Features 1 2 4 ’ 10. a Introduction, Processional Angular Motion. Gyroscopic Couple ifect of Gyroscope Couple onan Aeroplane Terms Used in a Naval Ship, Eject of Gyroscopic Couple ‘ona Naval Ship during Steering Effect of Gyroscopic Couple ‘ona Naval Ship during Pitching. Effect of Gyroscopic Couple ona Navalship during Rolling Stability of @ Four Wheet drive Moving ina Curved Path Stability ofa Two Wheel Vehicle Taking a Ton ect of Gyroscope Couple ‘ona Die Fixed Rigidly ata Certain Angie roa Roving Shalt Gyroscopic Couple and Precessional Motion 14.1. Introduction We have already discussed that, 1, When a body moves along a curved path with a uniform linear velocity a force in the dieetion of centripetal acceleration (known as centripetal force) has to be applied externally over the body, so that it moves along the required curved path. This extemal force applied is known as active force. 2. When a body, itself, is moving with uniform lin car velocity along a circular path, it is subjected to the cen- trifugal force* radially outwards. This centrifugal force is called reactive force. The action of the reactive or cent gal force isto tlt or move the body along radially outward direation, Note: Whenever the effec of any fore or couple over a moving oF rotating body is tobe considered, it shouldbe with espeet 9 the reactive force or couple and net with respect to active force oF couple Contig foros i equal in magnitude to censipetal force but ‘ppt in diteton, 480Chapter 14 : Gyroscopic Couple and Precessional Motion * 484 Spin als Input ants In these Arcions .Gyroscopic inertia prevents a spinning top from fling sideways. 14.2. Precessional Angular Motion We have already diseussed that the angular acceleration is the rate of change of angular Velocity with respect to time. It isa vector quantity and may be represented by drawing a vector iggrara withthe help of right hand serew rule (see chapter 2, Art 2.13) @ o ‘ig 14, Processional angular motion Consider a dse, as shown in Fig, 4.1 (a), revolving or spinning about the axis OX (known as taxis of spin) in anticlockwise when seen from the front, with an angular velocity a in a plane at right angles to the paper. ‘Aflera short interval oF time &, lt the disc be spinning about the new axis of spin OX" (atan angle 60) with an angular velocity (w+ du). Using the right hand serew rule, initial angular velocity of the disc (w) is represented by vector ox; and the final angular velocity of the dise (w + 84) is represented by vector ox as shown in Fig. 14.1 (b). The vector xx’ represents the change of angular velocity in time Bre, the angular acceleration of the dis, This may be resolved into two components, ‘one parallel to ox and the other perpendicular to ox. ‘Component of angular acceleration inthe direction of ox, ar _ar=ax_ ox" cos 80 - ox Oe e (@ +50) cos80-@ _ wcos6d + ba c0s60-w Ea Since 60 is very small, therefore substituting cos 88= 1, we have atbe-a_ 80 or Ey482 © Theory of Machines Inthe limit, when 8 —> 0, ) do ae ‘Component of angular acceleration i the divection perpendicular ox, ’_ on’ sin60 _ (@ + 6a)sin89 _ wsindd + Bo sind war 3 Br Since 80 in very small, therefore substitting sin 80 ~80, we have 0.80 + 80.80 0.80 a (Neplecting 688, being very smal) Inthe limit when 6¢— 0, s de (steieas #0) Tong asses oh de corer svedarsam fond, to, to 4s oxfam, er rth sgl vl exis ef pin boat cern awh pend tpl woth tr a ofan fug roe. Ths nur wey of beeen fy inom ant bei eceon dtd yoy The aon Whe Mhetspnstoan sino asasrprecain Tesla en oop ste hiurecesin porn recs! nr mtn Tr gl ely fe i ges ent emis ost in magi, en one, Them lon shen a os cele Evaporators change liquid This experime car burns hysogen fulin an excnary piston engin. ts exhaust Tecate they contain only water vapout Noto This picture is gen as axonal information and isnot a direct example ofthe current chapter. cause no pollution,Chapter 14 : Gyroscopic Couple and Precessional Motion * 483 14.3. Gyroscopic Couple Consider a dise spinning with an angular velocity « radis about the axis of spin OX, in anticlockwise direction when seen from the front as shown in Fig. 14.2 (a) Since the plane in which the dise is rotating is parallel to the plane YOZ, therefore iti called plane of spinning. The plane OZ. isa horizontal plane and the axis of spin rotates ina plane parallel tothe horizontal plane about ‘anaxis 0 ¥. In other words, the axis of spin is said to be rotating or processing about an axis O ¥. In ‘other words the axis of spn is sad to be rotating or processing about anaxis OY (which is perpendicular to both the axes OX and OZ) at an angular velocity a reps. This horizontal plane XOZ is called plane of precession and OY isthe axis of precession. Let T= Mass moment of inertia ofthe dise about OX, and @ = Angular velocity of the dis, Angular momentum of the dise =Lo Since the angular momentum is a vector quantity, therefore it may be represented by the vector ok, as shown in Fig. 14.2 (b). The axis of spin OX is also rotating anticlockwise when seen from the tap about the axis OY Let the axis O's tured in the plane XOZ through a small angle 68 radians tothe position OX”, in time Br seconds. Assuming the angular velocity «to be constant, the angular momentum will now be represented by vector 271 y lane of active Plane ‘70. couple Reactve go couple Plane ot mei x bey 2 7 — aS ‘ x ™ Direction e x A atte < panordwke " Die © . Fig. 142, Gyroscopic eouple (Change in angular momentum = on ~ dt = x = 63.50 {inthe distin of x?) =heae and ate of change of angular momentum = rox Since the rate of change of angular momentum wil sult by the application ofa couple othe ise, therefore the couple applied tothe disc causing precession, Be10 ct} BOG ONG a484 © Theory of Machines where «, = Angular velocity of precession of the axis of spin or the speed of rolation ofthe axis of spin about the axis of precession 0 Y In units the units of Cis Nm when Fis inkgam Itmay be noted that 1, The couple £00, in the direction of the vector x2’ (representing the change in angular ‘momentum) isthe active gyroscopic couple, which has to be applied over the dise when the axis spimis made to rotate with angular velocity a, about the axis of precession, The vector xx’ lies in the plane XOZor the horizontal plane. In ease of a very small displacement 89, the veetor xx’ will be perpendicularto the vertical plane XO Y Therefore the couple causing this change in the angular ‘momentum will lie inthe plane XOY. The vector Above tre shows an aircraft proper xxx’, as shown in Fig, 14.2 (b), represents an TM### M0 play rolen gyrosconie couple, anticlockwise couple in the plane YOY. Therefore, the plane YOY is called the plane of active gyroscopic couple and the axis OZ perpendicular tothe plane XO ¥, about which the couple acts, is called the axis of active gyroseopic couple 2, When the axis of spin itself moves with angular velocity ap, the disc is subjected to reactive couple whose magnitude is same (Le. L @.,) but opposite in direction to that of active ‘couple. This reactive couple to which the disc is subjected when the axis of spin rotates about the axis ‘of precession is known as reactive gyroscopic couple, The axis ofthe reactive gyroscopie couple is represented by OZ’ in Fig. 142 (a) 13. The gyroscopic couple is usually applied through the bearings which support the shat ‘The beatings will resist equal and opposite couple. 