due to four wheels Cgw = 4.Iw. ωw. ωpw
 Reaction of ground on each outer wheel P/2 = Cgw / 2.a - Upward
 Reaction of ground on each inner wheel P/2 = Cgw / 2.a – Downward
 Gyroscopic Couple due other rotating parts:
 Gyroscopic couple due to rotating parts of engine Cge = Ie. ωe. ωpe
 Load due to engine F /2 = Cge / 2.l
 Reaction of ground on each outer wheel F/2 = Cge / 2.a - Upward
 Reaction of ground on each inner wheel F/2 = Cge / 2.a – Downward
Notation:
 M = mass of vehicle, W = weight of vehicle
 Mw = Mass of each wheel, Me = Mass of engine , flywheel and transmission
 Kw = radius of gyration of wheel
 Ke = radius of gyration of engine, flywheel and transmission
 i = Speed ratio or gear ratio
 R =Radius of curve
 v= Linear speed of vehicle
8. A four wheeled motor car weighing 2000 kg has height of CG of 600 mm above ground level. The
engine parts and transmission are equivalent to a flywheel of 80 kg with radius of gyration of 150 mm
and their axis coincides with longitudinal axis of the vehicle. The car negotiates a curve of 60 m radius
at 72 kmph with overall gear ratio 4:1. The radius of road wheel is 300 mm and its moment of inertia is
3 kg-m2. Assuming wheel track as 1.5 m, weight distribution as 50:50, determine reaction at each
wheel.
GIVEN DATA:
Mass M = 2000 kg
Radius of wheel rw = 300 mm = 0.3 m
Track width a = 1.5 m
CG from ground level h = 600 mm = 0.6 m
Wheel moment of inertia Iw = 3 kg-m2
Gear ratio i=4
ω e = 4 x ωw
Mass of engine Me = 80 kg
Radius of gyration of engine ke = 150 mm = 0.15m
Radius of curve R= 60 m
Velocity v= 72 km/h = 20 m/sec
TO FIND
Load on each wheel
SOLUTION:
(i) Dead weights: Reaction of ground on each front and rear wheel
W / 4 = M x g / 4 = 2000 x 9.81 / 4 = 4905 N
 (ii) Centrifugal couple
Cc = Fc. h = M.h.v2 / R
Cc = 2000 x 0.6 x 202 / 60 = 8000 N-m
(iii) Reaction of ground on each wheel
Q/2 = Cc / 2.a
Q/2 = 8000 / 2 x 1.5 = 2666.67 N- Downward on inner wheels and Upward on outer wheels.
(iv) Angular & Precession Angular velocity of wheel
ωw = v/rw = 20 / 0.3 =66.67 rad/sec
ωpw = v/R = 20 / 60 =0.33 rad/sec
(v) Gyroscope couple of wheel
Cgw = 4.Iw. ωw. ωpw
Cgw = 4 x 3 x 66.67 x 0.33 = 264.01 N-m
(vi) Reaction of ground on each wheel
P/2 = Cgw / 2.a
P/2 = 264.01 / 2 x 1.5 = 88 N- Downward on inner wheels and Upward on outer wheels.
(vii) Angular & Precession Angular velocity of engine
ωe = 4 x ωw = 4 x 66.67 =266.68 rad/sec
ωpe = ωpw = 0.33 rad/sec
(viii) Gyroscope couple of Engine
Cge = Ie. ωe. ωpe = Me.ke2 . ωe. ωpe
Cge = 80 x 0.152 x 266.68 x 0.33 = 158.41 N-m
(ix) Reaction of ground on each wheel
F/2 = Cge / 2.a
F/2 = 158.41 / 2 x 1.5 = 52.81 N- Downward on front wheels and Upward on rear wheels.
(v) For Right turn, the reactions are:
 R1 , R3 = Wf – Q – P – F = 4905 -2666.67 – 88 – 52.81 = 2097.52 N
 R2 , R4 = Wf + Q + P + F = 4905+2666.67 + 88 + 52.81 = 7712.48 N
(vi) For Left turn, the reactions are:
 R1 , R3 = Wf + Q + P + F = 4905+2666.67 + 88 + 52.81 = 7712.48 N
 R2 , R4 = Wf – Q – P – F = 4905 -2666.67 – 88 – 52.81 = 2097.52 N
9. A four wheeled motor car of mass 2000 kg has a wheel base 2.5 m, track width 1.5 m and height of
center of gravity 500 mm above the ground level and lies at 1 m from the front axle. Each wheel has an
effective diameter of 0.8 m and a moment of inertia of 0.8 kg-m2. The drive shaft, engine fly wheel and
transmission are rotating at 4 times the speed of road wheel, in a clockwise direction when viewed from
the front and is equivalent to a mass of 75 kg having a radius of gyration of 100 mm. If the car is
taking a right turn of 60 m radius at 60 km/hr, find the load on each wheel.
GIVEN DATA:
Mass M = 2000 kg
Wheel diameter dw = 0.8 m
Radius of wheel rw = dw /2 = 0.4 m
Wheel base l = 2.5 m
Track width a = 1.5 m
CG from ground level h = 0.5 m
CG from front axle l1 =1 m
CG from rear axle l2 =l – l1 = 2.5-1 = 1.5 m
