GYROSCOPE

Kinematics and Dynamics

ME F244/ MF F 244/ MF C313

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21-Mar-13 2
WHAT?? HOW. ?? EFFECTS??
Overview
Circular Motion
Principle of Gyroscope and Eulers Equations
Effects of Gyroscope on
Shaft Bearings
Stability of 4 wheel vehicles
Aeroplanes
Navel Ships
21-Mar-13 3
Circular Motion

As we know (From circular motion fundamentals),

Angular Velocity () is vector quantity and change in its
magnitude can be caused by Angular Acceleration ()
Change in direction of angular velo. keeping the magnitude
constant can also be caused by angular acc. when some
external torque/couple is applied.

This forms the basis to understand the Gyroscopic effects.
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Gyroscopic effect
X
Z
Y
O
ou
a
b
21-Mar-13 5

Cntd
From Mechanics,
Change in momentum results in application of Couple
Thus,
Couple = Rate of Change of Momentum



I = moment of Inertia = mk
2
; k = radius of gyration
I = angular momentum



( ) C I
t
o
e
o
=
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Cntd
So,

Couple , C =

For infinitesimal value of




=Velocity of Precession
Gyroscopic Couple is the Product of angular momentum and
angular velocity of momentum vector ( ) of body

( ) I ab o e =
. Oaou =

( )
. Oa
t
o
ou
o
ou
.
d
C I
dt
u
e =
. .
p
C I ee =
p
e
Oa
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Cntd
The vector representing change in angular momentum ( )
lies in the XOZ plane

For very small displacement , will be perpendicular to
XOY

There exists a couple which has given rise to an angular
momentum in form of . And it must lie in XOY plane
(by right hand rule/ screw rule)

This couple is known as Gyroscopic Couple.



ab
ou ab
ab
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Cntd
Therefore,
The change in direction of axis of rotation (spin) is caused
by gyroscopic couple if any external torque/ couple exists

There exists an equal and opposite reactive couple

Torques can exists unknowingly if
Mechanical unbalance
Alignment errors
Self Weight etc


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Direction of Couple
Spin Axis
Precession Axis
Gyroscopic Couple Axis (Action)
Gyroscopic Couple Axis (Reaction)
Spin Vector
Precession Vector
Active Couple Vector
X
Y
Z
O
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Direction of Spin, Precession &
Couple Vectors
(By Right Hand Rule/ Screw Rule)

1. Curl the fingers according to spin direction, pointing
thumb will indicate the Spin Vector Direction

2. Rotate Spin Vector in direction precession

3. In this position, the head of Spin vector will give the
direction of applied couple vector (Action)
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Spin Vector
Torque
Vector
Precession
Vector
Effects of Gyroscope
Affects Stability of System
Induces unwanted forces in system during motion
Safety of System
Additional forces and torques
Control of Motion become difficult
In robotic manipulators
Naval ships
Aeroplanes and combat aircrafts etc
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x
x
1

y
y
1

z
z
1


O
Rigid body rotations about principle axes
The angular momentum is
conserved and change in
momentum results in moments
or vice-versa

Eulers Equations of Motion
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Cntd
The equations of motion of rigid body rotations are

Where,
Is - are the components of moment of inertia wrt X, Y,Z axes
s - are the components of angular velocity wrt X, Y, Z axes &
Ms - are the components of Torque/Couple wrt X, Y, Z axes


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Cntd

To determine the gyroscopic couple
Applying the Eulers Equations to the precession of spinning
body, we get the same expression as







Details: Refer (R
1
) : Theory of Mechanisms and Machines
Amitabh Ghosh and Ashok K. Malik, Allied East West Press
. .
p
C I ee =
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Problems
1. A disc with radius of gyration 60 mm & mass 4 Kg. is
mounted on horizontal axel. If the disc is spinning at 800 rpm
clockwise when viewed from right hand side, is rotated about
vertical axis at 50 rpm clockwise. Determine the magnitude
and direction of gyroscopic couple.
21-Mar-13 17
Ans. (1)
Data: m = 4Kg ; K= 60 mm
= 800 rpm (cw from right hand side)
= 50 rpm (cw)

= 6.32 N-m (cw)



p
e
. .
p
C I ee =
21-Mar-13 18
2. A disc having mass of 100 Kg with radius of gyration 40 cm.
is supported between two bearings on a horizontal shaft of
negligible weight. These bearings are supported by vertical
thin cords. When the disc rotating at 98.1rad/s (cw) looking
from right hand side, cord supporting right bearing (B)
breaks. Discuss the motion and determine the magnitude of
motion of precession
40 cm 60 cm
P
Bearing A Bearing B
Q
Disc
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Torque on shaft when cord QB breaks
T = 100 x 9.81 x 40/100 = 392.4 N-m

This Torque will precess the shaft about cord PA which will be
balanced by gyroscopic couple
T=
Therefore, = 0.25 rad/s
The torque will precess the shaft in (cw) when viewed from
front. That gives the direction of torque vector as (cw)
To get torque direction, spin vector is to be rotated in direction
of precession. So, we get precession as (cw)


Ans.(2)

. .
p
C I ee =
p
e
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Shaft Bearings Problem (3)
Data: Same as Problem (1)
Find the Reactions at both Bearings.
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Bearing A Bearing B
40 mm 40 mm
Disc
Ans.(3)
= 6.32 N-m