4. The gyroscopic principle is used in an instrument or toy known as gyroscope. The ‘ayroscopes are installed in ships in order to minimize the rolling and pitching effects of waves, They are also used in aeroplanes, monorail ears, gyrocompasses etc. Example 14.1. uniform dise of diameter 300 mm and of mass 5 kg is mounted on one end ofan 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? Solution. Given: d= 300 mm or r= 150mm = 0.15 m; m= kg; f= 600 mm = 0.6m N=300.cp.m, or @=2n-% 300/60 = 31.42 rads ‘We know that the mass moment of inertia ofthe dise, about an axis through its centre of gravity and perpendicular tothe plane of dise, T= m2/2= S(0.15)/2 = 0.056 ke-mt and couple due to mass of disc, C= mg = 59.81 x 0.6=29.43 Nm Let 0, = Speed of precession, ‘We know that couple (C), 29.43 = Levey = 0.056 x 31.42 « = 1.16 p Gy = 29.A3V1.76 = 16.7 rads Ans.Chapter 14 : Gyroscopic Couple and Precessional Motion * 485 Example 142.4 uniform dise of150 mm diameter has a ‘mass of Sk. It is mounted centrally in bearings which maintain ite axle in a horizontal plane. The dise spins about it axle with a constant speed of 1000 p.m. while the ale pecesses uniformly about the vertical at 60 rpm. The directions of rotation are as shown in Fig, 143. Ifthe distance between the Bearings is 100 ‘mm, find the resultant reaction at each bearing. due tothe mass and gyroscopic effects Fig. 143, Solution, Given: d= 150 mm or r= 75 mm = 0.075 m; m= 5 kg: N= 1000 cpm. or = 2n x 1000/60 = 104.7 rads (anticlockwise); Np ~ 60 ep.m, oF wy ~ 27 * 60/60 = 6.284 radis (anticlockwise); = 100 mm =0.1 m ‘We know that mass moment of inertia ofthe dise, about an axis trough ts centre of gravity and perpendicular tothe plane of dsc, T= mP2=5(0.075)2=0.014 kg m? ‘Gyroscapic couple acting onthe dis, C= £@.0,~0.014 « 104.7 x 6.284928. ‘The direction ofthe reactive gyroscopie couple is shown in Fig 144 (). Let Pe the force at ‘ach bearing duc to the gyroscopie couple F = Ce=92/0.1=92N ‘The force Fwill actin opposite directions atthe bearings as shown in Fig. 14.4 (a). Now let Ry and R,be the reaction atthe bearing A and B respectively dus tothe weight of the dis. Since the disc is mounted centrally in bearings, therefore, Ryn fy 32-25k0-25 x981—2458 ! Z| axis of active cu: o » ve ws ent renton ah bring Since the reactive gyroscopic couple acs in clockwise direction when seen from the front, therefore its effect sto increase the reaction onthe left hand side bearing (i. A) and to decrease the reaction on the right hend side bearing (ce, ), Ry E+ R= 924245 = 116.5 N (upwards) Ans. and Rg, = Fy = 92-245» 67.5 N (downwards) Ans.486 + Theory of Machines 14.4, Effect of the Gyroscopic Couple on an Aeroplane ‘The top and front view of an aeroplane are shown in Fig 14.5 (a). Let engine or propeller rotates in the clockwise direction when seen from the rear of tail end and the aeroplane takes a turn to the left. Let © k I R & Gyroscopie couple acting on the acroplane, C= law, Direction ot viewing = Angular velocity of the engine in rads, = Mass of the engine and the propeller in ke, lis radius of gyration in metres, = Mass moment of inertia of the engine and the propeller in kg-m? me, Linear velocity ofthe aeroplane in mis, = Radius of curvature in metres, and = Angular velocity ofp Axis of precession Ais of ave gyro. couple A N\ oa) - =e ‘ame ee) Front view z ig. 148, Aeroplane taking lef tunChapter 14: Gyroscopic Couple and Precessional Motion * 487 ‘Before taking the left tu, the angular momentum veetoris represented by ox. When it takes lefttum, the active gyroscopic couple will change the direction ofthe angular momentum vector from ‘x ( ox’ as shown in Fig. 14.6 (a). The vector xx, inthe limit, represents the change of angular ‘momentum or the active gyroscopic couple and is perpendicular to ox. Thus the plane of active ‘gyroscopic couple XOY will be perpendicular to-xy’, ie. vertical inthis ease, as shown in Fig 14.5 (@). By applying right hand screw rule to vector xv, we find thatthe direction of active gyroscopic ‘couple is clockwise as shown inthe front view of Fig, 145 (a), In other words, for left and turning, the active gyroscopic couple on the aeroplane in the axis OZ will be clockwise as shown in Fig. 14.5 (b)-The reactive gyroseopic couple (equal in magnitude of active gyroscopic couple) will act in the ‘opposite direction (ie. in the anticlockwise direction) and the effect ofthis couple is, therefore, to raise the nose and dip the tail ofthe aeroplane. — x () Aeroplane taking Tet tur, (8) Aeroplane aking right ten Fig. 146 Effect of gyroscopic couple onan aeroplane Notes: 1. When the aeroplane takes aright turn under similar conditions a discussed above, the eect of the reactive gyroscopic coupe will be to dip the nose and raise the tal ofthe aeroplane 2, When the engine or propeller rotates in anticlockwise direction when viewed from the rear or til «end andthe aeroplane akesa lef ura, then te elect of reactive gyroscopic couple willbe o dip the noe and raise the tal of the aeroplane 3. When the aeroplane takes a right turn under similar conditions as mentioned in note 2 above, the let of reactive gyroscopic couple will be fo raise the nose and dip the tl ofthe aeroplane. 44. When the engine or propeller rotates in clockwise direction when viewed from the front and the actoplane takes left tur, then the effect of eative gyroscopic couple wil eto raise the tail and dp the no ‘ofthe acroplane 5, When the aeroplane takes aright turn under similar conditions as mentioned in note 4-bove, the let of reactive gyroscopic couple willbe fo rise the nose and dip the til ofthe aeroplane. Example 1433. An aeroplane makes a complete half circle of 50 metres radius, towards le when flying at 200 km per hr. The rotary engine and the propeller ofthe plane has a mass of 400 kg and a radius of gyration of .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 is effect on i. Solution, Given : R= $0 m; y= 200 kmvar = 55.6 mis; m = 400 kg; k= 0.3 m; N= 2400 rpm. or @ = 2 x 2400/60 ~ 251 rads ‘We know that mass moment of inertia ofthe engine and the propeller, 1 =m. =400(0.3) =36 kgm? and angular velocity of precession, = VIR=$5.6/50 = 1.11 rads We know that gyroscopic couple acting on the aircraft, C #10. 0,36 * 251.4% LLL = 10046 N-m = 10.046 kN-m Ans. We have discussed in Art. 144 that when the aeroplane tur towards let the effect ofthe ‘ayroscopic couple i to lift the nose upwards and tail downvards. Ans.488 © Theory of Machines 14.5, Terms Used in a Naval Ship ‘The top and front views of a naval ship are shown in Fig 14.7. The fore end of the ship is called bow and the rear end is known as stern or aft. The left hand and right hand sides ofthe ship, ‘when viewed from the ster are called port and star-board respectively. We shall nov diseuss the cffect of gyroscopic couple on the naval ship in the following three cases: |, Steering, 2. Pitching, and 3. Rolling Direction st vowing | Longitudinal stein Bow (at ena) (Foren Top view N / 9 N/ Pp Frontview Propeller Fig. 147, Terms used in naval ship 14.6. Effect of Gyroscopic Couple on a Naval Ship during Steering Steering is the turning of a complete ship ina curve towards lft or right, while it moves forward. Consider the sip taking a eft tur, and rotor rotates inthe clockwise direction when viewed from the ster, as shown in Fig. 148. The effect of gyroscopic couple on a naval ship during steering ‘king lft or ight tum may be obtained in the similar way a for an aeroplane as discussed in Ar. 14.4 xis of aive gyro. couple Transverse xis Reactive gyre ‘cour pes, )) mS Aatve gyro, x ‘oune ‘sof precession Fig. 1438, Naval ship taking a left tum ‘When the rotor ofthe ship rotates in the clockwise direction when viewed from the stern it will have its angular momentum vector inthe direction ox as shown in Fig. 14.9 (a). As the ship sters to the left, the active gyroscopic couple will change the angular momentum vector from ox to ox’. The ‘vector x¥ now represents the active gyroscopic couple and is perpendicular to ox, Thus the plane of active gyroscopic couple is perpendicular to xx’ and its direction in the axis OZ for left hand tum is clockwise as shown in Fig. 148, The reactive gyroscopic couple ofthe same magnitude will actin theChapter 14 : Gyroscopic Couple and Precessional Motion * 489 ‘opposite direction (ie. in anticlockwise direction) The effect ofthis reactive gyroscopic couple isto raise the bow and lower the stern. Notes: 1. When the ship x ° x steers tothe ight under sii J lar conditions a¢ discussed above, the effect ofthe reac tive gyroscopic couple, as shown in Fig. 149 (6, wil * ‘ be to raise the stern and lower the bow. (a) Streeing tothe ltt (2) String tothe rght 2. When the rotor rates in. Fig, 14.9. Eect of gyroscope couple on naval ship during steering, the anticlockwise direction, ‘when viewed from the stem and he ship is steering tothe {ef then the effect of reactive gyroscopic coupe wil be to lower the bow and raise the stern |. When the ship is steering tothe right under similar ‘conditions 2s discussed in note 2 above, thea the effect of reactive gyroseopie couple willbe to Fase the bow and Tower the ter, 4, Whenthe rotor rotates in the clockwise retin when viewed from the how or fore end and th Ship is stooring to the lef then the effect of reactive gyroscopic couple willbe to raise the stern and lower the bow. '5, When the ship is tering tothe right under similar conditions as discussed in note 4 above, then the effect of active gyroscopic couple willbe to raise the bow and lower che stern. 