18ME53 - Dynamics of Machines - NOTES

DYNAMICS OF MACHINES
18ME53
ATME COLLEGE OF ENGINEERING
VISION
Development of academically excellent, culturally vibrant, socially responsible and globally
competent human resources.
MISSION
 To keep pace with advancements in knowledge and make the students competitive and
capable at the global level.
 To create an environment for the students to acquire the right physical, intellectual,
emotional and moral foundations and shine as torch bearers of tomorrow's society.
 To strive to attain ever-higher benchmarks of educational excellence.
DEPARTMENT OFMECHANICAL ENGINEERING
VISION
To impart excellent technical education in mechanical engineering to develop technically

competent, morally upright and socially responsible mechanical engineering professionals.
MISSION:
 To provide an ambience to impart excellent technical education in mechanical

engineering.
 To enable the students to acquire skill development, knowledge of Research and recent trends in
Mechanical Engineering which will help them in lifelong learning.
 To engage students in co-curricular and extra-curricular activities to impart social &
ethical values and imbibe leadership quality.
PROGRAM EDUCATIONAL OBJECTIVES (PEO’S)
After successful completion of program, the graduates will be
PEO 1: Graduates will be able to have successful professional career in the allied areas
and be proficient to perceive higher education.
PEO 2: Graduates will attain the technical ability to understand the need analysis, design,
manufacturing, quality changing and analysis of the product.
PEO 3: Work effectively, ethically and socially responsible in allied fields of mechanical
engineering.
PEO 4: Work in a team to meet personal and organizational objectives and to contribute
to the development of the society in large.
PROGRAM OUTCOMES (PO’S)
The Mechanical engineering program students will attain:
PO1. Engineering knowledge: Apply the knowledge of mathematics, science, engineering

fundamentals, and an engineering specialization to the solution of complex engineering
problems
PO2. Problem analysis: Identify, formulate, research literature, and analyze complex
engineering problems reaching substantiated conclusions using first principles of
mathematics, natural sciences, and engineering sciences
PO3. Design/development of solutions: Design solutions for complex engineering problems

and design system components or processes that meet the specified needs with
appropriate consideration for the public health and safety, and the cultural, societal, and
environmental considerations
PO4. Conduct investigations of complex problems: Use research-based knowledge and

research methods including design of experiments, analysis and interpretation of data,
and synthesis of the information to provide valid conclusions
PO5. Modern tool usage: Create, select, and apply appropriate techniques, resources, and
modern engineering and IT tools including prediction and modeling to complex
engineering activities with an understanding of the limitations
PO6. The engineer and society: Apply reasoning informed by the contextual knowledge to
assess societal, health, safety, legal and cultural issues and the consequent responsibilities
relevant to the professional engineering practice
PO7. Environment and sustainability: Understand the impact of the professional engineering
solutions in societal and environmental contexts, and demonstrate the knowledge of, and
need for sustainable development
PO8. Ethics: Apply ethical principles and commit to professional ethics and responsibilities
and norms of the engineering practice
PO9. Individual and team work: Function effectively as an individual, and as a member or
leader in diverse teams, and in multidisciplinary settings
PO10. Communication: Communicate effectively on complex engineering activities with the

engineering community and with society at large, such as, being able to comprehend and
write effective reports and design documentation, make effective presentations, and give
and receive clear instructions
PO11. Project management and finance: Demonstrate knowledge and understanding of the
engineering and management principles and apply these to one’s own work, as a
member and leader in a team, to manage projects and in multidisciplinary environments
PO12. Life-long learning: Recognize the need for, and have the preparation and ability to
engage in independent and life-long learning in the broadest context of technological
change
PROGRAM SPECIFIC OUTCOMES (PSO’S)
After successful completion of program, the graduates will be
PSO 1: To comprehend the knowledge of mechanical engineering and apply them to identify,
formulate and address the mechanical engineering problems using latest technology in a
effective manner.
PSO 2: To work successfully as a mechanical engineer in team, exhibit leadership quality and
provide viable solution to industrial and societal problems.
PSO 3: To apply modern management techniques and manufacturing techniques to produce

products of high quality at optimal cost.
PSO 4: To exhibit honesty, integrity, and conduct oneself responsibly, ethically and legally,
holding the safety and welfare of the society paramount.
COURSE SYLLABUS
V SEMESTER
DYNAMICS OF MACHINES
Subject Code: 18ME53 IA Marks: 40
Hours/Week: 3+2 Exam Hours: 03
Total Hours: 50 Exam Marks: 60
Module -1
Static force Analysis: Static equilibrium. Equilibrium of two and three force
members. Members with two forces and torque, Free body diagrams, Static
force analysis of four bar mechanism and Slider-crank mechanism with and
without friction.
Dynamic force Analysis: D’Alembert’s principle, Inertia force, Inertia torque.
Dynamic force analysis of four-bar mechanism and Slider crank mechanism
without friction, numerical problems. 10 Hours
Module -2
Balancing of Rotating Masses: Static and dynamic balancing, balancing of
single rotating mass by balancing masses in same plane and in different planes.
Balancing of several rotating masses by balancing masses in same plane and in
different planes. Balancing of Reciprocating Masses: Inertia effect of crank and
connecting rod, Single cylinder engine, balancing in multi cylinder-inline
engine (primary and secondary forces), numerical problems. Lames equations.
Balancing of Reciprocating Masses: Inertia effect of crank and connecting
rod, Single cylinder. Balancing in multi cylinder-inline engine (primary and
secondary forces), numerical problems engine, balancing in multi cylinder-
inline engine (primary and secondary forces), and numerical problems.
10 Hours
Module -3
Governors: Types of governors, force analysis of Porter and Hartnell
governors. Controlling force, Stability, Sensitiveness, Isochronism, Effort and
Power.
Gyroscope: Vectorial representation of angular motion, Gyroscopic couple.
Effect of gyroscopic couple on plane disc, aeroplane, ship, stability of two
wheelers and four wheelers, numerical problems. 10 Hours
Module -4
MODULE 4
Free vibrations: Basic elements of vibrating system, Types of free vibrations,
Longitudinal vibrations- Equilibrium method, D’Alembert’s principle, Energy
method, Rayleigh’s method. Determination of natural frequency of single
degree freedom systems, Effect of spring mass, Damped free vibrations Under
damped, over damped and critically damped systems. Logarithmic decrement.
10 Hours
MODULE – 5
Forced vibrations: Undamped forced vibration of spring mass system, Damped
forced vibrations, Rotating unbalance, Reciprocating unbalance, Vibration
isolation, Support motion(absolute and relative motion), Transverse vibration
of shaft with single concentrated load, several loads, uniformly distributed load,
critical speed 10Hours
TEXT BOOKS:
1. Theory of Machines, Sadhu Singh, Pearson Education. 2nd edition. 2007.
2. Theory of Machines, Rattan S.S. Tata McGraw Hill Publishing Company Ltd., New Delhi,
3rd Edition, 2009.
3. Mechanism and Machine Theory, A. G. Ambekar PHI, 2007
4. Mechanical Vibrations, G. K.Grover, Nem Chand and Bros
REFERENCE BOOKS:
1. Mechanical Vibrations, S. S. Rao, Pearson Education Inc, 4edition, 2003.
2. Mechanical Vibrations, V. P. Singh, Dhanpat Rai and Company, Rai and

