Gyroscope

• A Gyroscope is a spinning disc

whose axis of spin is free to rotate
about another axis known as axis
of precession.
• A change in position of axis of
spin causes a reactive couple
known as reactive gyro couple on
the spinning disc.
• The principle of gyroscope is
useful in applications such as
guided missiles, aero planes, ship
motion, gyro compasses, etc.
 Application of Right hand screw rule
If the fingers of the right hand
indicate the direction of spin of
the disc, the thumb indicates
the direction of the spin
vector.

B  b 

A a

 a
 Expression for Gyroscopic Couple
Let I=Mass moment of inertia of the disc (kg-m2)
= Angular velocity of spinning of the disc, ox be the axis of spin,
ox’ is the new position of axis of spin after turning through an angle
 after a time t.
Z

b b'
X'


   a a'
X
O
Spin Vector diagram
ab - Applied Couple
b’a’ - Reactive (gyroscopic)couple
Y
The plane of precession is XY (horizontal plane) and the axis of
precession is oz (i.e. Vertical axis). The corresponding spin vector
diagram is shown in fig.
Now, change in angular velocity ab = .
As this change occurs in a time t, rate of change of angular velocity
or angular acceleration a = (.)/ t = .p where p is the
angular velocity of precession.

b b'
X'


   a a'
X
O

Spin Vector diagram

ab - Applied Couple
Y
b’a’ - Reactive (gyroscopic)couple
The torque required to produce this acceleration is known as
gyroscopic torque or gyroscopic couple C=Ia = I .p N-m
Effect of gyroscopic couple: From the spin vector diagram, the
effect of reactive couple b’a’ is ccw when viewed from the front, i.e.
to press the point O and raise the disc.

b b'
X'


 
X  a a'
O

Spin Vector diagram

ab - Applied Couple
Y
b’a’ - Reactive (gyroscopic)couple
Terminology of Gyroscope
 Problem 1
A disc 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 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
above. Determine the resultant reaction at each
bearing due to the weight of mass and
gyroscopic effect.
 p M= 4 kg
k= 60 mm
Np =50 rpm

M N= 800 rpm
 


L=80 mm
NOTE : The angular velocity of precession in case of
 2 N p 
an axle precessing at N P rpm is   rad / sec
 60 
Data :
k = 60mm = 0.06 mts, M = 4 kg, N = 800 rpm, N P = 50rpm
Determination of magnitude of gyroscopic couple :
 2 N   2 N P 
Gyroscopic couple C = I  p = ( Mk )  
2
 
 60   60 
 2  800   2  50 
C = (4  0.06 )  
2
  = 6.32 Nm
 60   60 
 Effect of Gyroscopic couple:
• As the disc spins ccw when
a a'
O viewed from the right end,
Ca
the spin vector oa is as
Cg shown.
b b' • As axle rotates in cw
Spin Vector diagram direction looking from the
top, ob is the new position
of spin axis which occurs due
to applied couple Ca.
p
• Reactive couple Cg has its
 axis horizontal and hence

 the right hand thumb when
kept along b’a’, the fingers
L=80 mm
represent a clockwise couple
on the axle.
 p Effect of Gyroscopic couple:
Rg • The effect of such a gyroscopic
couple tends to press the right
  bearing & raise the left bearing.

Rw
Rw • Hence the reaction Rg will be
upward at bearing B &
L=80 mm Rg downward at bearing A.
• The weight of the rotor will act
As the gyroscopic couple C = Rg  L, downwards at both bearings &
hence the reaction RW will be
 C   6.32 
Rg =   =   = 79 N upward at A & B.
 L   0.08 
Reaction due to dead weight
 Mg 
RW =   ( As the disc is at the centre of axle)
 2 
 4  9.81 
RW =   = 19.62 N
 2 
Net reaction at A =(79 - 19.62)
= 59.4 N ()
Net reaction at B =(79 +19.62)
= 98.62 N ()
 Problem 2
An aero plane makes a complete half circle of 50
m radius towards left when flying at 200 Km/hr.
The mass of the rotary engine and propeller is
400 kg with a radius of gyration 300 mm. The
engine runs at 3000 rpm counterclockwise when
viewed from the rear. Determine the gyroscopic
couple and its effect on the aircraft.
NOTE : The angular velocity of precession in case of
a body moving at a velocity 'V ' m / sec around a curved
V 
path of radius R meters is   rad / sec
R
Data :
 1000 
V = 200 Kmph = 200 ×   = 55.555m / sec
 3600 
R = 50 m, M = 400 kg, k = 0.3mts, N = 3600 rpm
Determination of magnitude of gyroscopic couple :
 2 N   V 
Gyroscopic couple C = I  p = ( Mk )  
2
 