 Wheel moment of inertia Iw = 0.8 kg-m2
Gear ratio i=4
ω e = 4 x ωw
Mass of engine Me = 75 kg
Radius of gyration of engine ke = 100 mm = 0.1m
Radius of curve R= 60 m
Velocity v= 60 km/h = 16.67 m/sec
TO FIND
Load on each wheel
SOLUTION:
(i) Dead weights: Reaction of ground on each front and rear wheel
Wf / 2 = W.l2/ 2.l = M x g x l2/ 2.l = 2000 x 9.81x1.5 / 2 x 2.5 = 5886 N
Wr / 2 = W.l1/ 2.l = M x g x l1/ 2.l = 2000 x 9.81x1 / 2 x 2.5 = 3924 N
(ii) Centrifugal couple
Cc = Fc. h = M.h.v2 / R = 2000 x 0.5 x 16.672 / 60 = 4631.48 N-m
(iii) Reaction of ground on each wheel
Q/2 = Cc / 2.a
Q/2 = 4631.48 / 2 x 1.5 = 1543.83 N- Downward on inner wheels and Upward on outer wheels.
(iv) Angular & Precession Angular velocity of wheel
ωw = v/rw = 16.67 / 0.4 =41.68 rad/sec
ωpw = v/R = 16.67 / 60 =0.28 rad/sec
(v) Gyroscope couple of wheel
Cgw = 4.Iw. ωw. ωpw
Cgw = 4 x 0.8 x 41.68 x 0.28 = 37.35 N-m
(vi) Reaction of ground on each wheel
P/2 = Cgw / 2.a
P/2 = 37.35 / 2 x 1.5 = 12.45 N- Downward on inner wheels and Upward on outer wheels.
(vii) Angular & Precession Angular velocity of engine
ωe = 4 x ωw = 4 x 41.68 =166.72 rad/sec
ωpe = ωpw = 0.28 rad/sec
(viii) Gyroscope couple of Engine
Cge = Ie. ωe. ωpe = Me.ke2 . ωe. ωpe
Cge = 75 x 0.12 x 166.72 x 0.28 = 35 N-m
(ix) Reaction of ground on each wheel
F/2 = Cge / 2.a
F/2 = 35 / 2 x 1.5 = 11.67 N- Downward on front wheels and Upward on rear wheels.
(vii) For right turn, the reactions are:
 R1 = Wf – Q – P – F = 5886 -1543.83 – 12.45 – 11.67 = 4318 .05 N
 R2 = Wf + Q + P + F = 5886 +1543.83 + 12.45 + 11.67 = 7453 .95 N
 R3 = Wr – Q – P – F = 3924 -1543.83 – 12.45 – 11.67 = 2356 .05 N
 R4 = Wr + Q + P + F = 3924 +1543.83 + 12.45 + 11.67 = 5491.95 N
(viii) For Left turn, the reactions are:
 R1 = Wf + Q + P + F = 5886 + 1543.83 + 12.45 + 11.67 = 7453.95 N
 R2 = Wf - Q - P - F = 5886 -1543.83 - 12.45 - 11.67 = 4318.05 N
 R3 = Wr + Q + P + F = 3924 + 1543.83 + 12.45 + 11.67 = 5491.95 N
 R4 = Wr - Q - P - F = 3924 -1543.83 - 12.45 - 11.67 = 2356 .05 N
10. A wheel of a locomotive, travelling on a level track at 90 km/h, falls in a spot hole 10 mm deep and
rises again in a total time of 0.8 seconds. The displacement of the wheel takes place with simple
harmonic motion. The wheel has a diameter of 3 m and the distance between the wheel centers is 1.75
m. The wheel pair with axle has a moment of inertia of 500 kg-m2. Determine the magnitude and the
effect of gyro couple produced in this case.
GIVEN DATA:
Wheel diameter dw = 3 m
Radius of wheel rw = dw /2 = 1.5 m
Wheel moment of inertia Iw = 500 kg-m2
Velocity v= 90 km/h = 25 m/sec
Track width a = 1.75 m
TO FIND
Load on each wheel
SOLUTION:
(i) Angular velocity of locomotive
ωp = v/R
ωp = 25 / 1.5 =16.7 rad/sec
(ii) Amplitude
A = Fall / 2 = Rise /2
A = 0.010 /2 = 0.005 m
(iii) Maximum velocity when falling
Vmax = 2.Π / tp x A
Vmax = = 2.Π / 0.8 x 0.005 = 0.04 m/sec
(iv) Maximum angular velocity of precession
ωpmax = vmax/x
ωpmax = 0.04 / 1.75 = 0.03 rad/sec
(v) Maximum Gyroscopic couple
Cmax = I.ω.ωpmax
Cmax = 500 x 16.7 x 0.03 = 250.5 N-m
(vi) Gyroscopic effect
The gyroscopic couple will act in a horizontal plane and tends to produce swerve. (Turns the
locomotive aside)
11. A four wheel trolley car of total mass 2000 kg running on rails of 1 m gauge, rounds a curve of 25 m
radius at 40 km/hr. the track is banked at 10o. The wheel have an external diameter of 0.6m and each
pair has an axle has mass of 200 kg; the radius of gyration of each pair is 250 mm. The height of C.G
of the car is 0.95m. Determine the pressure on each wheel.
GIVEN DATA:
Mass M = 2000 kg
Wheel diameter dw = 0.6 m
Radius of wheel rw = dw /2 = 0.3 m
Track width a=1m
CG from ground level h = 0.95 m
Mass of wheel Mw = 200 kg
Radius of gyration of wheel kw = 250 mm = 0.25m
Radius of curve R= 25 m
Velocity v= 40 km/h = 11.11 m/sec
Track angle θ = 10o
 TO FIND
Load on each wheel
SOLUTION:

