4

GYROSCOPE

Course Contents
4.1 Principle of Gyroscope
4.2 Angular Velocity
4.3 Angular Acceleration
4.4 Gyroscopic Couple (Torque)
4.5 Gyroscopic effect on
Aeroplane
4.6 Gyroscopic effect on Naval
ship
4.7 Stability of an Automobile
4.8 Stability of Two Wheel
Vehicle
4.9 Rigid disc at an angle fixed
to a rotating shaft

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4. Gyroscope Dynamics of Machinery (3151911)

4.1 Principle of Gyroscope

 If the axis of spinning or rotating body is given an angular motion about an axis
perpendicular to the axis of spin, an angular acceleration acts on the body about
the third perpendicular axis. The torque required to produce this acceleration is
known as active gyroscopic torque.
 A reactive gyroscopic torque or couple also acts similar to the concept of
centripetal and centrifugal forces on a reacting body. The effect produced by the
reactive gyroscopic couple is known as gyroscopic effect. Thus aeroplanes, ships,
automobiles, etc., that have rotating parts in the form of wheels or rotors of
engines experiences this effect while taking turn, i.e., when the axes of spin is
subjected to some angular motion.
4.2 Angular Velocity
 The angular velocity of a rotating body is specified by
 the magnitude of velocity
 the direction of the axis of rotor
 the sense of rotation of the rotor, i.e., clockwise or counter-clockwise
 Angular velocity is represented by a vector in the following manner:
(i) Magnitude of the velocity is represented by the length of the vector.
(ii) Direction of axis of the rotor is represented by drawing the vector parallel
to the axis of the rotor or normal to the plane of the angular velocity.
(iii) Sense of rotation of the rotor is denoted by taking the direction of the
vector in a set rule. The general rule is that of a right-handed screw, i.e., if a
screw is rotated in the clockwise direction, it goes away from the viewer
and vice-versa.

Fig. 4.1
 For example, Fig. 4.1(a) shows a rotor which rotates in the clockwise direction
when viewed from the end A. Its angular motion has been shown vectorially in
Fig.4.1 (b). The vector has been taken to a scale parallel to the axis of the rotor.
The sense of direction of the vector is from a to b according to the screw rule.
However, if the direction of rotation of the rotor is reversed, it would be from b to
a [Fig.4.1(c)].

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Dynamics of Machinery (3151911) 4. Gyroscope

4.3 Angular Acceleration:

Let a rotor spin (rotate) about the horizontal axis Ox at a speed of ω rad/s in the direction
as shown in Fig.(a). Let oa represent its angular velocity Fig. (b).

Fig. 4.2
Now, if the magnitude of the angular velocity changes to (ω+δω) and the direction of the
axis of spin to Ox’ (in time δt). The vector ob would represent its angular velocity in the
new position. Join ab which represents the change in the angular velocity of the rotor. The
vector ab can be resolved into two components:
(i) ac representing angular velocity change in a plane normal to ac or x-axis, and
(ii) cb representing angular velocity change in a plane normal to cb or y-axis.
Change of angular velocity,
ac  (  )cos   

Rate of change of angular velocity

(   )cos   

t
(   )cos   
Angular acceleration  lim
 t 0 t
𝐴𝑠𝛿𝑡 → 0, 𝛿𝜃 → 0 𝑎𝑛𝑑 cos 𝛿𝜃 → 1
Angular acceleration
     d
 lim 
 t 0 t dt
Change of angular velocity,
𝑐𝑑 = (𝜔 + 𝛿𝜔) sin 𝛿𝜃
Rate of change of angular velocity
(   )sin

t
Angular acceleration

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4. Gyroscope Dynamics of Machinery (3151911)

(  )sin
 lim
 t 0 t
𝐴𝑠𝛿𝑡 → 0, 𝛿𝜃 → 0 𝑎𝑛𝑑sin𝛿𝜃 → 𝛿𝜃
Angular acceleration
(   )sin d
 lim 
 t 0 t dt
Total angular acceleration,
d d
 
dt dt
This shows that the total angular acceleration of the rotor is the sum of
1. dω/dt, representing change in the magnitude of the angular velocity of the rotor
2. ω.dθ/dt, representing change in the direction of the axis of spin, the direction of cb is
from c to b in the vector diagram (being a component of ab), the acceleration acts
clockwise in the vertical plane xy. (When viewed from front along the y-axis)
4.4 Gyroscopic Couple (Torque)
 Let I be the moment of inertia of a rotor and ω its angular velocity about a
horizontal axis of spin Ox in the direction as shown in Fig.4.3 (a). Let this axis of
spin turn through a small angle δθ in the horizontal plane (xy) to the position Ox' in
time δt.