Force due to Gyroscopic Couple = R
g
= C/l=C/0.08 = 79 N
Force due to wt of disc = R
w
= 4 x 9.81/2 = 19.6 N
So,
Total Force on bearing A = R
w
+ R
g
= 79+19.6 = 98.6 N
Total Force on bearing B = R
w
- R
g
= 79 19.6 = 59.4 N
21-Mar-13 22
. .
p
C I ee = p
e
R
w

R
w
R
g

R
g

A B
Effect on Aeroplane
4. An aeroplane flying at 240 Km/hr turns towards left and
completes a quarter circle of 60m radius. The mass of rotary
engine of the plane amounts to 450 Kg with a radius of
gyration of 320 mm. The engine speed is 2000 rpm (cw)
when viewed from tail. Determine the gyroscopic couple on
the plane when it turns towards right.
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Nose
Tail
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Nose
Tail
1.11 /
p
v
rad s
r
e = =
2
46.08 . I Kg m =
209.4 / rad s e =
. . 10.713 .
p
C I KN m ee = =
Active
Couple p
e
Spin
Reactive
Couple
The active gyroscopic couple on rotor of plane is c.c.w.

Therefore, the reaction on aeroplane body is in cw direction

Thus, the gyroscopic reactive couple depresses the nose of
plane and raises the tail

Similar effects are observed in Naval Ships

Ships have complex gyroscopic effects than aeroplane
because of Rolling, Pitching, Steering etc.
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Stability of Automobile
5. A 2.2 tonne car has wheel base of 2.4 m and a track of 1.4 m.
The c.g. of car lies at 0.6m above ground and 1.4 m from rear
axel. Equivalent mass of engine parts is 140 Kg with radius of
gyration of 150 mm. The back axel ration is 5 (gear ratio).
The engine shaft and flywheel rotate clockwise when viewed
from front. Each wheel has a diameter of 0.8 m and moment
of inertia of 0.7 Kgm
2
. Determine the load distribution on the
wheels when the car is rounding a curve of 100 m radius at
speed of 72 Km/hr to the left.
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Engine
1
2
3
4
Ans.(4)
Data:
M= 2.2 tonne= 2200 Kg; m = 140Kg; b= 2.4m; w= 1.4m;
r (radius of wheels)= 0.8/2 = 0.4m; R (radius of curve)= 100m;
k(engine)= 0.15m; I
w
=0.7 Kg m
2
; v= 72Km/hr = 20m/s

Total Load on wheel = Reaction due to wt. +
Reaction due to gyro. couple +
Reaction due centrifugal couple
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Total Wt. (T) = 2200 x 9.81 = 21582 N
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1, 2 3, 4
1.4 m 1 m
T R
w 1,2

R
w 3,4

C.G.
1,2
1.4 1
21582 6295 ( )
2.4 2
w
R N upwards
| |
= =
|
\ .
3,4
1 1
21582 4496 ( )
2.4 2
w
R N upwards
| |
= =
|
\ .
(a) Reaction due to wt.

(b) Reaction due to gyroscopic couple
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p
e
Spin
Active
Couple
1) Couple due to wheels

R
Gw

2,4
1,3
p
e
1.4 m
( )
4
w w p
C I ee =
v
r
e

p
v
R
e =
2
4 28 .
w w
v
C I N m
rR
| |
= =
|
\ .
,2,4
28
( ) 10 ( )
2 2 1.4
w
Gw
C
R outer N upwards
w
= = =

R
Gw

,1,3
( ) 10 ( )
Gw
R inner N downwards =
(2) Couple due to engine
21-Mar-13 31
Engine
1
2
3
4
Spin
p
e
Active
Couple
1, 2
3, 4
2.4 m
R
Ge

1,2

R
Ge

3,4

2
5 157.5 .
Ge e w P e
v
C I G I N m
rR
e e = = =
,1,2
157.5
( ) 32.8 ( )
2 2 2.4
Ge
Ge
C
R front N downwards
b
= = =

,3,4
( ) 32.8 ( )
Ge
R rear N upwards =
(c) Reaction due to centrifugal couple
21-Mar-13 32
2,4
1, 3
1.4 m
C.G
0.6 m
C
c

R
c 2,4

R
c 1,3

( )
2
2
20
2200 0.6 5280
100
c
v
C M h N
R
| |
= = =
|
\ .
,1,3
5280
( ) 1886 ( )
2 2 1.4
C
c
C
R inner N downwards
w
= = =

2,4
( ) 1886 ( )
C
R outer N upwards =
Therefore, reaction on wheels,


21-Mar-13 33
1
6295 10 32.8 1886 4366.2
w Gw Ge C
R R R R R N = = =
2
6295 10 32.8 1886 8158.2
w Gw Ge C
R R R R R N = + + = + + =
3
4496 10 32.8 1886 2632.8
w Gw Ge C
R R R R R N = + = + =
4
4496 10 32.8 1886 6424.8
w Gw Ge C
R R R R R N = + + + = + + + =
w G C
R R R > +
Thus, for stability of automobile
Gyroscopic Devices
Gyroscopic Stabilizers
in aeroplanes
ships and sea vessels
for motion control

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THANK YOU !
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