 60   R 
 2  3000   55.555 
C = (400  0.3 )  
2
  = 12566.37 Nm
 60   300 
 Effect of Gyroscopic couple
Axis of Precession

Axis of spin

Front View

Left Left Turn

Nose
Direction of view Axis of spin
Tail

Right

Top View
 Axis of Precession
Effect of Gyroscopic couple:
• As the propeller spins ccw
Axis of spin
when viewed from the tail
end, using right hand thumb
Front View
rule, the spin vector oa is as
Left Left Turn shown.
Nose
• As the plane turns left, ob is
Direction of view

Tail
Axis of spin
the new position of spin axis
which occurs due to applied
Right couple Ca along ab.
Top View
• Reactive couple Cg has its
axis horizontal and hence
the right hand thumb when
kept along b’a’ the fingers
a' a O
represent a clockwise couple
Ca on the aircraft body.
Cg
• Hence the gyroscopic effect
b'
b
Spin Vector diagram
tends to dip the nose end &
raise the tail end.
 Gyroscopic stabilization of ship
A ship can have three possible motions;
Steering motion (Change in direction i.e. left or right turn)
Pitching motion (Up & down motion due to tides)
Rolling motion (side ward or lolling motion of the ship)

The front of the ship is called Fore end or Bow end

The rear of the ship is called Stern or Aft
The left side of the ship is called Port end
The right side of the ship is called Star board end
 Gyroscopic couple & its effect on a ship
Bow (Fore)

Rising
Stern (Aft)

 (Pitching)

Rotor Falling

FRONT VIEW
Port
Direction Left
of view Rotor
(Steering)
Rolling
Star Board Right

TOP VIEW
 Problem 3
A ship is propelled by a turbine rotor which has a mass of
5000 kg and has a speed of 2100 rpm. The rotor has a
radius of gyration of 0.5 m and rotates in clockwise
direction when viewed from the stern. Find the gyroscopic
couple and its effect under the following conditions;
1) The ship runs at a speed of 16 knots (1 knot=1.86 km/hr)
while steering to the left in a curve of 60 m radius.
2) The ship pitches 60 above and 60 below the horizontal
position. The bow descends with its maximum velocity.
The pitching motion is SHM with a periodic time of 20
seconds.
3) He ship rolls at a certain instant with an angular velocity
of 0.03 rad/ sec clockwise when viewed from the stern.
 Bow (Fore)

Rising
Stern (Aft)

 (Pitching)


Rotor Falling

FRONT VIEW
Port
Direction Left
of view Rotor
(Steering)
Rolling
Star Board Right

TOP VIEW
Solution : Mass m=5000 kg, R=60 m, N=2100 rpm, k=0.5 m
 1860 
v=16 knots=16    = 8.267 m / sec
 3600 
I=mk 2 = 5000  (0.5) 2 = 1250 kg  m 2
 2  2100 
Angular velocity  =   = 219.91 rad / sec
 60 
(1) Steering Motion : (occurs in a horizontal plane about a vertical axis )
 v   8.267 
Here angular velocity  p =   =   =0.1378 rad/sec
 R   60 
C = I  p = 1250  219.91 0.1378 = 37875 N  m
b b'
From the spin vector diagram, the
reactive gyroscopic couple acts
O anticlockwise on the body of ship.
a a' i.e. it tends to depress the stern &
Spin Vector diagram raise the bow.
(1)Pitching Motion : (occurs in a vertical plane about transverse axis )
 2   2    
Here angular velocity  p =     =    6    =0.03289 rad/sec
 TP   20   180 
C = I  p = 1250  219.91 0.03289 = 9043.5 N  m