6, The effect ofthe reactive gyroscopic couple ona boat propelled by aturbine taking left or ight tum is similar as diseused above 14.7. Effect of Gyroscopic Couple on a Naval Ship during Pitching Pitching is the movement of complete ship up and down in vertical plane about transverse axis, as shown in Fig, 14,10 (a. Inthis ease, the transverse axis is the axis of precession, The pitching, ‘of the ship is assumed to take place with simple harmonic motion i.e. the motion ofthe axis of spin about transverse axis is simple harmonic, (Pitching ofa naval ship 4 /490 © Theory of Machines ‘Gryroscopie couple plays its rle during ships turning and pitching. £ Angular displacement ofthe axis of spin from mean position after time f seconds, O=osinw,t where (9=Anmplitude of swing ie, maximum angle tumed ftom the mean position in radians, and (©, = Angular velocity of S HM. 2n Timeperiodof SHIM, Angular velocity of prevession, 0, 60801 ‘The angular velocity of precession willbe maximum, if eos @,~ Maximum angular velocity of precession, Oppgr = 8.0, =O 2K (Substituting 05 = 1) Lat "= Moment of inertia of the rotor in kgm, and ‘0 Angular velocity of the rotor in ras. Mamimum gyroscopic couple, Cys = 1: Was ‘When the pitchingis upward, the fet ofthe reactive gyroscope couple, as shown in Fig. 14.10 (6), willy to move the ship toward sta-board. On the other hand fe pitching is downward the effet ofthe active gyroscope coupe, as shovi in Fig. 14.10) isto tum the ship towards por side Notes: 1. Th effet ofthe gyrseopic coupe is always given on specifi position af the axis af spin ie ‘hte pitching downwards or upwars 2. The pitching of a ship produces frees on he Bearings which act horizontally and perpendicular to the motion of esi. 5. The maximum gyroscopic couple ends to shear the hong-down bots 4 Th angular acelraton during pitching, a (0) sinay (Pinson wath spect 4 “The angular acceleration is maximum, isin yt ‘Maximum angular acceleration dusing pitching, Giggs = (04)?Chapter 14 : Gyroscopic Couple and Precessional Motion * 494 14.8. Effect of Gyroscopic Couple on a Naval Ship during Rolling ‘We know that, forthe effect of gyroscopic couple to occus, the axis of precession should always be perpendicular tothe axis of spin, If, however, the axis of precession becomes parallel to the axis of spin, there will beno effect of the gyroscopic couple acting on the body ofthe ship. Incase of rolling ofa ship, he axis of precession (i. longitudinal axis) is always parallel to the axis of spin forall postions. Hence, there is no effect of te gyroscopic couple acting on the body of ashi. Example 144. The turbine rotor of a ship has a mass of § tonnes and a radius of gyration 0.6 m. It rotates at 1800 rp-m. clockwise, when looking from the stern. Determine the gyroscopic ‘couple, ifthe ship travels at 100 km/hr and steer to the left in a curve of 75 m radius Solution. Given: m = 8 t~ 8000 kg ; k= 0.6m; N= 1800 pm. or w= 2m x 1800/60, 188.5 radis; v= 100 kovh = 27.8 mis ; R= 75m We know that mass moment of inertia of the rotor, 1 = m.s2 = 8000 (0.6 = 2880 kg-m? and angular velocity of precession, p= /R=27.8/75= 0.37 rads We know that gyroscopic couple, C= Leo.oy> 2880 * 188.5 « 0.37 = 200 866 N-m = 200,866 KN-m Ans. We have discussed in Art. 14.6 that when the rotor rotates in clockwise direction when looking from the stem and the ship steers to the lf, the effect of the reactive gyroscopic couple isto raise the bow and lower the ste, Example 14.5. The heavy turbine rotor of a sea vessel rotates at 1500 rpm. clockwise looking from the stern, its mass being 750 kg, The vessel pitches with an angular velocity of I rad/s. Determine the gyroscopic couple transmitted tothe hull when bow is rising, ifthe radius of gyration forthe rotor is 250 mm. Also show in what direction the couple acts on the hull? Solution, Given: NV ~ 1500 xp.am, oF Go 2 150060 = 157.1 rads; m = 750 ke; ‘= | rads; = 250mm = 0.25 m ‘We know that mass moment of inertia of the rotor, T= m.B= 750 (0.25) = 46.875 kgem? . Ship’ propeller shawn as a soparato part. A ships Gyroscopic couple transmitted to ropetler i located at backside (ster) of the ship the hull ((e, body ofthe sea vessel), low the water surface, (C= Lean, = 46.875 * 157.1 % 1= 7364 Nem = 7.364 kN-m492 © Theory of Machines ‘We have discussed in Art. 14.7, that when the bow is rising ie. when the pitching is upward, the reactive gyroscopic couple acts in the clockwise direction which moves the sea vessel towards starboard, Example 14.6. The turbine rotor ofa ship has a mass of 3500 kg, It has a radius of gyration 0f 0.45 mand a speed of 3000 r.p.m, clockwise when looking from stern. Determine the gyroscopic ‘couple and its effet upon the ship: 1. when the ship is steering to the left on a curve of 100 m radius ata speed of 36 km/h. 2. when the ship is pitching in a simple harmonic motion, the bow falling with ts maximum velocity The period of pitching is 40 seconds and the total angular displacement between the two ‘extreme positions of pitching is 12 degrees. ‘Solution, Given :m = 3500 ke ; k= 0.45 m; = 3000 rpm. or @ =2m x 30006 1, When the ship is steering to the left 100 m ‘We know that mass moment of inertia ofthe rotor, T=mB and angular velocity of precession, ap = W/R = 10/100 = 0.1 rads Gyroscopie couple, C= Leay = 108,95 «314.2 * 0.1 = 22.270 Nem 22.27 KN-m Ans. 14.2 rads Given: s/h = 10 mis We have discussed in Ant. 14.6, that when the rotor rotates clockwise when looking from the stern and the ship takes a left turn, the effect ofthe reactive gyroscopic couple isto zase the bow a lower the stern. Aas. 2, When the ship is pitching with the bow falling Given: 1,= 408 Since the total angular displacement between the two extreme positions of pitching is 12° 12°), therefore amplitude of swing, 0 12/2 6° ~ 6x w/I80~ 0.105 rad and angular velocity ofthe simple harmonic motion, ,=2n/1,=2n/ 40= 0.157 rads ‘We know that maximum angular velocity of precession, p= 6.0, = 0.105 » 0,157 = 0.0165 rads Gyroscopie couple, C= Lava, = 708.75 * 314.2 x 0.0165 = 3675 N-am = 3.675 kN-m Ans. ‘We have discussed in Art 14.7, that when the bow is falling (ie. when the pitching is down ‘ward), the effect of the reactive gyroscopie couple isto move the ship towards port side, Ans. Example 14:7. 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 rp.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: fiedChapter 14 : Gyroscopic Couple and Precessional Motion * 493 1. Maximum gyroscopic couple, 2. Maximum angular acceleration ofthe ship during pitch- ing, and 3. The direction in which the bow will end fo turn when rising, ifthe rotation ofthe rotor is clockwise when looking from the lef Solution. Given : m= 201= 20.000 kg; & 209.5 radis; $= 6° = 6% n/180= 0,108 rad ;f, 30 1. Maximum gyroscopic couple We know that mass moment of inertia of the rotor, 1 = mk? = 20-000 (0.67 = 7200 kg-n? and angular velocity of the simple harmonie motion, 6m; N=2000rpm. or@ 2000160. Maximum angular velocity of precession, pga, = 0.0, = 0.105 «02 ‘We know that maximum gyroscopic couple, Coup 1.0 7200 * 208.5 0.022 = 39 185 Nom = 33.185 kNem Ans. 2. Maximum angular acceleration during pitching ‘We know that maximum angular acceleration during pitching = o(@,)?= 0.105 (0.21)? = 0.0046 rads? 4. Direction in which the bow will tend to turn when rising We have discussed in Art. 14.7, that when the rotation ofthe rotors clockwise when looking fiom the left (ie. rear end or stem) and when the bow is ssing (Le pitching is upward, then the reactive gyroscopic couple acts in the clockwise direction which tends to tur the bow towards right (Ge towards starboard). Ans. [Example 1.8. 4 ship propelled by a turbine rotor which ha a mass of tonnes and a speed 0f 2100 rp.m. The rotor has a radius of gyration of 0.5 m and rotates ina clockwise direction when viewed from the stern, Find the gyroscopic effets in the following conditions: 1. The ship sails at a speed of 30 kh and sters tothe lftin a curve having 60 m radi. 2. The ship itches 6 degree above and 6 degree below he horizontal position. The bow is descending with ts maximum velocity. Te motion due to pitching is simple harmonic and the periadic time is 20 seconds. 