Company.
Dynamics of Machines-18ME53
MODULE - 1
Static Force Analysis
CONTENTS
1.1. Introduction:
1.2. Static equilibrium.
1.3. Equilibrium of two and three force members.
1.4. Members with two forces and torque.
1.5. Free body diagrams.
1.6. Static force analysis of four bar and single slider mechanism
1.7. Slider-crank mechanism with and without friction.
Objectives
 To analyze static force analysis of four bar chain mechanism
 To analyze static force analysis of slider crank mechanism
1.1. Introduction:
Relation between motion and forces causing is a fascinating subject. This study is a generally
referred as dynamic. Modern Engineering aims at analysing and predicting dynamics behavior
of physical systems
Theory of Mechanisms & Machines is used to understand the relationships between the
geometry and motions of the parts of a machine or mechanism and forces which produce
motion.
TOM (M&M theory) is divided into two parts:-

Kinematics of Machinery: Study of motion of the components and basic geometry of
the mechanism and is not concerned with the forces which cause or affect motion. Study
includes the determination of velocity and acceleration of the machine members
Dynamics of Machinery: Analyses the forces and couples on the members of the
machine due to external forces (static force analysis) also analyses the forces andcouples due
to accelerations of machine members ( Dynamic force analysis)
Deflections of the machine members are neglected in general by treating machine
members as rigidbodies (also called rigid body dynamics). In other words the link must be
properly designed to withstand the forces without undue deformation to facilitate proper
functioning of the system.
In order to design the parts of a machine or mechanism for strength, it is necessary to
determine the forces and torques acting on individual links. Each component however small,
should be carefully analysed for its role in transmitting force.
The forces associated with the principal function of the machine are usually known or
assumed.
Ex:
a) Piston type of engine: gas force on the piston is known or assumed
b) QRM – Resistance of the cutting tool is assumed.
a & b are called static forces.
Depart of Mechanical Engineering , ATMECE MYSORE Page 1

Example of other static forces are:

i. Energy transmitted
ii. Forces due to assembly
iii. Forces due to applied loads
iv. Forces due to changes in temperature
v. Impact forces
vi. Spring forces
vii. Belt and pulley
viii. Weights of different parts
Apart from static forces, mechanism also experiences inertia forces when subjected to
acceleration, called dynamic forces.
Static forces are predominant at lower speeds and dynamic forces are predominant at
higher speeds.
Force analysis:
The analysis is aimed at determining the forces transmitted from one point to another,
essentially from input point to out put point. This would be the starting point for strength
design of a component/ system, basically to decide the dimensions of the components
Force analysis is essential to avoid either overestimation or under estimation of forces on
machine member.
Under estimation: leads to design of insufficient strength and to early failure.
Overestimation: machine component would have more strength than required. Over design
leads to heavier machines, costlier and becomes not competitive
Graphical analysis of machine forces will be used here because of the simplification it
offers to a problem, especially in cases of complex machines. Moreover, the graphical
analysis of forces is a direct application of the equations of equilibrium.
General Principle of force analysis:
A machine / mechanism is a three dimensional object, with forces acting in three
dimensions. For a complete force analysis, all the forces are projected on to three mutually
perpendicular planes. Then, for each reference plane, it is necessary that, the vector sum of the
applied forces in zero and that, the moment of the forces about any axis perpendicular to the
reference plane or about any point in the plane is zero for equilibrium.
That is ∑F = 0 & ∑M = 0 or
∑F x=0 &∑Fy =0 and ∑M=0
A force is a vector quantity and three in properties define a force completely;
Magnitude
Direction
Point of application

1.2. Static equilibrium.
Equilibrium
For a rigid body to be in Equilibrium

i) Sum of all the forces must be zero
ii) Sum of all the moments of all the forces about any axis must be zero
i.e, (i) ∑ F = 0 (ii) ∑ M = 0
or ∑ Fx = 0 ∑TM = 0
∑ Fy = 0 ∑ My = 0
∑ Fz = 0 ∑Tz =0 (For a planar system represented by 2D vectors)
Fx, Fy, Fz force Components along X, Y & Z axis
Similarly moments
1.3 Equilibrium of two and three force members.
(i) Equilibrium of a body under the action of two forces only (no torque)
Line of action
FA FB
A B
For body to the in Equilibrium under the action of 2 forces (only), the two forces must the equal
opposite and collinear. The forces must be acting along the line joining A&B.
That is,
FA= - FB (for equilibrium)
h
If this body is to be under equilibrium ‗h‘ should tend to zero
(ii) Equilibrium of a body under the action of three forces only (no torque / couple)
FC
C
For equilibrium, the 3 forces must be concurrent
FA A
and the force polygon will be a triangle.
FB

1.4 Members with two forces and torque.
(iii) Equilibrium of a body acted upon by 2 forces and a torque.
For equilibrium, the two forces must form a

T
counter couple. Therefore the forces must be
F
equal, opposite and parallel and their senses
h
must be so as to oppose the couple acting on the
F
body
Example:
F2
T
h = Perpendicular distance between
h
F1 & F2
F1
Free body diagram

