Chapter 6

Gyroscope

prepared by Muse D. 1
 Gyroscope :
 What is gyroscope
 Vactorial representation of angular motion,
 Gyroscopic couple
 Effect of gyroscopic couple on aero plane
 Effect of gyroscopic couple on ship
 stability of two wheelers and four wheelers

prepared by Muse D. 2
 What is Gyroscope
 A gyroscope is a device for
measuring or maintaining
orientation/direction, based on the
principles of ANGULAR
MOMENTUM.

 A mechanical gyroscope is
essentially a spinning wheel or disk
whose axle is free to take any
orientation/direction.

 This orientation changes much less

in response to a given external
torque than it would without the
large angular momentum associated
with the gyroscope's high rate of
spin. prepared by Muse D. 3
prepared by Muse D. 4
 Processional Angular Motion
(Vectorial representation of angular motion)

 We know that the angular acceleration is the rate of

change of angular velocity with respect to time.

 Itis a vector quantity and may be represented by drawing

a vector diagram with the help of right hand screw rule.

prepared by Muse D. 5
 Consider a disc, as shown in Fig. (a), revolving or spinning about
the axis OX (known as axis of spin) in anticlockwise when seen
from the front, with an angular velocity in a plane at right angles
to the paper.
 After a short interval of time t, let the disc be spinning about the
new axis of spin OX (at an angle δθ ) with an angular velocity (ω
+δω).
 Using the right hand screw rule, initial angular velocity of the
disc ω is represented by vector ox; and the final angular
velocity of the disc (ω +δω ) is represented by vector ox as
shown in Fig. (b).
prepared by Muse D. 6
 The vector xx’ represents the change of angular velocity in time
δt i.e. the angular acceleration of the disc.
 This may be resolved into two components, one parallel to ox and
the other perpendicular to ox.

prepared by Muse D. 7
prepared by Muse D. 8
prepared by Muse D. 9
GYROSCOPIC COUPLE

prepared by Muse D. 10
prepared by Muse D. 11
Effect of the Gyroscopic Couple on an Aero-plane

prepared by Muse D. 12
Case (i): PROPELLER rotates in CLOCKWISE direction when seen from rear
end and Aero plane turns towards LEFT

prepared by Muse D. 13
Case (ii): PROPELLER rotates in CLOCKWISE direction when seen
from rearend and Aeroplane turns towards RIGHT

prepared by Muse D. 14
 According to the analysis, the
reactive gyroscopic couple tends to
dip the tail and raise thenose of
aeroplane.

prepared by Muse D. 15
 According to the analysis, the reactive gyroscopic couple
tends to raise the tail and dip the nose of aero plane.

prepared by Muse D. 16
Case (iii): PROPELLER rotates in ANTICLOCKWISE direction when seen
from rear end and Aero plane turns towards LEFT

prepared by Muse D. 17
 According to the analysis, the reactive gyroscopic couple
tends to raise the tail and dip the nose of aero plane

prepared by Muse D. 18
Case (iv): PROPELLER rotates in ANTICLOCKWISE direction when
seen from rear end and Aero plane turns towards RIGHT

prepared by Muse D. 19
 The analysis shows, the reactive gyroscopic couple tends to raise
the tail and dip the nose of aero plane

prepared by Muse D. 20
GYROSCOPIC EFFECT ON SHIP
 Gyroscope is used for stabilization and directional control of a
ship sailing in therough sea.
 A ship, while navigating in the rough sea, may experience the
following three different types of motion:
 (i) Steering—The turning of ship in a curve while moving
forward
 (ii) Pitching—The movement of the ship up and down from
horizontal position in a vertical plane about transverse axis
 (iii)Rolling—Sideway motion of the ship about longitudinal
axis.

prepared by Muse D. 21
Ship Terminology
 (i) Bow – It is the fore
end of ship
 (ii) Stern – It is the
rear end of ship
 (iii) Starboard – It is
the right hand side of
the ship looking in the
direction of motion
 (iv) Port – It is the left
hand side of the ship
looking in the
direction of motion

prepared by Muse D. 22
Gyroscopic effect on Steering of ship

 (i) Left turn with clockwise rotor

 When ship takes a left turn and the rotor rotates in clockwise direction
viewed from
 stern, the gyroscopic couple act on the ship is analyzed in the following way.