Fig. 4.3
 Fig.4.3(b) shows the vector diagram. oa represents the angular velocity vector
when the axis is Ox and ob when the axis is changed to Ox'. Then ab represent the
change in the angular velocity due to change in direction of the axis of spin of the
rotor.
 This change in the angular velocity is clockwise when viewed from a towards b and
is in the vertical plane xz. This change results in angular acceleration, the sense and
direction of which are the same as that of the change in the angular velocity.

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Dynamics of Machinery (3151911) 4. Gyroscope

 Change in the angular velocity, 𝒂𝒃 = 𝜔 × 𝛿𝜃

 Angular acceleration,
d
 
dt
d
 In the limit, when𝛿𝑡 → 0,   
dt
 Usually, dθ/dt the angular velocity of the axis of spin is called the angular velocity
of precession and is denoted by ωp.
 Angular acceleration 𝛼 = 𝜔.ωp
 The torque required to produce this acceleration is known as the gyroscopic torque
and is a couple which must be applied to the axis of spin to cause it to rotate with
angular velocity ωp about the axis of precession Oz.
 Acceleration torque, 𝑇 = 𝐼 ∙ 𝛼 = 𝐼 ∙ 𝜔.ωp
 For the configuration of Fig.4.3(a)
 Ox is known as the axis of spin
 Oz is known as the axis of precession
 Oy is known as the axis of gyroscopic couple
 yz is plane of spin (parallel to plane of rotor)
 xy is plane of precession
 yz is plane of gyroscopic couple
 The torque obtained above is that which is required to cause the axis of spin to
precess in the horizontal plane and is known as the active gyroscopic torque or the
applied torque.
 A reactive gyroscopic torque or reaction torque is also applied to the axis which
tends to rotate the axis of spin in the opposite direction i.e., in the counter-
clockwise direction in the above case.
 Just as the centrifugal force on a rotating body tends move the body tends to move
the body outwards, while a centripetal acceleration (and thus centripetal force)
acts on it inwards, in the same way, the effects of active and reactive gyroscopic
torques can be understood.
 The effect of the gyroscopic couple on a rotating body is known as the gyroscope
effect on the body. A gyroscope is a spinning body which is free to move in other
directions under the action of external forces.

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4. Gyroscope Dynamics of Machinery (3151911)

4.5 Gyroscopic effect on Aeroplanes

 Fig. 4.4 (a) shows an aeroplane in space. Let the propeller be rotating in the
clockwise direction when viewed from the rear end. The angular momentum
vector oa due to the angular velocity is shown in Fig 4.4. (b).
 If the plane takes a left turn, the angular momentum vector is shifted and may be
represented by the vector ob. The change is shown by the vector ab and is the
active gyroscopic couple. This vector is in the horizontal plane and is perpendicular
to the vector oa in the limit. The reactive vector is given by b'a' which is equal and
opposite to the vector ab. The interpretation of this vector shows that the couple
acts in the vertical plane and is counter-clockwise when viewed from the right-
hand side of the plane. This indicates that it tends to raise the nose and depress
the tail of the aeroplane.

Fig. 4.4
 Fig.4.4 (c) shows the gyroscopic effect, when the aeroplane takes the right turn.
The change is shown by the vector cd and is the active gyroscopic couple. It is
perpendicular to the vector oc in the limit in the horizontal plane. The reactive
couple is given by d'c'. The couple acts in the vertical plane and is clockwise when
viewed from the right-hand side of the plane. Thus, it tends to dip the nose and
raise the tail of the aeroplane.
 If the rotation of the engine is reversed, i.e., it rotates counter-clockwise when
viewing from the rear end, the angular momentum vector is oe as shown in Fig.4.4
(d). On taking a left turn, it changes to of. The active gyroscopic vector is ef and the
reactive fe'. Viewing from the right-hand side of the plane, it indicates that the
nose is dipped and the tail is raised. Similarly, when the plane takes a right turn,
the effect is indicated in Fig.4.4 (e). The nose is raised and the tail is depressed.

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Dynamics of Machinery (3151911) 4. Gyroscope

 It can be concluded from the above cases that if the direction of either the spin of
the rotor or of the precession is changed, the gyroscopic effect is reversed, but if
both are changed, the effect remains same.
4.6 Gyroscopic Effect on Naval Ships
 Some of the terms used in connection with the motion of naval ships or sea vessels
are given below.
 Bow is the fore or the front end.
 Stern or aft is the rear end.
 Starboard is the right hand side when looking from stern.
 Port is the left-hand side when looking form the stern.
 Steering is turning on the side when viewing from the top.
 Pitching is limited angular motion of the ship about the transverse axis.
 Rolling is limited angular motion of the ship about the longitudinal axis.
 Let the plane of spin the rotor and other rotating masses be horizontal and across
the breath of the ship. Assume 𝜔 to the angular velocity of the rotor in the clockwise
direction when viewed from stern(rear end).