Bow (Fore) a a'

O
Stern (Aft) Ca
 Cg
 (Pitching)
 Spin Vector diagram b b'

Rotor Falling

FRONT VIEW

As the bow is descending, the new position of spin vector is below oa.
The applied couple C a is downward & the reactive gyroscopic couple
is upward. If the thumb of right hand is held vertically upward, the fingers
indicate ccw direction when seen from the top. i.e. the effect of
gyroscopic couple is to turn the ship towards port end.
Rolling Motion :
Given angular velocity of rolling  p =0.03 rad / sec
 C = I  p = 1250  219.91 0.03 = 8246.6 N  m
Port

Direction
of view Rotor

Rolling
Star Board

TOP VIEW

In case of rolling motion, as the axis of precession & axis of spin

are parallel to each other, there is no gyroscopic effect due to
rolling motion on the ship.
 Stability of a two wheeler taking a turn
• A two wheeler and its rider can negotiate a curve at any
desired speed by tilting the vehicle w.r.t vertical through
an angle which is known as ‘angle of heel’
• As the spin vector in this case becomes inclined to the
vertical, the component of the spin vector perpendicular
to the vertical axis (axis of precession) must be
considered while calculating gyroscopic couple.
• The centrifugal & gyroscopic couple tend to throw the
vehicle out of curved path while the couple due to weight
of vehicle and its rider balances the overturning couple.
Stability of a two wheeler taking a turn
 Stability of a two wheeler taking a turn
CF couple
Gyro couple


c.g Fc
c.g
h hcos  Mg

hsin 
Vehicle in the upright position Vehicle taking right turn

b' b

a' a
 cos
Spin Vector diagram
Let;
I w be the mass moment of inertia of each road wheel
r be radius of each road wheel
I E be the mass moment of inertia of engine parts
M=Mass of the vehicle with its rider
h=height of C.G of the vehicle above road surface (in upright position)
V=Velocity of the vehicle (m/sec), R=Radius of curved path
 =angular velocity of spin of the road wheels,
E = angular velocity of rotating parts of engine
E
G=gear ratio= ,  = Angle of heel

(i) Gyroscopic couple
The total gyroscopic couple is both due to the road wheels &
rotating parts of engine.
Assuming the axis of rotation and axis of spin of the engine parts
and that of road wheels to be parallel, C g = (CgW  CgE )
(+sign for same direction &  sign for opposite directions of spin)
 Cg = (2 I wP  I EEP ) cos 
( only Horizontal component of spin vector is considered )
V V V 
As  = , P = , and E = G   = G   
r R r
V 2 
 C g = (2I w ± GI E )   cos θ
 rR 
The effect of gyroscopic couple is to overturn the vehicle.
(ii) Centrifugal couple :
 MV 2 
From the fig, CC = Fc × h cosθ =   h cos θ
 R 
The effect of the centrifugal couple is to throw the
vehicle away from its path.
(iii) Balancing or rightening couple :
The weight of vehicle & its rider produces a balancing couple CB
From the fig, CB = Mg× h sin θ
For stability , C g  CC = CB
V2  MV 2 
( 2I w ± GI E ) cos θ +   h cos θ = Mgh sin θ
rR  R 
 ( 2I w ± GI E ) V 2
 + Mh  cos θ = Mgh sin θ
 r  R
From the above equation, the necessary angle of heel θ can
be calculated.
 Problem 4
Each road wheel of a motor cycle is of 600 mm diameter
and has a moment of inertia of 1.2 kg-m2. The total mass
of the motorcycle and its rider is 180 kg and the combined
center of mass is 580 mm above the ground level when
the vehicle 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
Kmph.
 600
2 2
Data : I w = 1.2 kg-m , I E = 0.2 kg-m , r = =300 mm = 0.3m
2
 54 1000 
M=180 kg, G=5, V=54 kmph=   = 15 m/sec
 3600 
R = 35m, h =580 mm =0.58 m Gear ratio, G =5
Road wheels & engine parts rotate in same sense.
Solution : For stability , C g  CC = CB
 ( 2 × 1.2)+ (5 × 0.2))  15 2
 + (180 × 0.58)  cos θ = 180 × 9.81× 0.58 sin θ
 0.3  35
 744 
744 cos θ = 1024.16 sin θ  tan θ =    θ = 36 0