prepared by Muse D. 23
 From the above analysis, the couple acts over the ship between stern
and bow. This reaction couple tends to raise the front end (bow) and
lower the rear end (stern) of the ship.

prepared by Muse D. 24
(ii) Right turn with clockwise rotor
When ship takes a right turn and the rotor rotates in clockwise
direction viewed from stern

prepared by Muse D. 25
 the couple acts in vertical plane, means between stern and bow. Now the
reaction couple tends to lower the bow of the ship and raise the stern.

prepared by Muse D. 26
(iii) Left turn with anticlockwise rotor
When ship takes a left turn and the rotor rotates in anticlockwise
direction viewed from stern

prepared by Muse D. 27
 The couple acts over the ship is between stern and bow. This
reaction couple tends to press or dip the front end (bow) and raise
the rear end (stern) of the ship.

prepared by Muse D. 28
(iv) Right turn with anticlockwise rotor
When ship takes a right turn and the rotor rotates in anticlockwise direction
viewed from stern

prepared by Muse D. 29
 the gyroscopic couple act on the ship is according to Fig below. Now, the
reaction couple tends to raise the bow of the ship and dip the stern.

prepared by Muse D. 30
Gyroscopic effect on Pitching of ship

 The pitching motion of a ship generally occurs due to waves

which can be approximated as sine wave.
 During pitching, the ship moves up and down from horizontal
position in vertical plane

prepared by Muse D. 31
 Pitching is the movement of a complete ship up and down in a
vertical plane about transverse axis, as shown in fig above.
 In this case, 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 of the axis of spin about
transverse axis is simple harmonic.

prepared by Muse D.
32
prepared by Muse D.
33
 When the pitching is upward, the effect of the reactive gyroscopic couple, as
shown in Fig.(b), will try to move the ship toward star-board.
 On the other hand, if the pitching is downward, the effect of the reactive
gyroscopic couple, as shown in Fig.(c), is to turn the ship towards port side.

R
A

prepared by Muse D.
34
Notes :
 The effect of the gyroscopic couple is always given on specific
position of the axis of spin i.e. whether it is pitching downwards
or upwards.
 The pitching of a ship produces forces on the bearings which act
horizontally and perpendicular to the motion of the ship.
 The maximum gyroscopic couple tends to shear the holding-
down bolts.
 The angular acceleration during pitching is given by

prepared by Muse D.
35
Gyroscopic effect on Rolling of ship.

 The axis of the rotor of a ship is mounted along the longitudinal axis of
ship and therefore, there is no precession of this axis.
 Thus, no effect of gyroscopic couple on the ship frame is formed when the
ship rolls.

prepared by Muse D. 36
Stability of Four Wheeled Vehicle negotiating a turn.

Stable condition Unstable Condition

prepared by Muse D. 37
Stability of a Four Wheel Drive Moving in a Curved Path

 Consider the four wheels A, B, C and D of an

automobile locomotive taking a turn towards
left as shown in fig below.

 The wheels A and C are inner wheels,

whereas B and D are outer wheels. The
centre of gravity (C.G.) of the vehicle lies
vertically above the road surface.

prepared by Muse D. 38
 A little consideration will show, that the weight
of the vehicle (W) 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.
 Therefore road reaction over each wheel, = W/4
= m.g /4 newtons
prepared by Muse D. 39
 Let us now consider the effect of the gyroscopic couple and centrifugal couple
on the vehicle.

 The positive sign is used when the wheels and rotating parts of the engine
rotate in the same direction.
 If the rotating parts of the engine revolves in opposite direction, then negative
sign is used.
prepared by Muse D. 40
  Due to the gyroscopic couple, vertical reaction on the road surface will be
produced.
 The reaction will be vertically upwards on the outer wheels and vertically
downwards on the inner wheels.
 Let the magnitude of this reaction at the two outer or inner wheels be P
newtons. Then ; P × x = C or P = C/x
 Vertical reaction at each of the outer or inner wheels, P /2 = C/ 2x

Note:
when rotating parts of the engine rotate in
opposite directions, then –ve sign is used,
i.e. net gyroscopic couple, C = CW – CE,
When C E > CW, then C will be –ve.
Thus the reaction will be vertically
downwards on the outer wheels and
vertically upwards on the inner wheels.