3. The ship rolls and ata 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 effects determined in each case. Solution. Given : m = 5 1= 5000 kg N'= 2100 rpm. or @ = 2x x 2100/60 k=05m 1. When the ship steers tothe left Given: v=30km/h=8.33 m/s; R ‘We know that angular velocity of precession, 0p = VIR= 8.33160 0.14 radls and mass moment ofinentia ofthe roto, T= m2 =50000.5) 20 rads 3 Om 250 ke-m?494 © Theory of Machines Gyroscopie couple, C- Leaay - 1250 220 x 0.14 ~ 38 500 Nem = 38.5 KN-m ‘We have discussed in Art 14.6, that when the rotor ina clockwise direction when viewed from the stern and the ship steers tothe left, the effect af reactive gyroscopic couple isto rise the ‘bow and lower the stem. Ans. 2, When the ship pitches with the bow descending Given: 9 x /180= 0.105 radis;f,=20 8 We know that angular velocity of simple harmonic motion, 0, * 2/4, = 2m/ 20" 0.3142 rads and maximum angular velocity of precession, @pqae = 0.0, ~ 0.105 * 03142 = 0.033 rad's *. Maximum gyroseapie couple, Ggag = 1.0 p yg, = 1250 * 220 * 0,033 = 9075 Since the ship is pitching with the bow descending, therefore the effect of this maximum ‘eyroscopic couple isto tum the ship towards port side. Ans. 3. When the ship rolls Since the ship rolls at an angular velocity of 0.03 rad/s, therefore angular velocity of precession ‘whea the ship rolls, @, = 0.03 rads Gyroscopic couple, C= Letay ~ 1250 x 220 « 0.03 = 8250 N-m Incase of rolling of a ship, the axis of precession is always parallel to the axis of spin forall positions, therefore there is no effect of gyroscopic couple. Ans. ‘Maximum angular acceleration during pitching ‘We know that maximum angular acceleration during pitehing Giga, = 0 (04)? = 0.105 (0.3142)? = 0.01 radis? Ans. Example 14.9. The turbine rotor ofa ship has a mass of 2000 ke and rotates at a speed of +3000 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 stering tothe right in a curve of 100 m radius at a speed of 16.1 knots (1 knot = 1855 ml/h. Calculate also the torque and it 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 pasitions of pitching is 12°, Find the maximum acceleration during pitching motion, Solution, Given : m = 2000 kg ; N = 3000 rpm. or @ = 2m 3000/60 = = 05m; R= 100m; v= 16.1 knots = 16.1 » 1855/3600=83 mis Gyroscopic couple ‘We know that mass moment of inertia af the rotor, 1 = mJ2= 2000 (0.5)? = 500 kg-mt and angular velocity of precession, viR 14.2 rads; 3/100 = 0,083 rad /sChapter 14 : Gyroscopic Couple and Precessional Motion * 495 Gyroscope couple, C= Leatog= 500 «314.2% 0083 = 13 040 Nem = 13.08 kN Weave diseassod in Ar, 14.6, that when the rotor rotates clockwise when ooking from a stom and the ship steers tthe right, the eect ofthe reactive gyroscopic couple is tors he stn and lower the bow. Ans. Torque during pitching Given: 1,50 8:20 12° 0 @= 6° w/I80= 0.105 rd We know that angular velocity of simple harmonic mation, (0, = Dit, = 2m/50 = 0.1257 rads and maximum angular velocity of precession, ppg, = 010, = 0.105 ¥ 0.1257 = 0.0132 rad ‘Torque or maximum gyroscopic couple durin pitching, ggg = 10.0 uy = 500% 3142 « 0.0152=2074 Nem Ans. We have dtsussed in Ar, 14.7 that when th pitching is downwards, the effet ofthe reac- tive gyroscopic couple isto tum the ship towards por sid Maximum acceleration during pitching We know that maximum acceleration uring pitching 0, = 8 (@,)?= 0.105 (0.1257)? = 0.00166 rads? Ans. 14.9. Stability of a Four Wheel Drive Moving in a Curved Path cermin VS FB and D are outer whesls. The centre of gravity (CG) of ftw YD the vehicle lies vericaly above the road surface. ; i Let m = Mass of the vehicle in kg, wa S a 1 ~ Weight of the vehicle in newtons~m., 1 Radiat wheels in ones me me R=Radivs of curvature in metres 1 &>ry) : ~ Distance of centre of gravity, vertically : shove ie road surface in metres, wa Wid of tack in mets, . = Mass moment of inertia of one of the pe wheels in kg-m, o az Angular velocity ofthe wheels or ve locity of spin in rad/s, Fig. 14.11, Four wheel drive ~ Mass moment of inetia of the rotating moving in a curved path, parts ofthe engine in kg-m*, Angular velocity ofthe rotating parts of the engine in rad/s, G = Gear ratio= a Moy, = Linear velocity of the vehicle in mis = yy496 © Theory of Machines A litle considereation will show, thatthe weight ofthe vehicle (17) will be equally distributed over the four wheels which will act downwards, The reaction between each wheel and the road surface of the same magnitude will act upwards Therelore Road reaction over each whee! Wis = mag id newtons Lt us now consider the effect of the gyroscopic couple and centrifugal couple onthe vehicle, 1, Effect of the gyroscopic couple Since the vehicle takes a turn towards left due to the precession and other rotating parts, therefore a gyroscopic couple will act. ‘We know that velocity of precessi oy = wR Gyroscopie couple duc to 4 wheels, Gy = Ay ty and gyroscopic couple due tothe rotating parts of the engine, fg 0p= le GOy Op ( G~ayfoy) Net gyroscopic couple, C= Cyt CA ly ye + ly Gory Oy Oyo (4 by ® Gl) ‘The postive sign is used when the wheels and rotating parts ofthe engine olae in the same Aireetion, I the rotating parts of the engine revolves in opposite direction, then negative sgn is used. Due to the gyroscopic couple, vertical resction on the road surface will be produced. The reaction will be vertically upwards on the outer wheels and vertically dawnwards on the inner wheels, Let the magnitude of this reaction atthe two outer or inner wheels be Pnewtons. Then. Pxx=C or PO Vertical reaction at each ofthe outer or inner wheels, PID=Ci2x Note: We have discussed above that whe rotating pars ofthe engine rotate in opposite directions, then—ve Sign is used. net gyroscopic coupe, C=6y-G When G-> Cy then Cwil eve, Thus the reeton wil be vertically downwards onthe outer wheels and vertically upwards onthe ianer wheels 2, Effet ofthe centrifugal couple Since the vehicle moves along a curved path, therefore centrifugal force will act outwardly at the contre of gravity ofthe vehicle, The effect of this centrifugal force is also to overtum the vehicle, We know that ceatrifugal force,Chapter 14 : Gyroscopic Couple and Precessional Motion * 497 ‘The couple tending to overturn the vehicle or overturning couple, Co = Fexh ach 7 ‘This overturning coupe is balanced by vertical esctions, which ae verily upward on the outer wheels and vertically dowaward on he iner wheel. Le te magnitude of his reaction at the two outer or ier wheels be Then Co mye Qxx=Cy or O= = ‘Vertical reaction at each of the outer or nner whe, Q_ meh 2 ORe ‘Total vertical reaction at each of the outer wheel, and total vertical reaction at each of the inner wheel, w oP o 4°22 ‘A lvl consideration wil show that when the vehicle is running at high speeds, P, may be zero o even negative. This will cause the inner wheels to leave the ground ths tending to overtura the automobile. In order to have the contact between the inner wheels and the ground, the sum of 2 and O12 mst be les than WM Example 14.10. 