(i) Centrifugal force

Fc = M.v2 / R
Fc = 2000 x 11.112 / 25 = 9874.57 N-m
(ii) Angular & Precession Angular velocity of wheel
ωw = v/rw = 11.11 / 0.3 =37.03 rad/sec
ωpw = v/R = 11.11 / 25 =0.45 rad/sec
(iii) Resolving the forces perpendicular to the track
RA + RB = W cos θ + Fc sin θ = M.g. cos θ + M.v2/R. sin θ
RA + RB = 2000 x 9.81 x cos 10 + 2000 x 11.112 / 25 x sin 10
RA + RB = 19322 + 1715 = 21037 N
(iv) Taking moment about ‘B’
RA .x = (W cos θ + Fc sin θ). X/2 + W sin θ x h - Fc cos θ. H
RA = (M.g. cos θ + M.v2/R. sin θ). X/x. 2 + M.g. sin θ x h/x - M.v2/R. cos θ x h/x
RA = (2000 x 9.81 x cos 10 + 2000 x 11.112 x sin 10 / 25) x ½ + 2000 x 9.81. Sin 10 x
0.95/1 – 2000 x 11.112 x cos 10 / 25) x0.95 / 1
RA = 10518.5+ 3237 – 9238 = 4517.5 N
RB = RA + RB - RA = 21037 – 4517.5 =16519.5 N
(v) Gyroscope couple of wheel
Cgw = Iw. ωw.cos θ . ωp = Mw.k2 . ωw.cos θ . ωp
Cgw =200 x 0.252 x 37.03 x cos 10 x 0.45 = 205.13 N-m
(vi) Reaction of ground on each wheel
P/2 = Cgw / 2.a
P = 205.13 x 2 / 2 x 1 = 102.57 N- Downward on inner wheels and Upward on outer wheels.
Pressure on inner wheel = RA-P = 4517.5-102.57 = 4414.93 N
Pressure on outer wheel = RB +P = 16519.5 +102.57 = 16622.07 N
12. The driving axle of a locomotive with two wheels has a mass moment of inertia of 350 kg-m2. The
wheels are 1.8 m in diameter. The distance between wheels is 1.5 m. When travelling at 100 kmph the
locomotive passes over a defective rail which causes the right wheel to fall 10 mm and rise again in
total time of 0.1 sec. the vertical motion is SHM. Find the gyroscopic torque caused? Determine the
direction in which it acts when the wheel is falling.
GIVEN DATA:
Mass moment of inertia Iw = 350 kg-m2
 Wheel diameter dw = 1.8 m
Radius of wheel rw = dw /2 = 0.9 m
Distance between wheel x = 1.5 m
Velocity v = 100 km/h = 27.78 m/sec
Time period tp = 0.1 sec
Wheel fall = 10 mm = 0.01 m
TO FIND
Reaction of bearing
SOLUTION:
(i) Angular velocity of locomotive
ωp = v/R = 27.78 / 0.9 =30.86 rad/sec
(ii) Amplitude
A = Fall / 2 = Rise /2
A = 0.010 /2 = 0.005 m
(iii) Maximum velocity when falling
Vmax = 2.Π / tp x A = 2.Π / 0.1 x 0.005 = 0.314 m/sec
(iv) Maximum angular velocity of precession
ωpmax = vmax/x
ωpmax = 0.314 / 1.5 = 0.21 rad/sec
(v) Maximum Gyroscopic couple
Cmax = I.ω.ωpmax
Cmax = 350 x 30.86 x 0.21 = 2261 N-m
(vi) Gyroscopic effect
The gyroscopic couple will act in a horizontal plane and tends to produce swerve. (Turns the
locomotive aside)
TWO WHEEL MOTOR CYCLE