The mass is separated from the system and all the forces acting on the mass are represented.
slider-crank mechanism with and without friction.
Problem No.1: Slider crank mechanism
Figure shows a slider crank mechanism in which the resultant gas pressure 8 x 104 Nm-2 acts on
the piston of cross sectional area 0.1 m2. The system is kept in equilibrium as a result of the
couple applied to the crank 2, through the shaft at O2. Determine forces acting on all the links
(including the pins) and the couple on 2.
P = (8 × 104 ) × (0.1)
= 8 × 103 N

1.5 Free body diagrams.
Free body diagram
Force triangle for the forces acting on 4 is drawn to some suitable scale.
Magnitude and direction of P known and lines of action of F34 & F14 known.
Measure the lengths of vectors and multiply by the

scale factor to get the magnitudes of F14 & F34.
Directions are also fixed.
i.e, F23 = − F32
Since link 3 is acted upon by only two forces, F43 and F23 are collinear, equal in magnitude
and opposite in direction
i.e., F43 = − F23 = 8.8 × 103 N
Also, F23 = - F32 (equal in magnitude and opposite in direction).

Link 2 is acted upon by 2 forces and a torque

(stated in the problem), for equilibrium the two
forces must be equal, parallel and opposite and
their sense must oppose T2.
There fore,
F32 = − F12 = 8.8 ×103 N
F32 & F12 form a counter clock wise couple of magnitude,
F23 × h= F12 × h = 8.8 × 103 × 0.125 = 1100Nm.
To keep 2 in equilibrium, T2 should act clockwise and magnitude is 1100

Nm. Important to note;
i) h is measured perpendicular to F32 & F12;
ii) always multiply back by scale factors.
1.6 Static force analysis of four bar and single slider mechanism
Problem No 2. Four link mechanism.
A four link mechanism is acted upon by forces as shown in the figure. Determine the torque T2
to be applied on link 2 to keep the mechanism in equilibrium.
AD=50mm, AB=40mm, BC=100mm, Dc=75mm, DE= 35mm,
Link 3 is acted upon by only two forces F23 & F43 and they must be collinear & along BC.
Link 4 is acted upon by three forces F14, F34 & F4 and they must be concurrent. LOA F34 is
known and FE completely given.

F32 & F12 from a CCW couple which is equaled

by a clockwise couple T2
Problem No 3.
Determine T2 to keep the mechanism in equilibrium
AC=70mm,
AB=150mm,
O2A= 40mm
F32 and F12 form a CCW couple and hence T2 acts clock wise.

Problem No 4.
Determine the torque T2 required to keep the given mechanism in equilibrium.
O2A= 30mm, = AB =O4B, O2O4 =60mm, A O 2 O4 = 60º, BC = 19mm, AD=15mm.
None of the links are acted upon by only 2 forces. Therefore links can‘t be analyzed individually.

Problem No 5.
Determine the torque T2 required to overcome the force FE along the link 6.
AD=30mm, AB=90mm, O4 B=60mm, DE=80mm, O2 A=50mm, O2 O4 =70mm

Problem No 6
For the static equilibrium of the quick return mechanism shown in fig. 12.11 (a), determine the
input torque T2 to be applied on link AB for a force of 300N on the slider D. The dimensions of
the various links are OA=400mm, AB=200mm, OC=800mm, CD=300mm
Than, torque on link 2,

T2 = F42x h = 403x120 = 48 360 N counter - clockwise

Problem No 7. Determine T2 to keep the body in equilibrium. O2A =100MM, AB=250MM,

AE=50MM, A O 2 B = 300
The problem is solved as two

sub problems:
i) Considering only FB
ii) Considering only FE

1.7 Force Analysis considering friction.
If friction is considered in the analysis, the resultant force on a pin doesn‘t pass through the
centre of the pin. Coefficient of friction is assumed to the known and is independent of load
and speed.
Friction in sliding member.
F = Frictional force
= coefficient of friction
µN
tan φ µ
N
Friction at pin points (bearings) & friction circle.
When a shaft revolves in a bearing, some power is lost due to friction between surfaces.

While rotating, the point of contact shifts to B; Rn passes through B.

The resultant ‗R‘ is in a direction opposite to ω.
The circle drawn at O, with OC as radius is called ‗FRICTION CIRCLE‘
For the shaft to be in equilibrium; W = R
Frictional moment M = R x OC
= W x OC
= W x r sin φ
= W x r tan φ
(sin φ ≈ tan φ, for small
φ) i.e, M = w x r x µ
∴Radius of the friction circle (OC) = µr.
The friction circle is used to locate the line of action of the force between the shaft (pin) and the
bearing or a pin joint. The direction of the force is always be tangent to it (friction axis) Friction
axis: the new axis along which the thrust acts.
Problem No 8.
In a four bar mechanism ABCD, AB=350mm, BC=50mm, CD=400mm, AD=700mm,

DE=150mm, D A B = 600 , AD is fixed. Determine the force on link AB required at the mid
point, in the direction shown, for static equilibrium. µ=0.4 for each revolving pair. Assume
CCW impending motion of AB. Radius of each journal is 50mm.
Also find the torque on AB for its impending CW motion.
Analysis for CCW motion
Solve the problem neglecting

friction to know the
magnitudes and directions of
forces
Radius of the friction circle = µ x journal radius = 0.4 x 50 = 20

mm

Analysis with Friction considered---

AB rotates CCW, DC rotates CCW
ABC decreasing, LBCD increasing
At C:
BCD increases & 3 rotates CW w.r.t 4
Therefore, F43 opposes the rotation of 4 by generating a CCW friction couple at C
At B:
BCD decreases & 3 rotates CW w.r.t 2
Therefore, F23 forms a CCW friction couple at B
(not to scale)
For CW rotation of AB

OUT COMES
1) Students will able to analyze mechanism for a given force system by graphical
method.
2) Students will be able to analyze mechanism considering and not considering
friction.
3) Student will be able to analyze 4 bar and single slider mechanism for the given
static force.
Exercise
1. State D‘Alembert‘s principle.
2. Define static force analysis
3. What is free body diagram?
4. The lengths of crank and connecting rod of horizontal steam engine are 300 mm
and 1.2 m respectively. When the crank has moved 30° from the inner dead center,
the acceleration of piston is 35 m/s2 . The average frictional resistance to the
motion of piston is equivalent to a force of 550 N and net effective steam pressure
on piston is 500 kN/m2 . The diameter of piston is 0.3 m and mass of reciprocating
parts is 160 kg. Determine (i) Reaction on the cross-head guides; (ii) Thrust on the
crankshaft bearings; and (iii) Torque on the crank shaft.
FURTHER READING
1) Theory of machines and mechanisms by Dr.Jagadishlal, Metropolitain Book co. Pvt.