4 four wheeled trolley car of mass 2500 kg runs on rails, which are 1.5 m apart and travels around a curve of 30-m radius at 24 km/h. The rails are at the same level. Each whee ofthe olley i 0.75 m indiameter: and each ofthe wo asles i driven by @ motor running in a direction opposite to that ofthe wheels at a speed of five times the speed of rotation of the wheels. The moment of inertia ofeach axle with gear and wheels i 18 kgm’. Each ‘motor with shaft and gear pinion has a moment of inertia of 12 gent The cenre of gravity ofthe cars 0.9 mabove the rail level. Determine the vertical force exerted by each wheel ‘on the rails taking into consideration the centrifugal and syrascopic efets. State the central and gorascopic effects ‘onthe trolley. Solution. Given: m= 2500 kgs x 4 kmh = 6.67 mis 3 dy = 0.75 m or Fy = 03 glo = 5 jy = 18 kee 2 keem? ;=09 m ‘The weight ofthe trolley (17 ~ mg) willbe equally dstibuted over the four wheel, which ‘will at downwards, The reaction between the wheels and the rad surface ofthe same magnitude will act upwards, a Road reaction over each wheel = W/4 ‘We know that angular velocity of the wheels, Gy = viry = 6.670.375 = 17.8 rads 49/4 = 2500 « 9.81/4= 6131.25 N498 © Theory of Machines and angular velocity of precession, Gy = VIR = 6.6730 = 0.22 rads Gyroscopie couple due fo one pair of wheels and axle, Gy = Dye @ yep =2* 18% 17.8 «0.22 141 Nem and gyroscopic couple due to the rotating parts of the motor and gears, Cp = Delp Oy=2 Mp GOy by CF p= Gay) = 2x 12% 517.8 *0.22=470Nem [Net gyroscopic couple, C= Cy = Gy= M41 -470=-329 Nem (ve sig is used due to opposite direction of moter) ue to this net gyroscopic couple, the vertical reaction onthe rails willbe produced. Since Cs greater than Cy, therefore the reaction will be vertically downwards on the outer wheels and vertically upwards onthe inner wheels, Lethe magnitude ofthis reaction at each ofthe outer or inner wheel be £2 newton, PID = C2x=329/2%15~ 109.7 ‘We know that centrifugal free, Fe = m.v2/R = 2500 (6.67/30 = 3707 N Overturning couple, Gy = Fe * b= 3707 * 0.9 = 3336.3 Nem ‘This overtuming couple i balanced by the vertical reactions which are vertically upwards on the outer wheels and vertically downwards on the inner wheels. Let the magnitude of this reaetion at ‘each ofthe outer or inner wheels be Q/2 newton, O/2 = Cy/ 2x ~ 33963 /2*15~IZIN ‘We know that vertical force exerted on each outer whee, HPQ fo 6131.25 - 109.7 + 1112.1 = 7142.65 N Ans. a snd ve fos nod on ah ine ves eB Bo easiasctopy- iat s28858 Ans Example L411. A rear engine automobile is travelling along a track of 100 metres mean radius. Each ofthe four road wheels has a moment of inertia of 2.5 kg-m and an effective diameter 0f 6m. The rotating part of the engine have a moment of inertia of 1.2 kgm’. The engine ax is parallel othe rear axe and the crankshaft rotates in the same sense asthe road wheels. The ratio of ‘engine speed 10 back ale speed is 3:1. The automobile has a mass of 1600 kg and has is centre of gravity 0.5 m above road level. The width ofthe track ofthe vehicle is 1.5m. Determine the limiting speed ofthe vehicle around the curve forall four wheels fo maintain contact with the road surface. Assume that the rod surface isnot cambered and centre of gravity of the automobile es centrally with respect tothe four wheels Solution. Given : R= 100m fy = 2.5 kg-m?; dy = 0.6 m oF ry =0.3 mI yy = 35m = 1600 kg A= 0.5m 5x= 1.5m, ‘The weight ofthe vehicle (.g) willbe equally distributed over the four wheels which wil at ‘downwards. The reaction between the wheel and the road surface of the same magnitude wil act upwards 2 ke-m?; 6 Road reaction over each wheel = Wid mag 4~ 1600 * 9.81/4 = 3924NChapter 14 : Gyroscopic Couple and Precessional Motion * 499 La = Limiting speed of the vehicle in mis. We know that angular velocity ofthe wheels, oy = = 2333 vad and angular velocity of precession, 2-2 -o01y nds OR T00 Gyroscopie couple due te 4 wheels, 4x2sx % x 203309 Nm Ay Ow Or 03 *i00 and gyroscopic couple duc to rotating pars ofthe engine, 5 Ili Op I Cy Dy 1233330 001V= 0122 Nm Total gyroscopic couple, C= Cy + 6,7 03397 +0.12 = 0.45 v2 Nem ‘Duc t this gyroscopic couple, the vertical reaction on th rails will be produced. The reac- tion wll be vertically upwards on the outer wheels and vertically downwards onthe inner wheels. Let the magnitude ofthis reaction at each of the outer or inner wheel be P2 newton P= Ce = 0.45.22 «1.5 =0.15 EN ‘We know that centifigal Fores, Fi = m.97R~ 160% 2/100 16 2 Overtuming couple sotng inthe ouswerd direction, Cy Fe xh= 169205 = 89 Nam This oversuning couple isbalancedby vertical reactions which are vertically upwards onthe cuter whecls and vertically downwards onthe inner wheels Lt the magnitude ofthis resction at each ofthe outer or ianer wheels be 02 newions Q12=Cy!2e=8¥4/2* 15-2672 N We know that total vertical reaction at each ofthe outer wheels, WP oO eg Ta o and total vertical reaction at each ofthe inner wheels, WP ow (Po net-s-2-5 [2,8 4 202 4 (2°2 oy From equation (?), we see that there will always be contact between the outer wheels and the road surface because IV/4, P?2 and Q'2 are vertically upwards. In order to have contact between the inner wheels end road surface, the reactions should also be vertically upwards, which is only possible if shy sie als500 © Theory of Machines ie 01S s2+2.67 0453928 or BaD v? 3924 v5 3924/2.82 = 13915 on 37,3 mis = 97.3 © 3600 / 1000 = 134.28 krvh Ans, Example 14.12. 4 four wheeled motorcar of mass 2000 ky has a wheelbase 2.5m, track ‘width 1.5 m and height of centre of gravity 00 mm above the ground level and lies at I metre frm the front axle. Each wheel hasan effective diameter of 8 m and a moment of inertia of 0.8 km The drive sha. engine flywheel and wansmission ae rotating at 4 times the speed ofroad wheel, in 4 clockwise direction when viewed from th front, and is equivalent toa mass of 75 kg having radius of gration of 100 mm. Ifthe cars taking a right turn of 60 radius at 60 km, fnd the load ‘omeach wheel. Solution. Given: m= 2000 kg :b= 25 m x= 1.5m; 4= $00 mm = 0.5m ;L=1m3dy 0.8 m oF ry = Ob mJy — 0.8 kgem? } GIy —4 3 my 75 kj ky ~ 100 mom 0.1 m ; R= 60m; = 60 kmib~ 16.67 m/s Since the centre of gravity ofthe ca ies at | m From the front axle and the weigh of he ar (= mg) lies atthe conse of gravity, therefore weight on the front wheels and rear wheels willbe Aiferent. Le om My ‘Weight on the front wheels, and Weight on the rear wheels Taking moment about the front wheels, WyX25 = Wx 1=mg x 1= 2000981 « 1=19 620 WW, ~ 19 620/25 ~7848N We know that weight of the car or on the four wheels, 000 «9.81 = 19 620N W=W\+W,=m or W, = W-W,=19 620-7848= 11 772. Bear wes ‘Weight on each ofthe front wheels W[2= 11 772/2= S886N and weight on each ofthe rear wheels Wid 1874 12~3924N Since the weightof the car over the four wheels will act downwards, therefore the reaction between each wheel and the road surface of the same magnitude will act upwards as shown in Fig. 14.12, Let ws now consider the effet of ersconic couple yy FNL aye diet four wheels and rotating pn ofthe engine or Jee | ‘We know angular velocity of wheels, Ae elven Fz Right a2 4167S rad/s 82 and angular velocity of precession, Fig. 1412 @, ~ vIR ~ 16.67/60~ 0.278 rad Is yp ~ Why = 16.670Chapter 14 : Gyroscopic Couple and Precessional Motion * 504 Gyroscope couple due to four wheels, Cy = Alyy 0.8 «41,675 «0.278 ‘This gyroscopic couple tends to lift the inner wheels and to press the outer wheels. In other words, the reaction will be vertically downward on the inner wheels (ie. wheels | and 3) and verti- cally upward onthe outer wheels (-e. wheels 2 and 4) as shown in Fig. 14.12, Let P/2 newtons be the ‘magnitude ofthis reaction at each of the inner or outer wheel PIX > Gy! 2e= 37/2" 1S=1237N ‘We know that mass moment of inertia of rotating parts ofthe engine, Ih, = mg (k= 75 OA? =0.75 kee? (eT me) Gyroscopic couple due to rotating paris of the engine, TW p= me (he)? Gy 2p = 75 OA) 4 * 41,675 « 0.278 = 34.7 Nem ‘This gyroscopic couple tends to lift the front wheels and to press the outer wheels. In other ‘words, the reaction will be vertically downwards on the front wheels and vertically upwards on the reat wheels as shown in Fig. 14.12, Lot F12 newton be the magnitude ofthis reaction on each ofthe front and rear wheels, F/2= G,/2b= 34.712 *25=694N [Now letus consider the effect of centrifugal couple acting on the car. We know that centrifugal force, 000 (16.6797 60= 9263 N entvfugal couple tending to overtura the car or over turning couple, Gy = Fe h= 9263 * 0.5 = 4631.5 Nem This overtuming couple tends to reduce the pressure on the inner wheels and to increase on the outer wheels, In other words, the reactions are vertically downward on the inner wheels and vertically upwards on the outer wheels. Let 02 be the magnitude of this reaction on each of the inner and outer wheels 0/2 = Cy 2x = 4631.52 * 1S = 1543.83 N From Fig. 14.12, we see that Load on the front whee! 1 FFF 2 _ seee_12.37- 6.94— 1565.83 = 4322.86 N Ans, 2 2°22 Load onthe font wheel 2 FES suse 1237 6.94-+ 1543.83 ~ 743526 N Ans, 2727272 Load on the rear wheel 3 3924 = 12.37 + 6.94 — 1543.83 = 2374.74 N Ans. Load on the: 3924 + 12.37 + 6.94 + 1543.83 = $487.14 N Ans,502 © Theory of Machines Example 14.13. four-wheeled trolley car of total mass 2000 ky running on rails of 1.6 m ‘gauge, rounds a curve of 30 m radius at 54 kn, The track is banked at 8°. The wheels have an external diameter of 0.7 m and each pair with axle has a mass of 200 kg. The radius of gyration for ‘each pair is 03 m. The height of centre of gravity ofthe car above the wheel base is 1 m. Determine, allowing for centrifugal force and gyroscopic couple actions, the pressure on each rail Solution, Given = m = 2000 kg sx = 1.6 m; R= 30m; y= S4km/h= 1S m/s; 0=8" y= 0.7 mor ry = 0.35 mim, 200k; k= 03 m;h= Le Firstof all, et us find the reactions Rand R, atthe wheels A and B respectively. The various forces acting on the trolley car are shown in ig, 14:13, Resolving the forees perpendicular to the track, in 8° = 2000% 9,81 cos 8° 4 MOOS 30 = 19620 0.9903 + 15 000 x 0.139221 518 Now taking moments about 2, Rx = 08+ Fesin8) EW sinh cos wm: 1 ma" sin | +{ mg sin 0 z 2*|"* 2000 05% “ Ry =| mg cos 0 =| 2000 x 9.81 cos 8° + / . 