 Gyroscopic couple C1 = [v2 / (Rx rw)] x (2.Iw+ i.IE) cos θ

 Centrifugal couple C2 = [m.v2 / R] x h. cos θ
 Total overturning couple C = C1+ C2
 Balancing couple CB = m.g.h. sin θ

 Angle of inclination θ find from C = CB

13. Find the angle of inclination with respect to the vertical for a two wheeler having the following details
negotiating of radius 50 m: Combined mass of the vehicle with rider = 250 kg; Center of gravity with
rider in vertical position = 0.6 m; Moment of inertia of flywheel = 0.3 kg-m2; moment of inertial of each
road wheel = 1 kg-m2; Speed of engine is five times that of road wheels and in same direction; Vertical
speed= 90 km/h; Wheel diameter = 600mm.
GIVEN DATA:
Mass m = 250 kg
CG from ground level h = 0.6 m
Mass moment of inertia Ie = 0.3 kg-m2
Mass moment of inertia Iw = 1 kg-m2
Wheel diameter dw = 600 mm = 0.6 m
Radius of wheel rw = dw /2 = 0.3 m
Velocity v = 90 km/h = 25 m/sec
Radius of path R = 50 m
Gear ratio i=5
ωe = 5 x ωw
TO FIND
Angle of inclination
SOLUTION:
(i) Gyroscopic couple
C1 = [v2 / (Rx rw)] x (2.Iw+ i.IE) cos θ
C1 = [252 / (50 x 0.3)] x (2 x 1 + 5 x 0.3) cos θ =146 cosθ N-m
(ii) Centrifugal couple
C2 = [m.v2 / R] x h. cos θ
C2 = [250 x 252 / 50] x 0.6. Cos θ = 1875 cosθ N-m
(iii) Total overturning couple
= C1 + C2 = (146 + 1875) x cos θ = 2021 cos θ N-m
(iv) Balancing couple
= m.g.h. sin θ = 250 x 9.81 x 0.6 x sin θ = 1471.5 sin θ N-m
(v) Angle of inclination
Overturning couple must be equal to the balancing couple for equilibrium condition.
2021 cos θ = 1471.5 sin θ
 tan θ = 2021 / 1471.5 = 1.3734
θ = 53.94o
RESULT:
 Angle of inclination = 53.94o