prepared by Muse D. 41
2. Effect of the centrifugal couple

 Since the vehicle moves along a curved path, therefore centrifugal

force will act outwardly at the centre of gravity of the vehicle.
 The effect of this centrifugal force is also to overturn the vehicle.
 We know that centrifugal force,

 This overturning couple is balanced by vertical reactions,

which are vertically upwards on the outer wheels and vertically
downwards on the inner wheels.

prepared by Muse D. 42
 A little consideration will show that when the vehicle is running
at high speeds, PI may be zero or even negative.
 This will cause the inner wheels to leave the ground thus tending
to overturn the automobile.
 In order to have the contact between the inner wheels and the
ground, the sum of P/2 and Q/2 must be less than W/4.
prepared by Muse D. 43
 Stability of Two Wheeler negotiating a turn

 Fig. shows a two wheeler

vehicle taking left turn over a
curved path. The vehicle is
inclined to the vertical for
equilibrium by an angle θ
known as angle of heel.

prepared by Muse D. 44
Let
m = Mass of the vehicle and its rider in kg,
W = Weight of the vehicle and its rider in newton's = m.g,
h = Height of the centre of gravity of the vehicle and rider,
rW = Radius of the wheels,
R = Radius of track or curvature,
IW = Mass moment of inertia of each wheel,
IE = Mass moment of inertia of the rotating parts of the engine,
ωW = Angular velocity of the wheels,
ωE = Angular velocity of the engine rotating parts,
G = Gear ratio = ωE / ωW,
v = Linear velocity of the vehicle = ωW × rW,
θ = Angle of heel. It is inclination of the vehicle to the vertical for
equilibrium
prepared by Muse D. 45
prepared by Muse D. 46
  It is observed that, when the wheels move over the curved path,
the vehicle is always inclined at an angle θ with the vertical plane
as shown in Fig. This angle is known as ‘angle of heel’.
 Gyroscopic Couple,

Note:
When the engine is rotating in the same
direction as that of wheels, then the positive
sign is used in the above equation.
 However, if the engine rotates in opposite
direction to wheels, then negative sign is used.

prepared by Muse D. 47
 The gyroscopic couple will act over the vehicle outwards i.e.,
in the anticlockwise direction when seen from the front of the
two wheeler.
 This couple tends to overturn/topple the vehicle in the
outward direction as shown in Fig below.

prepared by Muse D. 48
 2. Effect of Centrifugal Couple

Centrifugal force,

Centrifugal Couple,

 The Centrifugal couple will act over the two

wheeler outwards i.e., in the anticlockwise direction
when seen from the front of the two wheeler. This
couple tends to overturn/topple the vehicle in the
outward direction
prepared by Muse D. 49
 Total Over turning couple: C = Cg + Cc

prepared by Muse D. 50
 For the stability, overturning couple must be equal to balancing
couple,
 Therefore,

 From the above equation, the value of angle of heel (θ) may be
determined, so that the vehicle does not skid.
 Also, for the given value of θ, the maximum vehicle speed in
the turn with out skid may be determined
prepared by Muse D. 51
prepared by Muse D. 52
prepared by Muse D. 53
Example.2.
A uniform disc of 150 mm diameter has a
mass of 5 kg. It is mounted centrally in bearings which
maintain its axle in a horizontal plane. The disc spins about it
axle with a constant speed of 1000 r.p.m. while the axle
processes uniformly about the vertical at 60 r.p.m. The
directions of rotation are as shown in Fig. 1. If the distance
between the bearings is 100 mm, find the resultant reaction
at each bearing due to the mass and gyroscopic effects.

Fig .1. prepared by Muse D. 54

prepared by Muse D. 55
 The direction of the reactive gyroscopic couple is shown in fig.2. (b).
 Let F be the force at each bearing due to the gyroscopic couple.
∴ F = C/x = 9.2/0.1 = 92 N
 The force F will act in opposite directions at the bearings as shown in
fig.2. (a).
 let RA and R B be the reaction at the bearing A and B respectively
due to the weight of the disc.
 Since the disc is mounted centrally in bearings, therefore,

RA = R B = 5/2 = 2.5 kg = 2.5 × 9.81 = 24.5 N

Fig .2. prepared by Muse D. 56

Resultant reaction at each bearing

 Let RA1 and RB1 = Resultant reaction at the bearings A

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

prepared by Muse D. 57
Example .3.
An aero plane 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.

prepared by Muse D. 58
prepared by Muse D. 59