30 + (19.620 x 0,1392~ 15 000 « 0.9903)Chapter 14 : Gyroscopic Couple and Precessional Motion * 503 coswecean 4 se -s4asy = i0ts9-197=00N etn alae aoa Gyroscopie couple, C= * Fey 608 8X 0, =m, F2. Wy 608 8.0p (Tom) 200 (0.3)? 42.86 eos 8° = 0.5 = 382 Nem Due to this gyroscopie couple, the ear wil tend to overturn about the outer wheels, Let Phe the force at each pair of wheels or each rail due to the gyroscopic couple, P= C/x=382/16=238.75N ‘We know that pressure (or total reaction) on the inner rail, P,= y= P= 3182 ~ 238,75 = 2943.25 N Ans. and pressure on the outer rail, P= Ry | P= 18 336 ¢ 258.75 = 18 574.75 N Ans. Example 14.14. pair oflocomotive driving wheels with the axle, have a moment of inertia of 180 kg-m. The diameter of the wheel treads is 1.8 m and the distance between wheel centres is ‘5m. When the locomotive is travelling on a level track at 95 km/h, defective ballasting causes one wheel 10 fall 6 mm and to rise again ina total time of 0.1 s. Ifthe displacement ofthe wheel takes place with simple harmonic motion, find : 1. The gyroscopic couple set up, and 2. The reaction between the wheel and rail due to this couple. Solution. Given : = 180 kgem? 1. Gyroscopie couple set up We know that angular velocity ofthe lncomotive, = viR = 26.4/0.9~ 29.3 rads Since the defective ballasting eauses one whee to fall 6 mm and to rise again in a total time (0) 0f0.1s, therefore SmorR=09m; dat 2 Amplitude, 4 and maximum velocity while falling, 7 Maximum angular velocity of tilt ofthe axle or angular velocity of preces = 2x 4 = 28521185 mm/s = 0.1885 m/s a2 nus _ 0.1885 x IS > wax = 0.126 rads © Angular momentum about axle ~Lay “Angula momentim about horizontal =. 08 8504 © Theory of Machines We know that gyroscopic couple setup, C= 1.0, = 180 * 29.3 « 0.12 64.5 Nom Ans. The gyroseopic couple will atin # horizontal plane and this coupe will tend to produce swerve ie. it tends to tur the locomotive aside 2. Reaction between the wheel and rail due to the gyroscopic couple We know thatthe reaction between the wheel and rail duc tothe gyroscopic couple is P= Clx= 6645/15 = 443 N Ans. 14.10. Stability of a Two Wheel Vehicle Taking a Turn Consider a two wheel vehicle (say a scooter or motor eycle) taking aright tum as shown in Fig. 14.14 H ‘is of procession Reacive gy. Front whee! onus Cent coure Engine (Een . acve gyro couple pa Rear need & © © Fig. 1414, Stability ofa two wheel vehicle taking tur, Let m = Mass of the vehicle and its rider in kg, W = Weight of the vehicle and its rider in newtons = m.g, f= Height gravity ofthe vebicle and rider, Fy = Radius ofthe wheels, R=Radius of tr curvature of the centre of ck or IMotoreycle taking a tr, Jy = Mass moment of inestia of each wheel, ‘Mass moment of inertia of the rotating parts ofthe engine, tay, = Angular velocity ofthe wheels, a, = Angular velocity ofthe engine, G = Gear ratio=,Chapter 14 : Gyroscopic Couple and Precessional Motion * 505 ¥ = Linear velocity of the vehicle = by * ry 6 = Angle of hel. is inclination ofthe vehicle tothe vertical for equiv, Let us now consider the effect ofthe gyroscopic couple and centrifugal couple onthe vehicle, as discussed below, 1. Effect of gyroscopic couple Weknowihat y= Wy hy of y= ity and 0 = Goy =x Toul (x0) =2iy Oy iy a2ly xb thxox% = Oly 26h) and velocity of precession, = Ait consideration wil show tat when the wheels move over the curved path, the vehicle isalways inclined atan angle 0 withthe vertical plan as shown in Fig. 14.148), This angles known 18 engi of hee. nother words, the axis of spin in inclned to the horizontal at an angle O, a shown in Fig. 14.14 (9) Thus the angularmmomentum vector fn due to spn is represented by Od inclined to ‘OXatan angle 6, But the precession exis is vertical. Therefore the spin vectors resolved along OX. Gyroseopie couple, €, =119c0s 0% 0p = (2 fy # Gl) c08 0x oe f D R 2 ly £614) cos Rry ‘ > ote: a) When the gine is rotting inthe ane rection a that hess, then the poste ia ed in thc above expression anf the engine routes oponedeln, thn nego sgn ed (6) The gyroscopic couple wl ac over the vehicle outwards inthe anticockwite dieton wien son fam he Hon ote vehile. Te deny ois coupe ie over he eee otwerd Siscton ‘An aircraft of 1920's model.506 * Theory of Machines 2. Effect of centrifugal couple ‘We know thet centrifugal force, Rel R This force acts horizontally through the centre of gravity (C.G.) along the outward direction. Centrifugal couple, {my Rexneso-[ 5 |teoso R Since the centrifugal couple has a tendeney to overtum the vehicle, therefore ‘Total overtuming couple, Co = Gyroscopie couple ~ Centrifugal couple iy +6) cos 0+ MY xt cos 8 t eos 0+ Raw ¥[2Iw + Ole smi lcos 0 RL ae We know that balancing couple = m.g.h sin ® ‘The balancing couple avts in clockwise direction when seen ‘Therefore for stability, the overturning couple must be eq Ve {2lw + Ole ny loos Rt tw From this expression, the value of the angle of hee! (0) may be determined, so thatthe vehicle does not skid, Example 14.15, Find the angle of inclination with respect to the vertical of @ two wheeler negotiating a turn. Given : combined mass ofthe vehicle with its rider 250 kg; moment of inertia of the engine f»whee! 0.3 kg-m? : moment of inertia of each road wheel I kg-m? : speed of engine ‘Aywiheel 5 times that of road wheels and in the same direction : height of centre of graity of rider With vehicle 0.6 m ; two wheeler speed 90 keh : wheel radius 300 mm ; radius of turn 50m mn the front of the vehicle, wo the balancing couple, i, mgh sin @ Solution, Given : m =250 kg: fy=03 kes? ify =I keen? = 5 ay or G= 2% =5 = 0.6 m;¥= 90 krm/h= 25 mvs: ry = 300 mm = 0.3m; R= 50m ow Let 6 = Angle of inclination with respect to the vertical ofa two wheeler, We know that gyroscopic couple, = Gly +p) 05 0= 2) (214503) c08 0 Bere 50x08 146 cos @N-m and centrifugal couple, €; % 046 cos = 1875 cos Oem Total overturning couple, ot We know that balancing couple maghsin 46 c0s 8 + 1875 cos 8 250 x 9.81 0.6 sin 8Chapter 14 : Gyroscopic Couple and Precessional Motion * 507 Since the overturning couple must be equal to the balancing couple for equilibrium condi tion, therefore 2021 cos 8 = 1471.5 sin 8 tan 0 = sin @ / eos ©= 2021 / 1471.5 = 1.3734 or @ Example 14.16. 