Review questions and Assignment 1

1. Define gyroscope, axis of spin, axis of precession and axis of couple.

 ‘Gyre’ is a Greek word, meaning ‘circular motion’ and Gyration means the
whirling motion. A gyroscope is a spatial mechanism which is generally
employed for the study of processional motion of a rotary body. Gyroscope
finds applications in gyrocompass, used in aircraft, naval ship, control
system of missiles and space shuttle. Or Is define as a rigid rotating object
symmetric about x-axis A gyroscope may be defined as a spinning mass or
wheel universally mounted so that only one point—its center of gravity is in
a fixed position, the wheel being free to turn in any direction around this
point.
 Axis of spin is an axis in which a spinning object spin about or a central axis
of a rotary body of mass in which it rotate

 Let an object is spinning about angular velocity and an external torque

is applied which is perpendicular to the axis of spinning. There for an
object is moving to an expected direction (precessions) this an expected
motion is called precession and the axis it precession is axis of
precessions. About which the direction axis at which external torque
applied is called axis of coupling

2. Give the characteristics of gyroscope

 When the rotor is, sinned the gyroscope exhibits the following two
important characteristics It requires a high degree of rigidity and its
axle keeps pointing in the same direction no matter how much the
base is turned about—This is gyroscopic inertia
 The second characteristic “precession” may be illustrated by applying
a force to the gyro about the horizontal axis as shown in Fig. (a). It
will be found that the applied force meets with resistance and that the
gyro, instead of turning about its horizontal axis, turns or “processes”
about its vertical axis

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3. Derive equation for gyroscopic couple.

 The angular momentum of the rotating mass is given by,



Now, suppose the shaft axis (X-axis) precesses through a small angle about
Y-axis in the plane XOZ, then the angular momentum varies from H to H + ,
where is the change in the angular momentum, represented by vector ab
[Figure above ]. For the small value of angle of rotation 50, we can write

However, the rate of change of angular momentum is:

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4. A ship has a turbine rotor of mass 5 tonnes and radius of gyration 60 cm. It
rotates at 1500 rpm in clockwise sense when looking from stern. Determine the
gyroscopic couple and its effect under the following conditions

(a) The ship steers to the left at a radius of 100 m when moving at 2 km/hr.

(b) The ship pitches with simple harmonic motion with amplitude of 8 degrees
and time period 12 sec. The ship is depending with maximum velocity.

Given REQURED

M =5tonne A, gyroscopic couple @ 100m radius &2km/hr

K =60 cm B, T=12s, ǿ=80

N = 1500 rpm

=2*pi*1500/60

= 157rad/sec

2km/hr =.55m/s

0.55m/s/100m=0.0055rad/s

5000kg*(0.6)2 =1800kgm2

=157rad/sec*0.0055rad/s*1800kgm2

= 1554.3Nm

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 When ship steers to the left, the reaction gyroscopic couple action is in
anticlockwise direction and the bow of the ship is raised and stern is
lowered, as shown in Fig

Fig 1

=80*2*pi/360

= 0.14rad

=2*pi/12s

= .52rad/s

= .52*0.14 = 0.0728rad/s

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 Cmax= 1554.3Nm*157*0.0728
1293.3Nm

The effect of gyroscopic couple due to pitching is shown in Fig.2

The reactive gyroscopic couple will act in anticlockwise direction
seen from top and it will turn ship towards the left side.

Fig 2

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5. A racing car has mass equal to 2 tones. It has track width equal to 110 cm. The
wheel base is 2.5 m. The center of gravity lies at the center between the two
side wheels and two axles h=500mm. Each wheel has mass moment of inertia
equal to 4 kg m2. The mass moment of inertia of engine rotating parts is 10 kg
m2. The speed of the car is 40km/hr and the diameter of wheel is 500mm.
Determine critical speed and reaction at each wheel if car is steered to left at a
radius of 60 m and the ratio of engine speed is 5 times the wheel speed under
the following conditions.

(a) Engine mounted with its axis perpendicular to the axes of wheels.

(b) Engine mounted with its axis parallel to the axis of wheels and sense of
rotation of engine parts is same as that of wheels.

Given

M=2tone trac x=110cm base b= 2.5m Iw= 4kgm2 IE= 10kgm2

V= 40km/hr dw=500mm

Required

Critical speed to left turn where R=60m G=5:1

A, engine mounted perpendicular to axil

B, engine mounted parallel to axil

Solution

A, engine mounted with its axis perpendicular to the axes of wheels

Effect of Gyroscopic couple due to Wheel

= V/0.25

= V/60

= 4*4kgm2 *V/0.25 *V/60 =1.067v2 NM

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Gyroscopic couple due to wheels acts between outer and inner wheels

The gyroscopic couple tends to press the outer and lift the inner wheels

The road reaction is vertically upward for outer wheels and downward for inner
wheels = 1.067v2 NM/2*1.1 = 0.485 v2N

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 Gyroscopic couple due to engine

Effect of Gyroscopic Couple due to Engine is given by:-

= 10kg m2 *5* V/0.25 *V/60= 3.33 v2NM

Gyroscopic couple due to engine acts between Front and Rear wheels.