Fig. 4.5
1. Gyroscopic effect during Pitching

 When the ship turns left the angular momentum vector changes from oa to ob. The
reaction couple is found to be b ̍ a ̍ which tends to raise the bow and lower the stern.
On the turning right the reaction couple is revered. So that bow is lower and stern is
raised.
2. Gyroscopic Effect on Pitching
 Pitching of the ship is usually considered to take place with simple harmonic motion.
A simple harmonic motion is represented by x = X sin ω0t

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4. Gyroscope Dynamics of Machinery (3151911)

 Such a motion is obtain by the projection of a rotating vector X on a diameter while

rotating around a circle with a constant angular velocity ω 0 and where x is a
displacement from the time mean position in time t.
 In such the way angular displacement θ of the axis of the spin from its mean position
is given by 𝜃 = φ sin 𝜔0𝑡.
 Where φ = amplitude (angular) of swing or the maximum angle turned from the
mean position in radius
2
 0  Angular Velocity of SHM 
Time Period
d
 Angular Velocity of Precession,   .0 cos 0t
dt
 This is maximum when 𝑐𝑜𝑠𝜔0𝑡 = 1
 Therefore, maximum angular velocity of precession 𝜔𝑝 = φ ∙ 𝜔0
 2 
 Gyroscopic Couple Ip  I    
 Time Period 
 When the bow is rising, the reaction couple is clockwise on viewing from top and
thus the ship would move towards right or starboard side. Similarly, when the bow is
lowered, the ship turns toward left or port side (Fig. 4.4(c)].

 Angular acceleration  .02 sin0t

 Maximum angular acceleration  .02

3. Gyroscopic Effect on Rolling

 As the axes of the rolling of the ship of the rotor are parallel, there is no precession
of the axis of spin and thus there is no gyroscopic effect.
 In the same way, the effect on steering, pitching or rolling can be observed when the
plane of the spin of the rotating masses is horizontal but along the longitudinal axis
of the vessel or the axis is vertical.
4.7 Stability of an Automobile
 In case of a four wheeled vehicle, it is essential that no wheel is lifted off the ground
while the vehicle takes a turn. The condition is fulfilled as long as the vertical
reaction of the ground on any the wheels is positive (or upwards).
 Fig.4.6 shows a four wheeled vehicle having a mass m. assuming that the weight is
equally divided among the four wheels,
W mg
 Weight on each wheel   (downwards)
4 4
W mg
 Reaction of ground on each wheel, Rw   (upwards)
4 4

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Dynamics of Machinery (3151911) 4. Gyroscope

Fig. 4.6
1. Effect of Gyroscopic Couple
 Gyroscopic couple due to four wheels,
v2
 Cw  4Iwwp  4Iw
rR
 Where 𝐼𝑤 = mass moment of inertia of each wheel
𝜔𝑤 = angular velocity of wheel = 𝑣/𝑟
𝜔𝑝 = angular velocity of precession = 𝑣/𝑅
𝑣 = linear velocity of the vehicle
𝑅 = radius of curvature
 Gyroscopic couple due to engine rotating parts, C e  Ieep  Ie Gwp
e
where G is the gear ratio 
w
Total gyroscopic couple, CG  Cw  Ce
 Positive sign is used when the engine parts rotate in same direction as the wheels
and the negative sign when they rotate in the opposite.
 Assuming that CG 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. The reaction
couple is provided by equal and opposite forces on the outer and the inner wheels
of the vehicle.

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4. Gyroscope Dynamics of Machinery (3151911)

CG
 Forces on the two outer wheels  (downwards)
w
CG
 Forces on the two inner wheels  (upwards)
w
CG
 Forces on each of the outer wheels  (downwards)
2w
CG
 Forces on each of the inner wheels  (upwards)
2w
 Thus the forces on each of the outer wheels is similar to the weight. On the inner
wheels it is in the opposite direction. Thus,
CG
 Reaction of ground on each outer wheel, RG  (upwards)
2w
CG
 Reaction of ground on each inner wheel, RG  (downwards)
2w
2. Effect of Centrifugal Couple
 As the vehicle moves on a curved path, a centrifugal force also acts on the vehicle in
the outward direction at the centre of mass of the vehicle.
2
v v2
 Centrifugal Force, mRp2  mR    m
R R
 This force would tend to overturn the vehicle outwards and the overturning couple
will be
v2
 CC  mRp2  h  m h
R
 This is equivalent to a couple due to equal and opposite forces on outer and inner
wheels.
CC
 Forces on each outer wheels  (downwards)
2w
CC
 Forces on each inner wheels  (upwards)
2w
 Again, the force on each of the outer wheels is similar to the weight on each of the
inner wheels, it is opposite.
CC
 Reaction of ground on each outer wheel, RC  (upwards)
2w
CC
 Reaction of ground on each inner wheel, RC  (downwards)
2w