 102 4.16 
 For stabilty, the necessary angle of heel  =360
Stability of a four
• A four wheeler will have to negotiate a
wheeler taking a turn curve at a speed such that all the wheels
V remain in contact with the road surface.
R • The road wheels closer to the center of
1 2 curvature are called inner wheels &
those away from center of curvature are
called outer wheels.
CG • The centrifugal & gyroscopic couple tend
to overturn the vehicle on the outer
wheels and hence the road reactions due
Engine
to these couples will be upward while
the reactions at the inner wheels will be
downward.
4 3
• The weight of the vehicle is downward &
x hence the road reaction due to dead
weight is upward at all the wheels.
• Hence for stability, the net reaction at
c.g the inner wheels must be greater than
h or equal to zero.
 Stability of a four wheeler taking a turn
V
Let;
R
1 2 I w = mass moment of inertia of each road wheel
r = radius of each road wheel
I E = mass moment of inertia of engine parts
CG M=Mass of the vehicle
h=height of C.G of the vehicle above road surface
V=Velocity of the vehicle (m/sec)
Engine
R=Radius of curved path
 =angular velocity of spin of the road wheels,
4
E = angular velocity of rotating parts of engine
3

x

G=gear ratio= E , x = wheel track


c.g
h
(i) Reaction due to dead weight of vehicle (RW ) :
Assuming the c.g of the vehicle lies at the cneter of the chasis, the road reaction at
all the four wheels is upward and equal o one - fourth of the weight of the vehicle.
 Mg 
RW =    at all the wheels
 4 
(ii) Reaction due to gyroscopic couple (Rg ) :
Assuming the axis of rotation and axis of spin of the engine parts and that of
road wheels to be parallel, C g = (CgW  CgE )
(+sign for same direction &  sign for opposite directions of spin)
V V V 
Cg = (4 I wP  I EEP ), As  = , P = , and E = G   = G   
r R r
V 2 
 C g = (4I w ± GI E )  
 rR 
The effect of gyrocouple is to overturn the vehicle on the
outer wheels i.e. press the outer wheels & raise the inner wheels.
 V Reaction due to gyroscopic couple(R )g
R
1 2
a'
reactive
couple
CG

o
Engine
a
4 3 2Rg
x 2R g  x = Cg

c.g 2Rg x
h

As there are 2 wheels on each side of the wheel track x,

 Cg   (4I w ± GI E )   V 2 
2R g  x = Cg  R g =  =  
 2 x   2x  rR 
(R g will be  at outer wheels &  at inner wheels)
(iii) Reaction due to centrifugal couple (Rc )
 MV 2 
CC =  × h
 R 
The effect of centrifugal couple is to overturn the vehicle on the
outer wheels i.e. press the outer wheels & raise the inner wheels.
As there are 2 wheels on each side of the wheel track x,
 CC  1  MV 
2
2R C  x = CC  R C =  =   h
 2x  2x  R 
(R C will be  at outer wheels &  at inner wheels)

2Rc

x
2Rc
 V

R
1 2

Rw Rw The net reaction at each wheel is as

R g Rc R gRc
CG
shown. At the outer wheels all reactions
are upward. At the inner wheels,
the net reaction is (R w  R g  R c )
Engine
which must be  0 for stability.
4 3 i.e.Rw ≥ (Rg + Rc )

Rw Rw
R g Rc R gRc

FC
h
 Problem 5
A rear engine automobile is travelling along a
curved track of 80 m radius. Each of the four
wheels 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 the engine to back
axle is 3:1. 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 width of the track is 1.5 m.
What will be the limiting speed of the vehicle if
all the four wheels maintain contact with the
road surface?
 Data :
2 2 660
I w = 2.4kg-m , I E = 1.2 kg-m r = =330 mm=0.33m
2
M=2200 kg, G=3, R = 80 m, h =550 mm =0.55 m
x =1.5m, Road wheels & engine parts rotate in same sense.
(i)Reaction due to dead weight of vehic le(R W )
Assuming the c.g of the vehicle lies at the cneter of the
chasis, the road reaction at all the four wheels is upward
and equal o one - fourth of the weight of the vehicle.
 Mg   2200  9.81 
RW =  =  =5395.5N  at all the wheels
 4   4 
(ii) Reaction due to gyroscopic couple (Rg )
 (4I w + GI E ) V 2 
Rg =   
 2x  rR 
 (4  2.4)  (3  1.2)   V 2