Ltd., New Delhi
2) Mechanisms and Dynamics of machinery by Hamitton H.Mabie and Fred W.Ocvirk,
John Wiley & sons, Newyork.
3) Machine Dynamics (DOM), Vol ii, G.Bapaiah, Mechanical Engineering, Monograph
Series, IIT, Madras.
4) Theory of Machines, by S.S Rathan, Tata McGraw-hill.
5) Mechanism & Machine Theory by Ashok G.Ambekar, Prentice Hall of India Pvt.
Limited, New Delhi – 110001, 2007.

MODULE-2
Balancing of Rotating Masses
CONTENTS
2.1Balancing of Rotating Masses

2.2 Static and dynamic balancing.
2.3Balancing of single rotating mass by balancing masses in same plane and in different
planes.
2.4 Balancing of several rotating masses by balancing masses in same plane and in
different planes.
OBJECTIVES
 To study Importance of Balancing of rotating masses.
 To solve Various problems on Balancing of rotating masses.
2.1Balancing of Rotating Masses
INTRODUCTION:
When man invented the wheel, he very quickly learnt that if it wasn‘t completely
round and if it didn‘t rotate evenly about it‘s central axis, then he had a problem!
What the problem he had?
The wheel would vibrate causing damage to itself and it‘s support mechanism and
in severe cases, is unusable.
A method had to be found to minimize the problem. The mass had to be evenly
distributed about the rotating centerline so that the resultant vibration was at a minimum.
UNBALANCE:
The condition which exists in a rotor when vibratory force or motion is imparted
to its bearings as a result of centrifugal forces is called unbalance or the uneven
distribution of mass about a rotor‘s rotating centerline.

Rotating centerline:
The rotating centerline being defined as the axis about which the rotor would
rotate if not constrained by its bearings. (Also called the Principle Inertia Axis or PIA).
Geometric centerline:
The geometric centerline being the physical centerline of the rotor.When the two
centerlines are coincident, then the rotor will be in a state of balance. When they are
apart, the rotor will be unbalanced.
Different types of unbalance can be defined by the relationship between the two
centerlines. These include:
Static Unbalance – where the PIA is displaced parallel to the geometric centerline.
(Shown above)
Couple Unbalance – where the PIA intersects the geometric centerline at the center of
gravity. (CG)
Dynamic Unbalance – where the PIA and the geometric centerline do not coincide or
touch.
The most common of these is dynamic unbalance.
Causes of Unbalance:
In the design of rotating parts of a machine every care is taken to eliminate any out of
balance or couple, but there will be always some residual unbalance left in the finished
part because of
i) slight variation in the density of the material or

ii) inaccuracies in the casting or
iii) inaccuracies in machining of the parts.

Why balancing is so important?
iii) A level of unbalance that is acceptable at a low speed is completely

unacceptable at a higher speed.
iv) As machines get bigger and go faster, the effect of the unbalance is much more
severe.
v) The force caused by unbalance increases by the square of the speed.
vi) If the speed is doubled, the force quadruples; if the speed is tripled the force
increases by a factor of nine!
Identifying and correcting the mass distribution and thus minimizing the force and
resultant vibration is very very important
2.2 Static and dynamic balancing.
BALANCING:
Balancing is the technique of correcting or eliminating unwanted inertia forces or

moments in rotating or reciprocating masses and is achieved by changing the location of
the mass centers.
The objectives of balancing an engine are to ensure:
That the centre of gravity of the system remains stationery during a complete
revolution of the crank shaft and .That the couples involved in acceleration of the different
moving parts balance each other.
Types of balancing:
Static Balancing:
Static balancing is a balance of forces due to action of gravity.
A body is said to be in static balance when its centre of gravity is in the axis of
rotation.
Dynamic balancing:
Dynamic balance is a balance due to the action of inertia forces.
A body is said to be in dynamic balance when the resultant moments or couples,
which involved in the acceleration of different moving parts is equal to zero.
The conditions of dynamic balance are met, the conditions of static balance are also
met.

In rotor or reciprocating machines many a times unbalance of forces is produced due to

inertia forces associated with the moving masses. If these parts are not properly balanced,
the dynamic forces are set up and forces not only increase loads on bearings and stresses
in the various components, but also unpleasant and dangerous vibrations.
Balancing is a process of designing or modifying machinery so that the unbalance is
reduced to an acceptable level and if possible eliminated entirely.
BALANCING OF ROTATING MASSES
When a mass moves along a circular path, it experiences a centripetal acceleration and a
force is required to produce it. An equal and opposite force called centrifugal force acts
radially outwards and is a disturbing force on the axis of rotation. The magnitude of this
remains constant but the direction changes with the rotation of the mass.
In a revolving rotor, the centrifugal force remains balanced as long as the centre
of the mass of rotor lies on the axis of rotation of the shaft. When this does not happen,
there is an eccentricity and an unbalance force is produced. This type of unbalance is
common in steam turbine rotors, engine crankshafts, rotors of compressors, centrifugal
pumps etc.
meω2
The unbalance forces exerted on machine members are time varying, impart vibratory
motion and noise, there are human discomfort, performance of the machine deteriorate
and detrimental effect on the structural integrity of the machine foundation.

Balancing involves redistributing the mass which may be carried out by addition or
removal of mass from various machine members
Balancing of rotating masses can be of
1) Balancing of a single rotating mass by a single mass rotating in the same plane.
2) Balancing of a single rotating mass by two masses rotating in different planes.
3) Balancing of several masses rotating in the same plane
4) Balancing of several masses rotating in different planes
STATIC BALANCING
A system of rotating masses is said to be in static balance if the combined mass centre of
the system lies on the axis of rotation
DYNAMIC BALANCING
When several masses rotate in different planes, the centrifugal forces, in addition to being
out of balance, also form couples. A system of rotating masses is in dynamic balance
when there does not exist any resultant centrifugal force as well as resultant couple.