4 gyrowheel D of mass 0.5 kg, with aradius ‘of gyration of 20 mm, is mounted ina pivoted frame C as shown in iL Fig. 14.15. The axis AB of the pivots passes through the centre of | et > rotation O of the wheel, but the centre of gravity G ofthe frame Cis 10 mm below O. The frame has a mass of 0.30 kg and the speed of "#5 7 rotation ofthe wheel is 3000 pan. in the anticlockwise direction as I: d shown. The entire unit is mounted on a vehicle so that he axis AB is ‘parallel othe direction of motion ofthe vehicle. Ifthe vehicle travels ‘at 15 mvs in a curve of 50 metres radius, find the inclination ofthe gyrowhee! from the vertical, when 1. The vehicle moves inthe direction ofthe arrow 4 left hand tun along the curve, and 2. The vehicle reverse at the same speed inthe direction of arrow "along the same path Solution. Given : m, = 0.5 kg ; k= 20 mm = 0.02 m; OG= k= 10 mm = 001 m; 1m, = 0.3 kg jN=3000 rp.m_ oF @= 2 x 3000 /60= 314.2 radis v= 15 mis; R= 50m ‘We know that mass moment of inertia ofthe gyrowhe, T= m= 05 (0.02)? = 0.0002 kg? and angular velocity of precession, 0, = vIR=15/50=03 nad Is Angle of inclination of gyrowheel fom the vertical 1. When the vehicle moves in the direction of arrow X taking aleft tun along the curve We know that gyroscopic couple about 0, G Fig 1418 taking Let F40y 608 © =0,0002 * 314.2 x 0.3 cos @ Nem 0,019 c0s 6 N-m (anticlockwise) and centrifugal couple about 0, = 23.05) 5 0.01 cos 8 N-m = xheos8 R (0.0135 cos 0 N-m (anticlockwise) ‘Total overturning couple o-G += C= 0.019 008 8 0.0135 cos @ (ve sign due to opposite dieetion) 10,0055 cos ® N-m (anticlockwise) ‘We know that balancing couple due to weight (W.,= mg) ofthe frame about O, m,g.h sin @=0,3 * 981 * 0,01 sin @N-m 0.029 sin © N-m (clockwise)508 © Theory of Machines Since the overturning couple must be equal to the balancing couple for equilibrium condi tion, therefore 0.0055 cos 8 = 0.029 sin 8 sin @ / cos ® = 0.0055 / 0.02 10.74° Ans. or tan 1896 Hl Active gyro, Moment of Me o cousle, (etencoiok 7 Reactive yr couple 16 2. When the vehicle reverses atthe same speed in the direction of arrow ¥ along the same path ‘When the vehicle reverses at the same spec in the direction of strow Y, then the gyroscopic and centrifugal couples (C, and C;) willbe in clockwise direction about O and the balancing couple due to weight (Y.,= m,,g) ofthe frame about O will be in anticlockwise direct ‘Total overturning couple C+ C= 0.019 cos 8 + 0.0135 cos ® = 0.0325 cos 8 N-mm Equating the total overturning couple tothe balancing couple, we have 0.0325 cos 0 = 0.029 sin 8 sin @ / cos ® = 0.0325 / 0.02 48,26" Ans, 1207 14.11. Effect of Gyroscopic Couple on a Disc Fixed Rigidly at a Certain Angle to a Rotating Shaft Consider a dise fixed rigidly to a rotating shaft sue that the polar axis of the dise makes an dangle 6 with the shal axis, as shown in Fig. 14.17. Let the shaft rotates with an angular velocity rads in the clockwise direction when viewed from the front A little consideration will show thatthe dise will also rotate about OX with the same angular velocity w radls. Let OP be the polar axis and OD the diametral axis of the disc Ca owmatace Fig. 1.17, Effet of gyroscopic couple ona dit fixed rigidly ata certain angle to rotating shalChapter 14 : Gyroscopic Couple and Precessional Motion * 509 Angular velocity ofthe dise about the polar axis OP or the angular velocity of spin cos 8 (Component of win the dretion of OP) ‘Since the shaft rotates, therefore the point P will move ina plane perpendicular to the plane ‘of paper: In other words, precession is produced about OD. Angular velocity ofthe disc about the diametral axis OD or the angular velocity of procession sine fis the mass moment of inertia ofthe dise about the polar axis OP, then gyroscopic couple acting on the dise, 1 c Ip@cos 8.asin@= = * Jp? sin 28 (2 2sin 8.608 8= sin 28) ‘The effec of this gyroscopic couple isto tur the dise inthe anticlockwise when viewed from the top, about an axis through Q inthe plane of paper. [Now consider the movement of point D about the polar axis OP. In this case, OD is axis of 1nd OP is te axis of precession, Angular velocity of dise about OD or angular velocity of spin sine and angular velocity of D about OP or angular velocity of precession wos 8 [fy isthe mass moment of inertia ofthe dise about the diametral axis OD, then gyroscopic ‘couple acting on the dise, Gy ~ fy@sin 8.0 008 8 te ya sin 20 37 fo sin ‘The effect of this couple will be opposite to that of Cy. Resultant gyroscopic couple acting on the dse, +0? sin 28 py) ‘This resultant gyroscopic couple will actin the anticlockwise direction as seen from the top. Inother words, the shaft tend to turn in the plane of paper in anticlockwise direction as seen from the op, as a result the horizontal force is exerted on the shall hearings. Notes: The mass moment of inertia ofthe dise about polar ais OP, Ip mPa. snd mass moment of inert ofthe disc about diem axis OD, Poe na Mass of ise, Radivs of ds, and Width of tise k where 2, she discs thin, may be neglected. In such acase510 * Theory of Machines Example 1417. A shaft carries a uniform thin die of 0.6 m diameter and mass 30 kg. The disc is ou of truth and makes an angle of 1° with a plane at right angles to the axis of the shaft. Final the gyroscopic couple acting on the bearing when the shaft rotates at 1200 rp.m. Solution. Given : d= 0.6 m or r= 0,3 m, m= 30 kg; @= 1° ; N= 1200 rpm. or = 2 1200/60 = 125.7 rads ‘We know that gyroscopic couple acting on the bearing Bac ake? sin 20 = 22 425.97 (0.3) sn 2° — 186 Nom Ans EXERCISES A flywheel of mas 10 kg and radius of gyration 200 mm s spinning about ts axis, which is horizontal anu is suspended a point distant 150 mm fom the plane of rotation ofthe Mywhee. Determine the angular velocity of precession ofthe flywheel. The spin speed of flywheel s 900 rpm Ans, 0.39 rads) 2. Ahorizontal axle 4, 1m long, is pivoted atthe midpoint C. I cates a weight of 20 N at 4 and @ wheel weighing SN at B. The wheel i made to spin ata speed of 600-rp.m ina clockwise diretion looking fom is frost Assuming thatthe weight of the Mywheel i uniformly distebuted around the rim whose mean diameters 0.6m, calculate the angular velocity of precession ofthe system around the vertical ais through C (Ans. 082 rads) 3. Am aeroplane runs at 600 km /h, The rotor ofthe engine weighs 4000 N with radius of gyration of "mete. The speed of ror is 3000 pm. in anticlockwise direction when seen from rear sie ofthe sccoplane the plane takes loop upwards in a curve of 100 metres rains, ind: 1. gyroscopic couple devel oped; and 2 effect of reaction gyroscopic couple developed onthe body of aeroplane. [Ans 2135 kN-m An aeroplane makes a complete half circle of $0 mete radius, foward le, when fying st 200 kr pet hour. The rorary engine and the propeler of the plane has a mass of 400 ky, with radius of syration of 300 mm. The engine runs at 2400 rpm. clockwise, when viewed from the rear. Find the tyroscopic couple on the aircraft and sate its effect on it. What willbe the elec, i the aeroplane {urns to its gt instead oft te lef? [Ans 10 kN-m] Each paddle wheel ofa steamer havea mass of 1600 kg anda radius of gyration of 12m. The steamer turns to pot a ciel of 160 m radius at 24k h the speed of the pads Being 90 pm. Find the ‘magnitude and effect ofthe gyroscopic couple acting onthe stcamer, ans. 905.6 Nm ‘Therotor ofthe turbine ofa yacht makes 1200,-pm clockwise when viewed from stem. The rotorhas ‘amass of 750 ke andi adi of gration is 250 mm, Find the maximum gyroscopic couple tansmi- ted the hl ody ofthe yachs) when yacht ptches with maximum angulat velocity of Trad. What is the effet of this couple? Ans. 5892 N-ma] 7. ‘The rotor ofa turbine installed ina boat with taxis along the longitudinal axis ofthe boat makes 1500 rpm clockwise when viewed ftom the ster, The rotor has a mass of 750 kg and ¢ radius of syration of 300 mm. Ifat an instant, the bat pitches i the longitudinal vertical pane so that the bow ‘ise fom he horizontal plane with an angus velocity of I adi, determine the torque ating on the boat and the direction in whieh tends to tar the boat a he instant Ans. 10.6 KN-m] 8. The mass ofa turbine rotor of a ship is 8 tomes and as a radius of gyration 0.6m. Itzoats at 1800 rpm. clockwise when Tooking ftom the stern. Determine the gyroscopic effects in the following [IT the ship travelling a 100 km stroes tothe lef na curve of 75 mrad, 2, Lhe ship pitching and the bow is descending with maximum velocity The pitching is simple haronie, the pea ime being 20 seconds and the otal angular movement between the exreme positions is 1°, and 3. Ifthe ship is rolling and et a certain instant has an angular velocity of 0.03 rads clockwise when looking from ser,Chapter 14 : Gyroscopic Couple and Precessionsl Motion © 5414 In cach case, explain clearly how you detrmine the ditection in which the ship tends to move as @ result of the gyroscopic ection. [Ans 201 kN-m 5 14.87 KN-m ; 163 KN-m) 9, Teturbin tar of ship has a mass of 20 tonnes anda rads of gyration of 0.751, Its speed is 2000 pam. The sip ptches 6° above and below the horizontal psition. One complete oscillation takes 18 seconds and the motion i simple harmonic. Calelate 1 the maximum couple tending to shear the holding down bots of the turbine, 2 the maximum angular acceleration of the ship during pitching, and. the direction in which the bow wil end te ture “hil ising, if he rotation ofthe rotor is elockwse whew looking from rex [Ams 86.26 KN-m ; 0.0128 rad 4, tomards sta-board 