Rg =    = 0.1667 V 2

 2  1.5  0.33  80 
( at outer wheels, &  at inner wheels )
(iii) Reaction due to centrifugal couple (Rc )
1  MV 2  1  2200  V 2 
RC =    h =    0.55 = 5 .042V 2

2x  R  2 1.5  80 
For stability, the net reaction at inner wheels must be  0
i.e.Rw ≥ (Rg + Rc )  5395.5 ≥ (0.1667V 2 + 5.042 V 2 )
 32.18× 3600 
V  32.18m / sec Or V    = 115.86 Kmph
 1000 
 Problem 6
A 2.2 ton racing car has a wheel base of 2.4 m
and a wheel track of 1.4 m. The center of mass of
the car lies at 0.6 m above the ground and 1.4 m
from the rear axle. The equivalent mass of the
engine parts is 140 kg with a radius of gyration
150 mm. The back axle ratio is 5. The engine
shaft & flywheel rotate clockwise when viewed
from the front. Each wheel has a diameter 0.8m
and mass moment of inertia 0.7 kg-m2.
Determine the load distribution on the wheels
when the car is rounding a curve of 100 m radius
at 72 km/h to the (i) left, and (ii) right.
Note:
• In this problem, the CG of vehicle is closer to the
front axle and hence the reaction at the front
wheels will be more than that at the rear wheels.
• The engine parts are not revolving parallel to the
axles, but at right angles to them, i.e the engine
parts spin about the longitudinal axis of the car.
Hence CW & CE can not be added/subtracted but
must be analyzed separately.
• When the vehicle turns right, only the reactions
due to centrifugal & gyroscopic couples change
their sign. (w.r.t values calculated for left turn)
 V

R
1 2
Left Turn
Right Turn

Rw Rgw Rge Rc CG
o o
Rw Rgw Rge Rc

Spin Vector diagram

2.4 m
1.4 m

Engine

a'

a
b
3 4

a a'
reactive

b'
1.4 m couple
reactive
Rw Rgw Rge Rc Rw Rgw Rge Rc couple
2Rge
2Rgw 2Rge
FC
h b
x

2Rgw
Gyrocouple due 2Rge
to road wheels
Gyrocouple due
to engine parts
Data : I w = 0.7 kg-m 2 , I E = 140  (0.15) 2 =3.15 kg - m 2
0.8
r= =0.4m, M=2200 kg, G = 5, R = 100 m, h = 0.6 m
2
5
v = 72km / h =  72 = 20 m / s, Wheel track x=1.4 m,
18
Wheel base = 2.4m, Distance of CG from rear axle = 1.4 m
(i) Reaction due to dead weight of vehicle (RW )
Total weight of vehicle = 2200  9.81= 21582 N
 1.4  1
RW 1,2 =  21582    = 6294.75 N (  )
 2.4  2
 1.0  1
RW 3.4 =  21582    = 4496.25 N (  )
 2.4  2
(ii) Reaction due to gyroscopic couple due to road wheels (Rgw )
 4I w   V 2
  4  0.7   20 2