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Dynamics of Machinery (3151911) 4. Gyroscope

W C G CC
 Vertical reaction on each outer wheel    (upwards)
4 2w 2w
W C G CC
 Vertical reaction on each inner wheel    (upwards)
4 2w 2w
 It can be observed that there are chances that the reaction of the ground on the
inner wheels may not be upwards and thus the wheels are lifted from the ground.
For positive reaction, the Conditions will be
W C G CC W C G  CC
    0 or  or RW  RG  RC
4 2w 2w 4 2w
4.8 Stability of Two Wheel Vehicle
 The case of two-wheel vehicle can be taken in the same way as that of an auto
mobile. However, it easier to tilt such a vehicle inwards to neutralise the overturning
effect and the vehicle can stay in equilibrium while taking a turn.
 Let a vehicle take a left turn as shown in fig.4.7 (a). The vehicle is inclined to the
vertical (inwards) for equilibrium. The angle of inclination of the vehicle to the
vertical is known as the angle of heel.

Fig.4.7
 Let, v = linear velocity of vehicle on the track
r = radius of the wheel
R = radius of the track
Iw = moment of inertia of each wheel
Ie = moment of inertia of rotating parts of the engine
m = total mass of the vehicle and the rider
𝜔𝑤 = angular velocity of the wheel
𝜔𝑒 = angular velocity of rotating parts of engine
G = Gear ratio

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4. Gyroscope Dynamics of Machinery (3151911)

h = height of center of mass of the vehicle and the rider

θ = inclination of vehicle to the vertical (angle of heel)
 As the axis of spin is not horizontal but inclined to the vertical at an angle θ and
the axis of precession is vertical, it is necessary to take the horizontal component
of the spin vector.
 Spin vector (horizontal)  Iw cos  (2Iww  Iee )cos

gyroscopic couple  (2Iww  IeGw )cos p

vv
cos 
 (2Iw  GIe )
rR
v2
 (2Iw  GIe ) cos 
rR
 The reaction couple b’ a’ is clockwise when viewed for the rear (back) of the vehicle
and tends to overturn it in the outward direction.
 v2 
 Overturning couple due to Centrifugal Force   m  h cos
 R
v2  v2 
Total Overturning couple  (2Iw  GIe ) cos   m  h cos
rR  R
v 2  2Iw  GIe 
   mh  cos
R r 
 𝑅𝑖𝑔ℎ𝑡𝑒𝑛𝑖𝑛𝑔 (𝑏𝑎𝑙𝑎𝑛𝑐𝑖𝑛𝑔)𝑜𝑢𝑝𝑙𝑒𝑑𝑢𝑒𝑡𝑜𝑡ℎ𝑒𝑤𝑒𝑖𝑔ℎ𝑡 = 𝑚𝑔ℎ𝑠𝑖𝑛θ.

v 2  2Iw  GIe 
For equalibrium,   mh  cos  mg h sin
R r 
From this Relation, the angle of heel θ can be determined to avoid skidding of the
vehicle.
4.9 Rigid disc at an angle fixed to a rotating shaft
 Consider a circular disc fixed rigidly to a rotating shaft in such a way that the polar
axis of the shaft makes angel θ with the axis of the shaft (Fig.4.8). Assume that the
shaft rotates clockwise with angular velocity ω when viewed along the left end of
the shaft.

Fig. 4.8

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Dynamics of Machinery (3151911) 4. Gyroscope

 Let
OX be the axis of the shaft
OP be the polar axis of the disc and
OD the horizontal diametral axis of the disc
 Also, let m, r and t be the mass, radius and the thickness of the disc. Then
mr 2
Ip  moment of inertia of disc about polar axis OP 
2
Id  moment of inertia of disc about diametral axis
 t 2 r 2  mr 2
 m   
 12 4  4

(i) First consider the spinning about the polar axis

Angular velocity of spin = Angular velocity of Disc about the polar axis OP
= ω cos θ
Angular velocity of precession = Angular velocity of disc about the diametral axis
OD
= ω sin θ
1
gyroscopic couple  Ip   cos   sin  Ip   2 sin2
2
Its effect is to rotate the disc counter-clockwise when viewing from the top.
(ii) Now consider the spinning about the diametral axis
Angular velocity of spin = Angular velocity of disc about the diametral axis OD =
ω sin θ Angular velocity of precession = Angular velocity of disc about the polar
axis OP
= ω cos θ
1
gyroscopic couple  Id   sin   cos  Id   2 sin2
2
Its effect is to rotate the disc clockwise when viewing from the top. (Angular
velocity of precession is counter-clockwise when viewing from the right end along
OP.)
 Resultant gyroscopic couple on the disc,
1  mr 2 mr 2  2
C
1
2
 p d
I  I  2
sin2  
2 2