2.3 Balancing of single rotating mass by balancing masses in same plane and in
different planes.
CASE 1.
BALANCING OF A SINGLE ROTATING MASS BY A SINGLE
MASS ROTATING IN THE SAME PLANE
Consider a disturbing mass m1 which is attached to a shaft rotating at ω

rad/s. Let
r1 = radius of rotation of the mass m1
=distance between the axis of rotation of the shaft and the centre of
gravity of the mass m1
The centrifugal force exerted by mass m1 on the shaft is given by,
Fc1 = m1 ω 2 r1 − − − − − − − − − − − − − − − − − −(1)
This force acts radially outwards and produces bending moment on the shaft. In order to
counteract the effect of this force Fc1 , a balancing mass m2 may be attached in the same
plane of rotation of the disturbing mass m1 such that the centrifugal forces due to the two
masses are equal and opposite.

Let,
r2 = radius of rotation of the mass m2

= distance between the axis of rotation of the shaft and the centre of
gravity of the mass m2
Therefore the centrifugal force due to mass m2 will be,
Fc2 =m2 ω2 r2 − − − − − − − − − − − − − − − − − −(2)
Equating equations (1) and (2), we get
F
c1 =Fc2
m ω2 r = m ω 2 r or m r = m r − − − − − − − − − − − − − − − −(3)
The product m 2 r2 can be split up in any convenient way. As for as possible the radius
of rotation of mass m2 that is r2 is generally made large in order to reduce the balancing
mass m2.
CASE 2:
BALANCING OF A SINGLE ROTATING MASS BY TWO MASSES ROTATING

IN DIFFERENT PLANES.
There are two possibilities while attaching two balancing masses:
1. The plane of the disturbing mass may be in between the planes of the two
balancing masses.
2. The plane of the disturbing mass may be on the left or right side of two planes
containing the balancing masses.
In order to balance a single rotating mass by two masses rotating in different
planes which are parallel to the plane of rotation of the disturbing mass i) the net dynamic
force acting on the shaft must be equal to zero, i.e. the centre of the masses of the system
must lie on the axis of rotation and this is the condition for static balancing ii) the net
couple due to the dynamic forces acting on the shaft must be equal to zero, i.e. the
algebraic sum of the moments about any point in the plane must be zero. The conditions
i) and ii) together give dynamic balancing.

CASE 2(I):
THE PLANE OF THE DISTURBING MASS LIES IN BETWEEN THE PLANES

OF THE TWO BALANCING MASSES.
Consider the disturbing mass m lying in a plane A which is to be balanced by two

rotating masses m1 and m2 lying in two different planes M and N which are parallel to the
plane A as shown.
Let r, r1 and r2 be the radii of rotation of the masses in planes A, M and N respectively.
Let L1, L2 and L be the distance between A and M, A and N, and M and N respectively.
Now,
The centrifugal force exerted by the mass m in plane A will be,
Fc =m ω2 r − − − − − − − − − − − − − − − − − −(1)
Similarly,
The centrifugal force exerted by the mass m1 in plane M will be,
Fc1 =m1 ω2 r1 − − − − − − − − − − − − − − − − − −(2)

And the centrifugal force exerted by the mass m2 in plane N will be,
Fc2 =m2 ω2 r2 − − − − − − − − − − − − − − − − − −(3)
For the condition of static balancing,
Fc = Fc1 + Fc2
or mω2 r = m ω2 r + m ω2 r
i.e. mr = m1 r1 + m2 r2 − − − − − − − − − − − − − − − −(4)
Now, to determine the magnitude of balancing force in the plane ‗M‘ or the dynamic
force at the bearing ‗O‘ of a shaft, take moments about ‗ P ‘ which is the point of
intersection of the plane N and the axis of rotation.
Similarly, in order to find the balancing force in plane ‗N‘ or the dynamic force at the
bearing ‗P‘ of a shaft, take moments about ‗ O ‘ which is the point of intersection of the
plane M and the axis of rotation
For dynamic balancing equations (5) or (6) must be satisfied along with equation (4).

CASE 2(II):
WHEN THE PLANE OF THE DISTURBING MASS LIES ON ONE END OF THE
TWO PLANES CONTAINING THE BALANCING MASSES.
For static balancing,
Fc1 = Fc + Fc2
or m1 ω2 r1 =mω2 r + m2 ω2 r2
i.e. m1 r1 = mr+ m2 r2 − − − − − − − − − − − − − − − − (1)

For dynamic balance the net dynamic force acting on the shaft and the net couple due to
dynamic forces acting on the shaft is equal to zero.
To find the balancing force in the plane ‗M‘ or the dynamic force at the bearing ‗O‘ of a
shaft, take moments about ‗P‘. i.e.

Fc1 xL= Fc xL2

or m ω2 r x L = mω2 r xL
1 1 2
Therefore,
L2
m r L = mrL or m r = mr − − − − − − − −(2)
11 2 11
L
Similarly, to find the balancing force in the plane ‗N‘ , take moments about ‗O‘, i.e.,
Fc2 xL= Fc xL1

or m ω2 r x L = mω2 r xL
2 2 1
Therefore,
L1
m r L = mrL or m r = mr − − − − − − − −(3)
22 1 22
L
2.4 Balancing of several rotating masses by balancing masses in same plane and in
different planes.
CASE 3:
BALANCING OF SEVERAL MASSES ROTATING IN THE SAME PLANE

Consider a rigid rotor revolving with a constant angular velocity ω rad/s. A number of
masses say, four are depicted by point masses at different radii in the same transverse
plane.