14. A motor cycle with its rider weight 250 kg, the center of gravity of the machine and rider combined
being 60 cm above the ground level when the machine is standing upright. Each road wheel has a
moment of inertia of 8 kg-m2 and rolling diameter of 60 cm. the engine rotates six times the speed of
the road wheels in same sense. The moment of inertia of engine is 1.5 kg-m2. Determine the angle of
heel necessary if the motor cycle is travelling at a speed of 15 m/sec in a curve of 30 m.
GIVEN DATA:
Mass m = 250 kg
CG from ground level h = 0.6 m
Mass moment of inertia Ie = 1.5 kg-m2
Mass moment of inertia Iw = 8 kg-m2
Wheel diameter dw = 60 cm = 0.6 m
Radius of wheel rw = dw /2 = 0.3 m
Velocity v = 15 m/sec
Radius of path R = 30 m
Gear ratio i=6
ωe = 6 x ωw
TO FIND
Angle of inclination
SOLUTION:
(i) Gyroscopic couple
C1 = [v2 / (Rx rw)] x (2.Iw+ i.IE) cos θ
C1 = [152 / (30 x 0.3)] x (2 x 8 + 6 x 1.5) cos θ =625 cosθ N-m
(ii) Centrifugal couple
C2 = [m.v2 / R] x h. cos θ
C2 = [250 x 152 / 30] x 0.6. Cos θ = 1125 cosθ N-m
(iii) Total overturning couple
= C1 + C2 = (625 + 1125) x cos θ = 1750 cos θ N-m
(iv) Balancing couple
= m.g.h. sin θ = 250 x 9.81 x 0.6 x sin θ = 1471.5 sin θ N-m
(v) Angle of inclination
Overturning couple must be equal to the balancing couple for equilibrium condition.
1750 cos θ = 1471.5 sin θ
tan θ = 1712.5 / 1471.5 = 1.1893
θ = 49.56o
RESULT:
 Angle of inclination = 49.56o

15. The mass of motor cycle along the rider is 180 kg. The height of the center of gravity of total mass is
60 cm above the ground when it moves straight. Each wheel has diameter equal to 70 cm and polar
mass moment of inertia of each wheel is 2 kg-m2. The engine rotates at a speed of 5 times the road
wheel and engine rotating parts have polar mass moment of inertia equal to 0.2 kg-m2. Determine the
angle of heel required if motor cycle negotiates a curve of radius 100 m at a speed of 108 km/hr.
 GIVEN DATA:
Mass m = 180 kg
CG from ground level h = 0.6 m
Mass moment of inertia Ie = 0.2 kg-m2
Mass moment of inertia Iw = 2 kg-m2
Wheel diameter dw = 70 cm = 0.7 m
Radius of wheel rw = dw /2 = 0.35 m
Velocity v = 108 km/hr = 30 m/sec
Radius of path R = 100 m
Gear ratio i=5
ωe = 5 x ωw
TO FIND
Angle of inclination
SOLUTION:
(i) Gyroscopic couple
C1 = [v2 / (Rx rw)] x (2.Iw+ i.IE) cos θ
C1 = [302 / (100 x 0.35)] x (2 x 2 + 5 x 0.2) cos θ =128.58 cosθ N-m
(ii) Centrifugal couple
C2 = [m.v2 / R] x h. cos θ
C2 = [180 x 302 / 100] x 0.6. Cos θ = 972 cosθ N-m
(iii) Total overturning couple
= C1 + C2 = (128.58 + 972) x cos θ = 1100.58 cos θ N-m
(iv) Balancing couple
= m.g.h. sin θ = 180 x 9.81 x 0.6 x sin θ = 1059.48 sin θ N-m
(v) Angle of inclination
Overturning couple must be equal to the balancing couple for equilibrium condition.
1100.58 cos θ = 1059.48 sin θ
tan θ = 1100.58 / 1059.48 = 1.0388
θ = 46.5o
RESULT:
 Angle of inclination = 46.5o
16. The mass of a motor cycle with its rider is 250 kg. The centre of gravity of the system is 0.8 m above
the ground when the machine is in vertical position. The mass of each wheel is 10 kg and the radius 0.3
m. The engine rotates at 6 times the speed of road wheels, and in the same sense. The mass moment
of inertia of engine is 1.6 kg m2. Calculate the angle of heel that is required so that the motor cycle
won't skid at a speed of 80 km/hr when it describes a curve of 50 m.
GIVEN DATA:
Mass m = 250 kg
CG from ground level h = 0.8 m
Mass moment of inertia Ie = 1.6 kg-m2
Mass of wheel mw = 10 kg
Radius of wheel rw = 0.3 m
Velocity v = 80 km/hr = 22.22 m/sec
Radius of path R = 50 m
Gear ratio i=6
ωe = 5 x ωw
Mass moment of inertia Iw = mw.rw2 = 10 x 0.32 = 0.9 kg-m2
TO FIND
Angle of inclination
SOLUTION:
 (i) Gyroscopic couple
C1 = [v2 / (Rx rw)] x (2.Iw+ i.IE) cos θ
C1 = [22.222 / (50 x 0.3)] x (2 x 10 x 0.32 + 6 x 1.6) cos θ =375.24 cosθ N-m
(ii) Centrifugal couple
C2 = [m.v2 / R] x h. cos θ
C2 = [250 x 22.222 / 50] x 0.8. Cos θ = 1975 cosθ N-m
(iii) Total overturning couple
= C1 + C2 = (375.24 + 1975) x cos θ = 2350.24 cos θ N-m
(iv) Balancing couple
= m.g.h. sin θ = 250 x 9.81 x 0.8 x sin θ = 1962 sin θ N-m
(v) Angle of inclination
Overturning couple must be equal to the balancing couple for equilibrium condition.
2350.24 cos θ = 1962 sin θ
tan θ = 2350.24 / 1962 = 1.1979
θ = 50.8o
RESULT:
 Angle of inclination = 50.8o