4 
  sin2

mr 2 2
  sin2
8

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4. Gyroscope Dynamics of Machinery (3151911)

Example 4.1 : A uniform disc of diameter 300 mm and of mass 5 kg is mounted on one end
of an arm of length 600 mm. The other end of the arm is free to rotate in a universal
bearing. If the disc rotates about the arm with a speed of 300 r.p.m. clockwise, looking from
the front, with what speed will it precess about the vertical axis?
d = 300 mm
m = 5 kg
l = 600 mm
N = 300 rpm
2 N 2  300
  =31.42 rad/s
60 60
the mass moment of inertia of the disc, about an axis through its centre of gravity and
perpendicular to the plane of disc,

mr 2 5  (0.15)2
I  = 0.056 kg-m2
2 2
Couple due to mass of disc,
C = m.g.l = 5 × 9.81 × 0.6 = 29.43 N-m
Couple (C) = I.ω.ωP
29.43 = 0.056 × 31.42 × ωP = 1.76 ωP
Speed of precession, ωP = 29.43/1.76 = 16.7 rad/s
Example 4.2 : A uniform disc of 150 mm diameter has a mass of 5 kg. It is mounted centrally
in bearings which maintain its axle in a horizontal plane. The disc spins about it axle with a
constant speed of 1000 r.p.m. while the axle precesses uniformly about the vertical at 60
r.p.m. The directions of rotation are as shown in Fig. 4.9. If the distance between the
bearings is 100 mm, find the resultant reaction at each bearing due to the mass and
gyroscopic effects.

Fig 4.9
d = 150 mm
m = 5 kg
x = 100 mm
N = 1000 rpm
Np = 60 rpm

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Dynamics of Machinery (3151911) 4. Gyroscope

2 N 2  1000
  =104.7 rad/s (anticlockwise)
60 60
2 Np 2  60
p   =6.284 rad/s (anticlockwise)
60 60
The mass moment of inertia of the disc, about an axis through its centre of gravity and
perpendicular to the plane of disc,

mr 2 5  (0.075)2
I  = 0.014 kg-m2
2 2
Gyroscopic Couple acting on the disc,
(C) = I.ω.ωP = 0.014 × 104.7 × 6.284 = 9.2 N-m
The direction of the reactive gyroscopic couple is shown in Fig. 4.10 (b). Let F be the force at
each bearing due to the gyroscopic couple.
∴ F = C/x = 9.2/0.1 = 92 N
The force F will act in opposite directions at the bearings as shown in Fig. 4.10 (a). Now let
RA and RB be the reaction at the bearing A and B respectively due to the weight of the disc.
Since the
disc is mounted centrally in bearings, therefore,
RA = RB = 5/2 = 2.5 kg = 2.5 × 9.81 = 24.5 N

Fig. 4.10
Let RA1 and RB1 = Resultant reaction at the bearings A and B respectively.
Since the reactive gyroscopic couple acts in clockwise direction when seen from the front,
therefore its effect is to increase the reaction on the left hand side bearing (i.e. A) and to
decrease the reaction on the right hand side bearing (i.e. B).
∴ RA1 = F + RA = 92 + 24.5 = 116.5 N (upwards)
and RB1 = F – RB = 92 – 24.5 = 67.5 N (downwards)

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4. Gyroscope Dynamics of Machinery (3151911)

Example 4.3 : An aeroplane makes a complete half circle of 50 metres radius, towards left,
when flying at 200 km per hr. The rotary engine and the propeller of the plane has a mass of
400 kg and a radius of gyration of 0.3 m. The engine rotates at 2400 r.p.m. clockwise when
viewed from the rear. Find the gyroscopic couple on the aircraft and state its effect on it.

R = 50 m v = 200 km/hr
m = 400 kg k = 0.3 m
N = 1000 rpm
2 N 2  2400
  = 251 rad/s
60 60
The mass moment of inertia of the engine and the propeller
I = m.k2 = 400(0.3)2 = 36 kg-m2
Angular velocity of precession,
v 55.6
p   = 1.11 rad/s
R 50
Gyroscopic Couple acting on the aircraft,
C = I. ω. ωP = 36 × 251.4 × 1.11 = 100 46 N-m
= 10.046 kN-m Ans.
When the aeroplane turns towards left, the effect of the gyroscopic couple is to lift the
nose upwards and tail downwards.
Example 4.4: An aeroplane flying at 240 km/hr turns towards the left and completes a
quarter circle of radius 60 m. The mass of the rotary engine and its propeller is 500 kg and
radius of gyration is 0.35m. The engine speed is 2200 rpm clockwise looking from tail end.
Find the gyroscopic couple on the aeroplane and state its effect.
In what way effect changed when the
(i) aeroplane turns towards right
(ii) engine rotates clockwise when viewed from the front (nose end) and the aeroplane turns
(a) left and (b) right
v = 240 km/hr
R = 60 m
m = 450 kg
k = 320 mm
N = 2000 rpm
2 N 2  2000
  = 209.4 rad/s
60 60
240  1000
v = 66.67 m/s
3600