The couple tends to press Rear wheels and Lift front wheels

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The road reaction is vertically upward for REAR and downward for FRONT wheels

Road reaction on each Front/Rear wheels

= 3.33 v2NM/2*2.5m = 0.666 v2N

Effect of Centrifugal Couple

Centrifugal force

= 2000kgv2/60 =33.33 v2N

Centrifugal Couple

Cc = Fc x h = 33.33 v2N*0.5m =16.667 v2Nm

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The gyroscopic couple tends to press the outer and lift the inner wheels

The road reaction is vertically upward for outer wheels and downward for inner
wheels.

=16.667 v2Nm/2*1.1= 7.5759V2N

Engine crank shaft rotates clockwise direction seen from front, and Vehicle takes
RIGHT Turn

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We know that the wheel is given by W=m.g/4 =2000*9.81/4=4905N

Load on front wheel 1 = 4905N

p/2+q/2+F/2=W

0.485 v2N+0.666 v2N+7.5759V2N=4905N

v2 = 562.05 v = 23.7m/s

Load on front wheel 2 = 4905N

Load on rear wheel 3 = 4905N

Load on rear wheel 4 = 4905N

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 B, engine mounted with its axis parallel to the axis of wheels and sense of
rotation of engine parts is same as that of wheels.

= V/0.25

= V/60

Reaction due to gyroscopic couple

Gyroscopic couple due to four wheels

=4*4kgm2 *V/0.25 *V/60 =1.067v2

Gyroscopic couple due to engine parts

= 10kg m2 *5* V/0.25 *V/60= 3.33 v2

3.33 v2 +1.067v2 = 4.268v2

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Reaction due to total gyroscopic couple on each outer wheel

= 4.268v2/2*1.1=1.94 v2N

Vertical downward reaction on each inner wheel is

= 4.268v2/2*2.5=1.94 v2N

Reaction due to centrifugal couple

= 2000kgv2/60 =33.33 v2N

Overturning couple due to centrifugal force:

Cc = Fc x h = 33.33 v2N*0.5m =16.667 v2Nm

Vertical downward reaction on each inner wheel is

=16.667 v2Nm/2*1.1=7.58v2N

Reaction due to weight of the vehicle

=2000kg*9.81/4= 4905N

The limiting condition to avoid lifting of inner wheels from the road
surface is

4905N >7.58v2N+1.94 v2N

V< 22.7m/5

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6. A rear engine car is travelling along a curved track of 100 m radius. The
moment of inertia of each of the four wheels is 2.2 kgm2. The effective
diameter of wheel is 600 mm. The mass moment of the engine rotating parts is
1.25 kgm2. The gear ratio between the engine and the back axle is 3.2. The
engine axis is parallel to the rear axle and the crank shaft rotates in the same
sense as that of the road wheels. The centre of gravity is at equal distance from
all the four wheels and it is 530mm above the road level. The track width of the
car is 1.6 m. Determine the limiting speed of the vehicle if all the four wheels
maintain contact with the road surface

Given

R=100m Iw=2.2kgm2 rw =.6m IE = 1.25kgm2 G= 3.2:1 H= 0.53m trac

x= 1.6m mass =5000kg

Required

limiting speed of the vehicle if all the four wheels maintain contact with
the road surface

= V/.6m

= V/100

Reaction due to gyroscopic couple

Gyroscopic couple due to four wheels

=4*2.2kgm2 *V/0.6 *V/100 =0.14667v2

Gyroscopic couple due to engine parts

= 1.25kg m2 *3.2* V/0.6 *V/100= 0.0667v2

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 0.14667v2 +0.0667v2 = 0.213367v2 NM

Reaction due to total gyroscopic couple on each outer wheel

= 0.213367v2 NM /2*1.6=0.667 v2N

Vertical downward reaction on each inner wheel is

= 0.213367v2 NM /2*1.6=0.667 v2N

Reaction due to centrifugal couple

= 5000kgv2/100 =50 v2N

Overturning couple due to centrifugal force:

Cc = Fc x h = 50 v2N*0.53m =26.5 v2Nm

Vertical downward reaction on each inner wheel is

=26.5 v2Nm /2*1.6=84.8v2N

Reaction due to weight of the vehicle

=5000kg*9.81/4= 12262.5N

The limiting condition to avoid lifting of inner wheels from the road
surface is

12262.5N N >0.667 v2N+84.8v2N 12262.5N=85.467 v2N

V=11.978m/s

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