AEROPLANE
PROPELLER rotates in CLOCKWISE direction when seen from front end and Aeroplane turns
towards LEFT
PROPELLER rotates in CLOCKWISE direction when seen from rear end and Aeroplane turns
towards RIGHT

PROPELLER rotates in CLOCKWISE direction when seen from Front end and Aeroplane turns
towards RIGHT
PROPELLER rotates in COUNTER CLOCKWISE direction when seen from Front end and Aeroplane
turns towards LEFT

PROPELLER rotates in COUNTER CLOCKWISE direction when seen from rear end and Aeroplane
turns towards RIGHT
17. An aero plane makes a complete half circle of 50 m radius, towards left, when flying at 200 km per
hour. The rotary engine and the propeller of the plane have a mass of 400 kg with a radius of gyration
of 300 mm. The engine runs at 2400 rpm Clockwise, when viewed from the rear. Find the gyroscopic
couple on the aircraft and state its effect on it. What will be the effect, if the aero plane turns to its
right instead of to the left?
GIVEN DATA:
Mass m = 400 kg
Radius of gyration k = 300 mm = 0.3 m
Speed N = 2400 rpm- clockwise
Radius of path R = 50 m
Velocity v = 200 km/h = 55.56 m/sec
TO FIND
Reaction of bearing
SOLUTION:
(i) Moment of inertia of the engine
I = m.k2= 400x 0.32 = 36 kg-m2
(ii) Angular velocity
ω = 2.Π.N / 60= 2.Π.2400 / 60 = 251.4 rad/sec
(iii) Angular velocity of precession
ωp = v / R = 55.56 / 50 = 1.11 rad/sec
(iv) Gyroscopic couple
Cmax = I.ω.ωp = 36 x 251.4x 1.11 =10046 N-m
(v) Effect of Gyroscopic couple
When the aeropane turns towards left, the effect of the gyroscopic couple is to lift the nose
upward and tail downwards.
18. A disk with radius of gyration 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 80 rpm counter clockwise when viewed
from the right hand side bearing. The axle processes about vertical axis at 50 rpm in the clockwise
direction when viewed from above. Determine the resultant reaction at each bearing due to the mass
and gyroscopic effect.
GIVEN DATA:
Mass m = 4kg
Radius of gyration k = 0.06 m
Speed N = 80 rpm
Speed Np = 50 rpm
TO FIND
Reaction of bearing
SOLUTION:
(i) Moment of inertia of rotor
I = m.k2= 4x 0.062 = 0.0144 kg-m2
(ii) Angular velocity
ω = 2.Π.N / 60 = 2.Π.80 / 60 = 8.38 rad/sec
(iii) Precession angular velocity
ωp = 2.Π.N / 60 = 2.Π.50 / 60 = 5.24 rad/sec
(iv) Maximum Gyroscopic couple
Cmax = I.ω.ωp = 0.0144 x 8.38 x 5.24 =0.6323 N-m
(v) Disc spinning in clockwise direction when viewed from the right hand side bearing, the direction of
reactive gyroscopic couple is obtained with the help of vector diagram.