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Dynamics of Machinery (3151911) 4. Gyroscope

I = m.k2 = 450(0.32)2 = 46.08 kg-m2

v 66.67
p   = 1.11 rad/s
R 60
C = I. ω. ωP = 46.08 × 209.4 × 1.11 = 10713 N-m
This couple acts in the vertical plane and tends to raise the nose and depress the tail of the
aeroplane.
(i) If the aeroplane takes a right turn, the nose is depressed and the tail is raised.
(ii) (a) when the engine rotates or spins clockwise on viewing from the nose end and
aeroplane turns left, the nose is depressed and the tail is raised.
(b) When the aeroplane takes a right turn, the tail is depressed and the nose is raised.

Example 4.5 : The mass of the turbine rotor of a ship is 20 tonnes and has a radius of
gyration of 0.60 m. Its speed is 2000 r.p.m. The ship pitches 6° above and 6° below the
horizontal position. A complete oscillation takes 30 seconds and the motion is simple
harmonic. Determine the following: 1. Maximum gyroscopic couple, 2. Maximum angular
acceleration of the ship during pitching, and 3. The direction in which the bow will tend to
turn when rising, if the rotation of the rotor is clockwise when looking from the left.
m = 20000 kg
k = 0.6 mm
N = 2000 rpm
φ = 60 = 6 x π/180 = 0.105 rad
tp = 30 s
2 N 2  2000
  = 209.4 rad/s
60 60
I = m.k2 = 20000(0.6)2 = 7200 kg-m2
Angular velocity of simple harmonic motion
2 2
1   = 0.21 rad/s
t p 30
Maximum angular velocity of precession,
ωPmax = φ.ω1 = 0.105 × 0.21 = 0.022 rad/s
Maximum gyroscopic couple,
Cmax = I.ω.ωPmax = 7200 × 209.5 × 0.022 = 33 185 N-m
= 33.185 kN-m
maximum angular acceleration during pitching
= φ(ω1)2 = 0.105 (0.21)2 = 0.0046 rad/s2
when the rotation of the rotor is clockwise when looking from the left (i.e. rear end or stern)
and when the bow is rising (i.e. pitching is upward), then the reactive gyroscopic couple acts
in the clockwise direction which tends to turn the bow towards right (i.e. towards star-
board).

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4. Gyroscope Dynamics of Machinery (3151911)

Example 4.6 : A ship propelled by a turbine rotor which has a mass of 5 tonnes and a speed
of 2100 r.p.m. 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 effects in the following
conditions:
1. The ship sails at a speed of 30 km/h and steers to the left in a curve having 60 m radius.
2. The ship pitches 6 degree above and 6 degree below the horizontal position. The bow is
descending with its maximum velocity. The motion due to pitching is simple harmonic and
the periodic time is 20 seconds.
3. The ship rolls and at a certain instant it has an angular velocity of 0.03 rad/s clockwise
when viewed from stern.
Determine also the maximum angular acceleration during pitching. Explain how the
direction of motion due to gyroscopic effect is determined in each case.
m = 5000 kg k = 0.5 mm
N = 2100 rpm v = 30 km/hr = 8.33 m/s
R = 60 m φ = 60 = 6 x π/180 = 0.105 rad
tp = 20 s
2 N 2  2100
  = 220 rad/s
60 60
v 8.33
p   = 0.14 rad/s
R 60
I = m.k2 = 5000(0.5)2
= 1250 kg-m2
Gyroscopic Couple, C = I. ω. ωP = 1250 × 220 × 0.14
= 38500 N-m
When the rotor in a clockwise direction when viewed from the stern and the ship steers to
the left, the effect of reactive gyroscopic couple is to raise the bow and lower the stern.
Angular velocity of simple harmonic motion
2 2
1   = 0.3142 rad/s
t p 20

maximum angular velocity of precession,

ωPmax = φ.ω1 = 0.105 × 0.3142
= 0.033 rad/s
∴ Maximum gyroscopic couple,
Cmax = I.ω.ωPmax = 1250 × 220 × 0.033
= 9075 N-m
Since the ship is pitching with the bow descending, therefore the effect of this maximum
gyroscopic couple is to turn the ship towards port side.

