Angular Velocity

The angular velocity of a rotating body is specified by

a. the magnitude of velocity
b. the direction of the axis of rotor
c. the sense of rotation of the rotor, i.e., clockwise or counter-clockwise

Right-handed screw Rule

Angular Acceleration

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

Now, if the magnitude of the angular velocity changes to (ω+δω) and the direction of the axis of spin
to Ox’ (in time δt). The vector ob would represent its angular velocity in the new position.
ab which represents the change in the angular velocity of the rotor.
 dω/dt

Change of angular velocity

𝑐b = (𝜔 + 𝛿𝜔) sin 𝛿𝜃

Rate of change of angular velocity = ((ω + δω) sin δθ) / δt

Angular acceleration =

+ dω/dt

1. dω/dt, representing change in the magnitude of the angular velocity of the rotor
2. ω dθ/dt, Representing change in the direction of the axis of spin, the direction of cb is
from c to b in the vector diagram (being a component of ab), the acceleration acts
clockwise in the vertical plane xy.
Gyroscopic Torque (Couple)

Let I be the moment of inertia of a rotor and 𝜔 its angular velocity about a horizontal axis of spin
Ox in the direction

Let this axis of spin turn through a small angle 𝛿𝜃 in the horizontal plane (xy) to the position Ox'
in time δt,
oa represents the angular velocity vector when the axis is ox and ob when the axis is
changed to ox'. Then ab represents the change in the angular velocity due to change in
direction of the axis of spin of the rotor. This change in the angular velocity is clockwise when
viewed from a towards b and is in the vertical plane xz. This change results in angular
acceleration, the sense and direction of which are the same as that of the change in the
angular velocity.
Change in the angular velocity,

𝒂𝒃 = 𝜔 × 𝛿𝜃

Angular acceleration,

dθ/dt the angular velocity of the axis of spin is called the angular velocity of precession and is
denoted by ωp Angular acceleration
𝛼 = 𝜔 ∙ 𝜔p
The torque required to produce this acceleration is known as the gyroscopic torque and is a couple
which must be applied to the axis of spin to cause it to rotate with angular velocity ωp about the
axis of precession Oz.
Acceleration torque,
𝑇 = 𝐼 ∙ 𝛼 = 𝐼 ∙ 𝜔 ∙ 𝜔p
Effect of Gyroscopic Couple on a Naval Ship during Steering

Steering is the turning of a complete ship in a curve towards left or right, while it moves forward.

Consider the ship taking a left turn, and rotor

rotates in the clockwise direction when
viewed from the stern.

• The effect of this

reactive gyroscopic
couple is to raise the
bow and lower the stern.
When the ship steers to the right under similar conditions as
discussed above, the effect of the reactive gyroscopic couple, will
be to raise the stern and lower the bow.

When the rotor rates in the anticlockwise direction,

when viewed from the stern and the ship is steering to the
left, then the effect of reactive gyroscopic couple will be
to lower the bow and raise the stern.

When the rotor rotates in the clockwise direction when

viewed from the bow or fore end and the ship is steering
to the left, then the effect of reactive gyroscopic couple will be
to raise the stern and lower the bow.

When the ship is steering to the right under similar conditions

as discussed in note 4 above, then the effect of
reactive gyroscopic couple will be to raise the bow and lower
the stern.
An aeroplane makes a complete half circle of 50 metres radius, towards left, when flying at 200 km per
hr. The rotary engine and the propeller of the plane has a mass of 400 kg and a radius of gyration of 0.3
m. The engine rotates at 2400 r.p.m. clockwise when viewed from the rear. Find the gyroscopic couple
on the aircraft and state its effect on it.