If m1, m2, m3 and m4 are the masses revolving at radii r1, r2, r3 and r4 respectively in the
same plane.
The centrifugal forces exerted by each of the masses are Fc1, Fc2, Fc3 and Fc4 respectively.
Let F be the vector sum of these forces. i.e.
1. =Fc1 +Fc2 +Fc3 + Fc4
=m1 ω2 r1 + m2 ω2 r2 + m3 ω2 r3 + m4 ω2 r4 − − − − − − − − − (1)
The rotor is said to be statically balanced if the vector sum F is zero. If the vector sum F
is not zero, i.e. the rotor is unbalanced, then introduce a counterweight ( balance weight)
of mass ‗m‘ at radius ‗r‘ to balance the rotor so that,
m1 ω2 r1 + m2 ω2 r2 + m3 ω2 r3 + m4 ω2 r4 + m ω2 r = 0 − − − − − − − − − (2)
or
m1 r1 + m2 r2 + m3 r3 + m4 r4 + m r = 0 − − − − − − − − − − − − − − − − (3)
The magnitude of either ‗m‘ or ‗r‘ may be selected and the other can be calculated.
In general, if ∑m i ri is the vector sum of m1 r1 , m 2 r2 , m 3 r3 , m 4 r4 etc, then,
∑mi ri + mr= 0− − − − − − − −(4)
The above equation can be solved either analytically or graphically.
1. Analytical Method:

2. Graphical Method:
Step 1:
Draw the space diagram with the positions of the several masses, as shown.
Step 2:
Find out the centrifugal forces or product of the mass and radius of rotation exerted by
each mass.
Step 3:
Now draw the vector diagram with the obtained centrifugal forces or product of the
masses and radii of rotation. To draw vector diagram take a suitable scale.
Let ab, bc, cd, de represents the forces Fc1, Fc2, Fc3 and Fc4 on the vector diagram.
Draw ‗ab‘ parallel to force Fc1 of the space diagram, at ‗b‘ draw a line parallel to force
Fc2. Similarly draw lines cd, de parallel to Fc3 and Fc4 respectively.
Step 4:
As per polygon law of forces, the closing side ‗ae‘ represents the resultant force in
magnitude and direction as shown in vector diagram.
Step 5:
The balancing force is then , equal and opposite to the resultant force.
Step 6:
Determine the magnitude of the balancing mass ( m ) at a given radius of rotation ( r ),
such that,
Fc =mω2 r
or
Mr=resultantofm1 r1 ,m2 r2 ,m3 r3 andm4 r4
CASE 4:
BALANCING OF SEVERAL MASSES ROTATING IN DIFFERENT PLANES
When several masses revolve in different planes, they may be transferred to a reference
plane and this reference plane is a plane passing through a point on the axis of rotation
and perpendicular to it.
When a revolving mass in one plane is transferred to a reference plane, its effect is to
cause a force of same magnitude to the centrifugal force of the revolving mass to act in
the reference plane along with a couple of magnitude equal to the product of the force
and the distance between the two planes.
In order to have a complete balance of the several revolving masses in different planes,
1. the forces in the reference plane must balance, i.e., the resultant force must be zero and
2. the couples about the reference plane must balance i.e., the resultant couple must be
zero.
A mass placed in the reference plane may satisfy the first condition but the couple
balance is satisfied only by two forces of equal magnitude in different planes. Thus, in
general, two planes are needed to balance a system of rotating masses.

Example:
Consider four masses m1, m2, m3 and m4 attached to the rotor at radii r1, r2, r3 and r4
respectively. The masses m1, m2, m3 and m4 rotate in planes 1, 2, 3 and 4 respectively.
a) Position of planes of masses

Choose a reference plane at ‗O‘ so that the distance of the planes 1, 2, 3 and 4 from ‗O‘
are L1, L2 , L3 and L4 respectively. The reference plane chosen is plane ‗L‘. Choose
another plane ‗M‘ between plane 3 and 4 as shown.
Plane ‗M‘ is at a distance of Lm from the reference plane ‗L‘. The distances of all the
other planes to the left of ‗L‘ may be taken as negative( -ve) and to the right may be taken
as positive (+ve).
The magnitude of the balancing masses mL and mM in planes L and M may be obtained
by following the steps given below.
Step 1:
Tabulate the given data as shown after drawing the sketches of position of planes of
masses and angular position of masses. The planes are tabulated in the same order in
which they occur from left to right.

Centrifugal Distance 2
Plane Mass (m) Radius (r) force/ω2 from Ref. Couple/ ω
(m r L)
1 2 3 (m r) plane ‗L‘ (L)
6
4 5
1 m1 r1 m1 r1 - L1 - m1 r1 L1
L mL rL mL rL 0 0
2 m2 r2 m 2 r2 L2 m2 r2 L2
3 m3 r3 m3 r 3 L3 m3 r3 L3
M mM rM mM rM LM mM rM LM
4 m4 r4 m4 r 4 L4 m4 r 4 L4
Step 2:
Construct the couple polygon first. (The couple polygon can be drawn by taking a
convenient scale)
Add the known vectors and considering each vector parallel to the radial line of the
mass draw the couple diagram. Then the closing vector will be ‗mM rM LM‘.
The vector d ‘o‘ on the couple polygon represents the balanced couple. Since the
balanced couple CM is proportional to mM rM LM , therefore,
C =m r L = vector d' o'

M MM M

vector d' o'

or m =
M
rM LM
From this the value of mM in the plane M can be determined and the angle of inclination
φ of this mass may be measured from figure (b).
Step 3:
Now draw the force polygon (The force polygon can be drawn by taking a convenient
scale) by adding the known vectors along with ‗mM rM‘. The closing vector will be ‗mL
rL‘. This represents the balanced force. Since the balanced force is proportional to ‗mL rL‘
,
mL rL = vector eo
vector eo
or m=
L
rL
From this the balancing mass mL can be obtained in plane ‗L‘ and the angle of
inclination of this mass with the horizontal may be measured from figure (b).
Problems and solutions
1. A shaft carries four masses A, B, C and D of magnitude 200 kg, 300 kg, 400 kg and
200 kg respectively and revolving at radii 80 mm, 70 mm, 60 mm and 80 mm in planes
measured from A at 300 mm, 400 mm and 700 mm. The angles between the cranks
measured anticlockwise are A to B 45°, B to C 70° and C to D 120°. The balancing
masses are to be placed in planes X and Y. The distance between the planes A and X is
100 mm, between X and Y is 400 mm and between Y and D is 200 mm. If the balancing
masses revolve at a radius of 100 mm, find their magnitudes and angular positions.
Given : mA = 200 kg ; mB = 300 kg ; mC = 400 kg ;mD = 200 kg ,rA = 80 mmv= 0.08m ;

rB = 70 mm = 0.07 m ; rC = 60 mm = 0.06 m ; rD = 80 mm = 0.08 m ; rX = rY = 100 mm =
0.1 m