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Dynamics of Machinery (3151911) 4. Gyroscope

Since the ship rolls at an angular velocity of 0.03 rad / s, therefore angular velocity of
precession
when the ship rolls,
ωP = 0.03 rad /s
∴ Gyroscopic couple,
C = I.ω.ωP = 1250 × 220 × 0.03
= 8250 N-m
In case of rolling of a ship, the axis of precession is always parallel to the axis of spin for all
positions, therefore there is no effect of gyroscopic couple.
Maximum angular acceleration during pitching
αmax = φ (ω1)2 = 0.105 (0.3142)2
= 0.01 rad/s2
Example 4.7 : The turbine rotor of a ship has a mass of 2000 kg and rotates at a speed of
3000 r.p.m. clockwise when looking from a stern. The radius of gyration of the rotor is 0.5
m. Determine the gyroscopic couple and its effects upon the ship when the ship is steering
to the right in a curve of 100 m radius at a speed of 16.1 knots (1 knot = 1855 m/hr).
Calculate also the torque and its effects when the ship is pitching in simple harmonic
motion, the bow falling with its maximum velocity. The period of pitching is 50 seconds and
the total angular displacement between the two extreme positions of pitching is 12°. Find
the maximum acceleration during pitching motion.
m = 2000 kg k = 0.5 mm
N = 3000 rpm v = 16.1 knots = 8.3 m/s
R = 100 m tp = 20 s
2φ = 120 or φ = 6 x π/180 = 0.105 rad
2 N 2  3000
  = 314.2 rad/s
60 60
v 8.3
p   = 0.083 rad/s
R 100
I = m.k2 = 2000(0.5)2
= 500 kg-m2
Gyroscopic Couple, C = I. ω. ωP = 500 × 314.2 × 0.083
= 13040 N-m
when the rotor rotates clockwise when looking from a stern and the ship steers to the right,
the effect of the reactive gyroscopic couple is to raise the stern and lower the bow.
Angular velocity of simple harmonic motion
2 2
1   = 0.1257 rad/s
t p 50

Maximum angular velocity of precession,

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4. Gyroscope Dynamics of Machinery (3151911)

ωPmax = φ.ω1 = 0.105 × 0.1257

= 0.0132 rad/s
∴ Torque or maximum gyroscopic couple during pitching,
Cmax = I.ω.ωPmax = 500 × 314.2 × 0.0132
= 2074 N-m
When the pitching is downwards, the effect of the reactive gyroscopic couple is to turn the
ship towards port side.
Maximum acceleration during pitching
αmax = φ (ω1)2 = 0.105 (0.1257)2
= 0.00166 rad/s2
Example 4.8: Each wheel of a four-wheeled rear engine automobile has a moment of inertia
of 2.4 kg.m2 and an effective diameter of 660 mm. The rotating parts of the engine have a
moment of inertia of 1.2 kg.m2. 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 2200 kg and the center of mass is 550 mm above the
road level. The track width of the vehicle is 1.5 m. Determine the limiting speed of the
vehicle around a curve with 80 m radius so that all the four wheels maintain contact with
the road surface.
Iw = 2.4 kg.m2 r = 0.33 m
Ie = 1.2 kg.m 2 G = ωe/ωw = 3
m = 2200 kg h = 0.55 m
w = 1.5 m R = 80 m
mg 2200  9.81
(i) Reaction due to weight, Rw  
4 4
= 5395.5 N (upwards)

v2
(ii) Reaction due to gyroscopic couple, Cw  4Iw
rR
v2
Cw  4  2.4   0.364 v 2
0.33  80
v2
C e  IeGwp  1.2  3   0.136 v 2
0.33  80
CG  Cw  Ce  0.364 v  0.136 v2
2

= 0.5 v2
CG 0.5v 2
Reaction on each outer wheel, RGO  
2w 2  1.5
= 0.167 v2 (upwards)
Reaction on each inner wheel, RGi = 0.167 v2 (downwards)

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Dynamics of Machinery (3151911) 4. Gyroscope

mv 2 2200  v 2
(iii) Reaction due centrifugal couple, CC  h  0.55
R 80
= 15.125 v2