10, A motor car takes a bend of 30 m radius at a speed of 60 km / hr, Determine the magnitudes of gyroscopic and centrifugal couples ating onthe vehicle and state the effect that cach ofthese as on the rad rections tothe rad wheels. Assume that Ech read whee! has a moment of inertia of 3 kg-m and an effective road radius of 0.4 m, ‘Therotaing parts ofthe engine and transmission are equivalent to fywheel of mas 75 with arias ‘of gyration of 100 mm. The engine ts ina clockwise dretion when viewed from the fro. ‘The back-ene ratio is 4:1, the drive through the gearbox being direst. The gyroscopic effets of the ‘al shai atthe back axle ae tobe ignored “The ar bas amass of 1200 kg and its cence of gravity ie 0.6m owe the road wheel ‘The tum isin aright hand dzction, the tr has boon in eft hand direction all ther details being uallered, which answers, if any, ‘need modification. Tans. 3475 Nam : 6670 N-m] 11, Ail earhas total mass of tonnes, There are two ales, each of which together with its wheels and ‘gearing has a total moment of inertia 0f 30 Kg-mn?, The eenie distance between the two wheas on a Axle ie 1. meres and cach wheel i of 375 mim aus, Each axle is driven by a moor, the speed aio between the to being 1: 3. Each motor with ts gear has a moment of inertia of 15 kgm’ and runs ina direction opposite wo that ofits axe, The centre of gravity ofthe cris 1.05 m above the rails Determine the limiting sped for this car, when it rounding a curve of 240 metres radius such that 20 ‘whe! leaves the rail. Consider the ential and gyroscopic eects completely. Assume that 0 cant is provided for outer ral Ans. 144 kam] ‘A racing car Weighs 20 EN. Ithas a wheelbase of 2m, track width| m and eight of C:G. 300 mam. ibove the ground level and les midway between the fron and rear axe. The engine flywheel rotates 41 3000 rpm, clockwise when viewed from the front, The moment of inertia of the Nywheel is 44 kg-n? and moment of neta of each wheel is 3 kg. Find the reactions between the wheel and ‘the ground when the car takes a curve of 15 m radius toward right at SO rab aking into consider- ation the gyroscopic and the centrifugal effects. Bach wheel radius is 400 mm. "Ans. Front inner wheel = 3341.7 N ; Front outer wheel = 63095 N ; Rear inner wheel ~ 36905 N ; Rear outer wheel = 6658.3 N] 13. A four wheel wolley ca of toal mass 2000 kg running on rails of I m gauge, rounds a curve of 25 m= ‘adi a 60 km/h The track is banked at 10°, The wheels have an extemal diameter of 06 m and ‘ach par ofan axle has a mass of 200 kg, The radis of gyration for cach pai is 250 mm. The height ‘of C.G. of the car above the shee! base is 0.95 m, Allowing for cenrfugal force and gyroscopic ‘couple ation, determine the pressure om each ri. Ans 4328 N 516 704 N] 14, 22 tonne acing car has a wheel base of 24 m and a rack of 1.4 m from the ear axle. The equiva lent mass of engine pars is 140 kg with radius of gyration of 150 mm. The back axe ratio is 5. The ‘engine shaft nd flywheel oat clockwise when viewed from the front. Each wheel has diameter of (0.8 m and a momen of iota of 0.7 kg-m?, Detormine the load distribution onthe whoels wher the ‘sats rounding «curve of 100m radius at «speed of 72 km/h tothe lef. 15. Adisehasa mass of 30kg and a radius of gyetion about its axis of symmetry 125 mm while ts raias ‘of gyration about diameter ofthe dis at right anges tothe axis of symmetry is 75 mm. The diss is pressed on to he shaft but due o incorrect boring, the angle between the axis of symmetry andthe ‘etal axis of rotation is 0.28, though both these ates pass trough the cente of gravity ofthe diss Assuming that she shatis rigid and is earied between bearings 200 mm apart, detrmine the bearing forces du othe miselignment at a speed of 5000 pm. Ans. 1810 N]512 * Theory of Machines 16. 1. 6 2 [Avwheel of locomotive, travelling ona level tack at 90 km /h fll is ‘ses again in a total time of 08 seconds. The displacement of the whee! takes place with simple ‘harmonic motion. The wheel has a diameter of 3 mand the distance between the wheel centres 1.75 mm. The wheel pai with axle has « moment of inertia of $00 kg-m. Determine the magnitude andthe effect of gyrocouple produced i this case (Ans. 186.6 N-m] ach road wheel af a mtr eycle has a mass moment of neta of 1 kgem?. The rotating pats ofthe nine ofthe motor eye have a mass monet of inertia of 0.25 kg-m! The spood of the engine is 5 times the spesd of the wheels andisin the same gene, The mas ofthe motor cycle with ts irs 250 kg ad ite cente of gravity is 0.6 m above the ground level, Find the angle of heel if the cycle is travelling a SO km / and is taking a tur of 30 m radius. The wheel dismeters 0.6m. [Ans 38.7) racing motorcyclist ravels at 140 hmv round «curve of 120-m radius measured horizontally. The cycle and ride have mass of 150 kg sn their cenre of gravity lies at 0.7 m above the ground level when the mator evel is vertical. Each whec! 0.6 m in diameter and has moment of neta about is tis of rotation 1.5 kgm? The engine has rotating parts whose moment of ineris about tei xis of Tolation i 0.25 kg-m’ andi oats at five tims the wie! speed inthe same direction. Find. the correct angle of banking ofthe rack so that there i no tendency to side sip, snd 2 the correct ange inclination ofthe eycle and ier to the vertical TAs, 52.12% 5557] [tintin calculating the ange of banking ofthe track, neglect the effet of gyroscopic couple] DO YOU KNOW ? Write short note on gyroscope What do you understand by gyroseopie couple ? Derive a formula forts magnitude. Explain the application of gyroseopie principles to areas Desribe the gyroscopic effet on sea going vessels. Explain the effet ofthe gyroscopic couple on the reaction ofthe four wheels ofa vehicle negotiating Discuss the eect ofthe gyroscopic couple ona two wheeled vehicle when taking a rum. What will beth effect ofthe gyroscopic couple ona dis Fixed at a certain angle toa rotating shat? OBJECTIVE TYPE QUESTIONS A discs spinning with an angular velocity @ ads about the axis of spin. The couple applied tothe disc causing precession wil be Lia . La @) Ste © 1 ( Flay — @ Loo, where 1 = Mass moment of inertia ofthe disc, and ‘a, ~ Angular velocity of precession ofthe axis of spin Adis spinning on its axis 2 20 rads will undergo precession when a torque 100 N-m is applied about ‘maxis normal to tat an angular spood, i mass moment of insta ofthe die he | kg-0 @ 2adls () Smads © Wad’s — @) 20rads “The engine of a aeroplane rotates in clockwise direction when seen from the ail end andthe aeroplane takes tur tthe Left, The effet ofthe gyroscopic couple on the aeroplane will be (2) twraise the nose and dip the tail (8) todip the nose and raise the til, (©) twraise the nose andl (@) dip the nose and talChapter 14: Gyroscopic Couple and Precessional Motion * 513 4. Theair screw ofan eerolaneis rotating clockwise when looking fom the font. fit makes the gyroscopic effect will lftam, (@ endo depress the nose and raise the tail (©) ten orate the aose and depres the ti (©) Witte aeroplane none ofthe above ‘5. TherotoraFe ship rotates in clockwise direction when viewed from the tem and the ship takes Tet turn. The effet ofthe gyroscopic couple acting on it wil be {@) raise the bow and stern (®) tower the how and sera (6) ‘to:aise the bow and lower the ster (@ tw lower the how and ase the stem 6. When the pitching of ship is upward, the effect of gyroscopic couple ating on it wll be (2) to move the sip towards por side (8) tomove the sip towards starboard (©) toraise the bow and lower the stern (@)_torise the stem and lower the bow nan automobile, ifthe vehicle makes lef tum, te gyroscopic torque {increases the forces on the outer wheels (b) decreases the forces onthe outer wheels (©) doesnot alec the forces onthe outer wheels (@) none of the above 8. A motorcar moving ata certain speed takes left turnin curved path If the engine rotates inthe same direction as that of wheels then de to the centrifugal forees {@) the reaction on the inner wheel increases and on the outer wheels decreases (©) ‘the waction on te outer wheels increases and on te inner wheels deereases (©) the reaction on the front wheels increases and onthe rear wheels decreases (@) ‘the reaction on the ear whos increases and on the frat wheels decreases ANSWERS 1 @ 2 © 2 @ 40 5 © 6 © 1 @ & &