Rgw =  =   = 10 N
 2x   rR   2 1.4   0.4 100 
( at outer wheels 2, 4, &  at inner wheels 1,3)
(iii) Reaction due to gyroscopic couple due to engine parts (Rge )
 GI E   V   5  3.15   20 
2 2
Rge =   =   = 32.81 N
 2b   rR   2  2.4   0.4 100 
( at fronr wheels 1, 2, &  at rear wheels 3, 4)
(iv) Reaction due to centrifugal couple (Rc )
1  MV 2  1  2200  202 
RC =   h =    0.6 = 1882.72 N
2x  R  2 1.4  100 
( at outer wheels 2, 4, &  at inner wheels 1,3)
Load distribution on wheels due to left turn :
R1 = ( RW 1  Rgw  Rge  Rc ) = ( 6294.75  10  32.81  1885.71) = 4431.85 N
R2 = ( RW 2  Rgw  Rge  Rc ) = ( 6294.75  10  32.81  1885.71) = 8223.27 N
R3 = ( RW 3  Rgw  Rge  Rc ) = ( 4496.25  10  32.81  1885.71) = 2567.73 N
R4 = ( RW 4  Rgw  Rge  Rc ) = ( 4496.25  10  32.81  1885.71) = 6359.15 N
Load distribution on wheels when the vehicle turns right :
***In this case, the gyroscopic & centrifugal reactions change their sign
R1 = ( RW 1  Rgw  Rge  Rc ) = ( 6294.75  10  32.81  1885.71) = 8157.65 N
R2 = ( RW 2  Rgw  Rge  Rc ) = ( 6294.75  10  32.81  1885.71) = 4366.23 N
R3 = ( RW 3  Rgw  Rge  Rc ) = ( 4496.25  10  32.81  1885.71) = 6424.77 N
R4 = ( RW 4  Rgw  Rge  Rc ) = ( 4496.25  10  32.81  1885.71) = 2633.35 N
 Problem 7
The total mass of a 4 wheeled trolley car is 1800
kg. The car runs on rails of 1.6 m gauge and
rounds a curve of 24 m radius at 36 kmph. The
track is banked at 100. The external diameter of
the wheels is 600 mm & each pair with axle has a
mass of 180 kg with a radius of gyration 240 mm.
The height of center of mass of the car above the
wheel base is 950 mm. Determine the pressure on
each rail allowing for centrifugal force &
gyroscopic couple actions.
 Due to banking of the rails,
the centrifugal force is
partly balanced by a
component of weight of
trolley thereby increasing
the stability of vehicle
while turning.
x

Note:
• In this problem, the reactions at the wheels considering
weight of vehicle & centrifugal forces may be found first, &
then the gyroscopic reaction may be added/subtracted.
• As the mass is given for a pair of wheels, the value
calculated by mk2 is 2Iw.
Data : Moment of inertia for each axle = 2I w = mk 2
0.6
 2I w = 180  (0.24) =10.37 kg-m , r =
2 2
= 0.3m
2
M = 1800 kg , R = 24m, h = 0.95 m,  = 100
5
v = 36 km / h =  36 = 10 m / s, Wheel track x = 1.6 m
18
Reaction at the rails considering weight & centrifugal forces :
Total weight of vehicle W = Mg = 1800  9.81= 17658 N
Mv 2 1800 102
Centrifugal force Fc = = = 7500 N
R 24
The above force may be resolved along the incline & perpendicular
to it as shown in fig.
From the fig,
RA  RB = W cos   Fc Sin
RA  RB = 17658cos100  7500sin100
RA + RB = 18692 N (i)

Taking moment about A,

x
( RB  x )  ( Fc cos   W sin  )  h  (W cos   Fc sin  )  = 0
2
( RB 1.6 )  ( 7500 cos100  17658sin100 )  0.95
 (17658cos10 0  7500sin10 0 ) 
1.6
=0
2
( RB 1.6 )  4103.8  14953.68 = 0  RB = 11911 N
 RA = 18692 - 11911 = 6781 N
Reaction due to gyroscopic couple due to rails :
As the rails are inclined at  to horizontal & the axis of precession
is vertical,the horizontal component of spin vector is to be considered
for gyroscopic calculations.
 4I w V   2  2I w V 
2 2
Rgw =   cos  =    cos 
 2x   rR   2x   rR 
 2 10.37   10 
2
Rgw =   cos10 0
= 88.65 N
 2 1.6   0.3  24 
( at outer rails &  at inner rails)
 Pressure on outer rails = RB  Rgw = 11911  88.65 = 11999.65 N
Pressure on inner rails = RA  Rgw = 6781  88.65 = 6692.35 N