C e 15.125v 2
Reaction on each outer wheel, RCO  
2w 2  1.5
= 5.042 v2 (upwards)
Reaction on each inner wheel, Rci = 5.042 v2 (downwards)
For maximum safe speed, the condition is
Rw = RGi + Rci
5395.5 = (0.167 +5.042) v2
v2 = 1035.8
v = 32.18 m/s or 115.9 km/hr
Example 4.9: A four wheeled trolley car has a total mass of 3000 kg. Each axle with its two
wheels and gears has a total moment of inertia of 32 kg.m2. Each wheel is of 450 mm radius.
The centre distance between two wheels on an axle is 1.4 m. Each axle is driven by a motor
with a speed ratio of 1:3. Each motor along with its gear has a moment of inertia of 16 kg.m 2
and rotates in the opposite direction to that of the axle. The centre of mass of the car is 1 m
above the rails. Calculate the limiting speed of the car when it has to travel around a curve
of 250 m radius without the wheels leaving the rails.
Iw = 32/2 = 16 kg.m2 r = 0.45 m
Im = 16 kg.m 2 G=3
m = 3000 kg h=1m
w = 1.4 m R = 250 m
mg 3000  9.81
(i) Reaction due to weight, Rw  
4 4
= 7357.5 N (upwards)

v2
(ii) Reaction due to gyroscopic couple, Cw  4Iw
rR
v2
Cw  4  16   0.569 v 2
0.45  250
v2
C m  2ImGwp  2  16  3   0.853 v 2
0.45  250 (as there are two motors)
CG  Cw  Cm  0.569 v 2  0.853 v 2
= - 0.284 v2
CG 0.284v 2
Reaction on each outer wheel, RGO  
2w 2  1.4
= 0.1014 v2 (downwards)
Reaction on each inner wheel, RGi = 0.1014 v2 (upwards)

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4. Gyroscope Dynamics of Machinery (3151911)

mv 2 3000  v 2
(iii) Reaction due centrifugal couple, CC  h 1
R 80
= 12 v2
Ce 12v 2
Reaction on each outer wheel, RCO  
2w 2  1.4
= 4.286 v2 (upwards)
Reaction on each inner wheel, Rci = 4.286 v2 (downwards)
Total reaction on outer wheel = 7357.5 - 0.1014 v2 + 4.286 v2
= 7357.5 + 4.1846 v2
Total reaction on inner wheel = 7357.5 - 0.1014 v2 - 4.286 v2
= 7357.5 - 4.1846 v2
Thus, the reaction on the outer wheel is always positive (upwards). There are chances that
the inner wheels leave the rails.
For maximum speed,
7357.5 - 4.1846 v2 = 0
v2 = 1758.2
v = 41.93 m/s or 151 km/hr
Example 4.10: Each wheel of a motorcycle is of 600 mm diameter has a moment of inertia
of 1.2 kg.m2.The total mass of the motorcycle and the rider is 180 kg and the combined
center of mass is 580 mm above the ground level when the motorcycle is upright. The
moment of inertia of the rotating parts of the engine is 0.2 kg.m2. The engine speed is 5
times the speed of the wheels and is in the same sense. Determine the angle of heel
necessary when the motorcycle takes a turn of 35 m radius at a speed of 54 km/hr.
Iw = 1.2 kg.m2 r = 0.3 m
Ie = 0.2 kg.m2 G = ωe/ωw = 5
m = 180 kg h = 0.58 m
v = 54 km/hr R = 35 m

v2
Gyroscopic couple, CG  (2Iw  GIe ) cos
rR
(15)2
CG  (2  1.2  5  0.2)   cos  72.86cos
0.3  35

mv 2 180  (15)2
Centrifugal couple, CC  h cos   0.58  cos
R 35
= 671.14 cosθ
Total overturning couple = (72.86 + 671.14) cosθ
= 744 cosθ
Rightening couple = mgh sinθ = 180 x 9.81 x 0.58 sinθ
= 1024 sinθ

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Dynamics of Machinery (3151911) 4. Gyroscope

1024 sinθ = 744 cosθ

744
tan   0.727
1024
θ = 360.
Example 4.11: Find the angle of inclination with respect to the vertical of a two wheeler
negotiating a turn. Given : combined mass of the vehicle with its rider 250 kg ; moment of
inertia of the engine flywheel 0.3 kg-m2 ; moment of inertia of each road wheel 1 kg-m2 ;
speed of engine flywheel 5 times that of road wheels and in the same direction ; height of
centre of gravity of rider with vehicle 0.6 m ; two wheeler speed 90 km/h ; wheel radius 300
mm ; radius of turn 50 m.
Iw = 1 kg.m2 r = 0.3 m
Ie = 0.3 kg.m2 G = ωe/ωw = 5
m = 250 kg h = 0.6 m
v = 90 km/hr R = 50 m

v2
Gyroscopic couple, CG  (2Iw  GIe ) cos
rR
(25)2
CG  (2  1  5  0.3)   cos  146cos
0.3  50

mv 2 250  (25)2
Centrifugal couple, CC  h cos   0.6  cos
R 50
= 1875 cosθ
Total overturning couple = (146 +1875) cosθ
= 2021 cosθ
Rightening couple = mgh sinθ
= 250 x 9.81 x 0.6 sinθ
= 1471.5 sinθ
2021 sinθ = 1471.5 cosθ
1471.5
tan   1.3734
2021
θ = 53.940.

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