2. Four masses A, B, C and D as shown below are to be completely balanced. The planes
containing masses B and C are 300 mm apart. The angle between planes containing B
and C is 90°. B and C make angles of 210° and 120° respectively with D in the same
sense. Find :
1. The magnitude and the angular position of mass A ; and
2. The position of planes A and D.
Given rA = 180 mm = 0.18 m ; mB = 30 kg ; rB = 240 mm = 0.24 m ; mC = 50 kg ;
rC = 120 mm = 0.12 m ; mD = 40 kg ; rD = 150 mm = 0.15 m ; ∠BOC = 90° ;
∠BOD = 210° ; ∠COD = 120°


3. A, B, C and D are four masses carried by a rotating shaft at radii 100, 125, 200 and 150
mm respectively. The planes in which the masses revolve are spaced 600 mm apart and
the mass of B, C and D are 10 kg, 5 kg, and 4 kg respectively. Find the required mass A
and the relative angular settings of the four masses so that the shaft shall be in complete
balance.
Given : rA = 100 mm = 0.1 m ; rB = 125 mm = 0.125 m ; rC = 200 mm = 0.2 m ;

rD = 150 mm = 0.15 m ; mB = 10 kg ; mC = 5 kg ; mD = 4 kg


4. A shaft is supported in bearings 1.8 m apart and projects 0.45 m beyond bearings at
each end. The shaft carries three pulleys one at each end and one at the middle of its
length. The mass of end pulleys is 48 kg and 20 kg and their centre of gravity are 15 mm
and 12.5 mm respectively from the shaft axis. The centre pulley has a mass of 56 kg and
its centre of gravity is 15 mm from the shaft axis. If the pulleys are arranged so as to give
static balance, determine : 1. relative angular positions of the pulleys, and 2. dynamic
forces produced on the bearings when the shaft rotates at 300 r.p.m.
Given : mA = 48 kg ; mC = 20 kg ; rA = 15 mm = 0.015 m ; rC = 12.5 mm = 0.0125 m ;

mB = 56 kg ; rB = 15 mm = 0.015 m ; N = 300 r.p.m. or ω= 2 π × 300/60 = 31.42 rad/s


OUT COMES
1. Students will be able Check static and Dynamic balancing for Rotating systems.
2. Students able to solve problems on balancing of rotating masses
Exercise
1. What is meant by balancing of rotating masses?

2. Why rotating masses are to be dynamically balanced?
3. Define static balancing.
4. Define dynamic balancing.
FURTHER READING
1. Theory of Machines by S.S.Rattan, Third Edition, Tata McGraw Hill Education

Private Limited.
2. Kinematics and Dynamics of Machinery by R. L. Norton, First Edition in SI units, Tata
McGraw Hill Education Private Limited.
3. Primer on Dynamic Balancing ―Causes, Corrections and Consequences‖ By
Jim Lyons International Sales Manager IRD Balancing Div. EntekIRD International

MODULE 3
GOVERNOR
CONTENTS
3.1 Introduction
3.2 Types of Governors
3.3 Terms Used in Governors
3.4 Porter Governor
3.5 Problems
3.6 Hartnell Governor
3.1 Introduction
The function of a governor is to regulate the mean speed of an engine, when there are
variations in the load e.g. when the load on an engine increases, its speed decreases,
therefore it becomes necessary to increase the supply of working fluid. On the other hand,
when the load on the engine decreases, its speed increases and thus less working fluid is
required. The governor automatically controls the supply of working fluid to the engine with
the varying load conditions and keeps the mean speed within certain limits.
A little consideration will show, that when the load increases, the configuration of the
governor changes and a valve is moved to increase the supply of the working fluid ;
conversely, when the load decreases, the engine speed increases and the governor decreases
the supply of working fluid.
Note : We have discussed that the function of a flywheel in an engine is entirely different
from that of a governor. It controls the speed variation caused by the fluctuations of the
engine turning moment during each cycle of operation. It does not control the speed
variations caused by a varying load. The varying demand for power is met by the governor
regulating the supply of working fluid.
3.2 Types of Governors

The governors may, broadly, be classified as
1. Centrifugal governors
2. Inertia governors.
The centrifugal governors may further be classified as follows:

The centrifugal governors are based on the balancing of centrifugal force on the rotating balls
by an equal and opposite radial force, known as the controlling force*.It consists of two
balls of equal mass, which are attached to the arms as shown in Fig. 18.1. These balls are
known as governor balls or fly balls. The balls revolve with a spindle, which is driven by the
engine through bevel gears. The upper ends of the arms are pivoted to the spindle, so that the
balls may rise up or fall down as they revolve about the vertical axis. The arms are connected
by the links to a sleeve, which is keyed to the spindle. This sleeve revolves with the spindle
; but can slide up and down. The balls and the sleeve rises when the spindle speed
increases, and falls when the speed decreases. In order to limit the travel of the sleeve in
upward and downward directions, two stops S, S are provided on the spindle. The sleeve
is connected by a bell crank lever to a throttle valve. The supply of the working fluid de-
creases when the sleeve rises and increases when it falls. When the load on the engine increases,
the engine and the governor speed decreases. This results in the decrease of centrifugal force on
the balls. Hence the balls move inwards and the sleeve moves downwards. The downward
movement of the sleeve operates a throttle valve at the other end of the bell crank lever to
increase the supply of working fluid and thus the engine speed is increased. In this case, the
extra power output is provided to balance the increased load. When the load on the engine
decreases, the engine and the governor speed increases, which results in the increase of
centrifugal force on the balls. Thus the balls move outwards and the sleeve rises upwards. This
upward movement of the sleeve reduces the supply of the working fluid and hence the speed
is decreased. In this case, the power output is reduced.

3.3 Terms Used in Governors

The following terms used in governors are important from the subject point of view ;
Height of a governor. It is the vertical distance from the centre of the ball to a point where the
axes of the arms (or arms produced) intersect on the spindle axis. It is usually denoted by h.
Equilibrium speed. It is the speed at which the governor balls, arms etc., are in complete
equilibrium and the sleeve does not tend to move upwards or downwards.
Mean equilibrium speed. It is the speed at the mean position of the balls or the sleeve.
Maximum and minimum equilibrium speeds. The speeds at the maximum and minimum
radius of rotation of the balls, without tending to move either way are known as maximum and
minimum equilibrium speeds respectively.
Note : There can be many equilibrium speeds between the mean and the maximum and the
mean and the minimum equilibrium speeds.
Sleeve lift. It is the vertical distance which the sleeve travels due to change in equilibrium
speed.

3.4 Porter Governor

The Porter governor is a modification of a Watt‘s governor, with central load attached to the
sleeve as shown in Fig. The load moves up and down the central spindle. This additional
downward force increases the speed of revolution required to enable the balls to rise to any pre-
determined level.
Let
• m = Mass of each ball in kg,
• w = Weight of each ball in newtons = m.g,
• M = Mass of the central load in kg,
• W = Weight of the central load in newtons = M.g,
• r = Radius of rotation in metres,
• h = Height of governor in metres ,
• N = Speed of the balls in r.p.m .,
• ω = Angular speed of the balls in rad/s
= 2 πN/60 rad/s,
• FC = Centrifugal force acting on the ball
in newtons = m.ω 2r,
• T1 = Force in the arm in newtons,
• T2 = Force in the link in newtons,
• α = Angle of inclination of the arm (or upper link) to the vertical, and
β = Angle of inclination of the link (or lower link) to the vertical.
Method of resolution of forces considering the equilibrium of the forces acting at D, we have
Cosβ=

Resolving the forces vertically

Cos α = Cosβ=
Sin α = Sin α =


Note: The + sign is used when the sleeve moves upwards or the governor speed increases
- Negative sign is used when the sleeve moves downwards or the governor speed
decreases.
If F = Frictional force acting on the sleeve in newton, then the equations
3.5 PROBLEMS
1. A Porter governor has equal arms each 250 mm long and pivoted on the axis of rotation.
Each ball has a mass of 5 kg and the mass of the central load on the sleeve is 25 kg. The
radius of rotation of the ball is 150 mm when the governor begins to lift and 200 mm when
the governor is at maximum speed. Find the minimum and maximum speeds and range of
speed of the governor.
Solution. Given : BP = BD = 250 mm = 0.25 m ; m = 5 kg ; M = 15 kg ; r1 = 150 mm
= 0.15m; r 2 = 200 mm = 0.2 m
Minimum speed when r 1 = BG = 0.15 m

Let N1 = Minimum speed.
From Fig. (a), we find that height of the governor, 0.25 2 =h12 +0.1502

Maximum speed when r 2 = BG = 0.2 m

Let N 2 = Maximum speed. From Fig. (b), we find that height of the governor,
Range of speed
We know that range of speed
= N2 – N1 = 154.4 – 133.8 = 20.7 r.p.m.
2. The arms of a Porter governor are each 250 mm long and pivoted on the governor axis.
The mass of each ball is 5 kg and the mass of the central sleeve is 30 kg. The radius of
rotation of the balls is 150 mm when the sleeve begins to rise and reaches a value of 200 mm
for maximum speed. Determine the speed range of the governor. If the friction at the sleeve is
equivalent of 20 N of load at the sleeve, determine how the speed range is modified.
Solution.
Given : BP = BD = 250 mm ; m = 5 kg ; M = 30 kg ; r1 = 150 mm ; r2 = 200 mm
First of all, let us find the minimum and maximum speed of the governor
Let N1 = Minimum speed when r1 = BG = 150 mm, and
N2 = Maximum speed when r2 = BG = 200 mm.

We know that speed range of the governor

= N2 – N1 = 204.4 – 177 = 27.4 r.p.m. Ans.
We know that when the sleeve moves downwards, the friction force (F) acts upwards
and the minimum speed is given by

3. In an engine governor of the Porter type, the upper and lower arms are 200mm and 250
mm respectively and pivoted on the axis of rotation. The mass of the central load is 15 kg, the
mass of each ball is 2 kg and friction of the sleeve together with the resistance of the
operating gear is equal to a load of 25 N at the sleeve. If the limiting inclinations of the upper
arms to the vertical are 30° and 40°, find, taking friction into account, range of speed of the
governor.
Solution . Given : BP = 200 mm = 0.2 m ; BD = 250 mm = 0.25 m ; M = 15 kg ; m = 2 kg ;
F = 25 N ; α1 = 30°; α2 = 40°
The minimum and maximum position of the governor is shown Fig. respectively.
Let N1 = Minimum speed, and
N2 = Maximum speed.
From Fig we find that minimum radius of rotation,
Sin α =
r1 = BG = BP sin 30° = 0.2 × 0.5 = 0.1 m
Height of the governor,
Cos α =
h1 = PG = BP cos 30° = 0.2 × 0.866 = 0.1732 m

We know that when the sleeve moves downwards, the frictional force (F) acts upwards and
the minimum speed is given by
Now from Fig.we find that maximum radius of rotation,

r2 = BG = BP sin 40° = 0.2 × 0.643 = 0.1268 m
Height of the governor,
h2 = PG = BP cos 40° = 0.2 × 0.766 = 0.1532 m
∴ tan β2 = BG/DG = 0.1268 / 0.2154 = 0.59

and tan α2 = tan 40° = 0.839
q2 = = = 0.703
4. A Porter governor has all four arms 250 mm long. The upper arms are attached on the axis
of rotation and the lower arms are attached to the sleeve at a distance of 30 mm from the axis.
The mass of each ball is 5 kg and the sleeve has a mass of 50 kg. The extreme radii of
rotation are 150 mm and 200 mm. Determine the range of speed of the governor.
Solution. Given : BP = BD = 250 mm ; DH = 30 mm ; m = 5 kg ; M = 50 kg ;

r1 = 150 mm ; r2 = 200 mm
First of all, let us find the minimum and maximum speed of the governor. The minimum and
maximum position of the governor is shown in Fig.

N1 = Minimum speed when r1 = BG = 150 mm ; and

N2 = Maximum speed when r2 = BG = 200 mm.

5. All the arms of a Porter governor are 178 mm long and are hinged at a distance of 38 mm
from the axis of rotation. The mass of each ball is 1.15 kg and mass of the sleeve is 20 kg.
The governor sleeve begins to rise at 280 r.p.m. when the links are at an angle of 30° to the
vertical. Assuming the friction force to be constant, determine the minimum and maximum
speed of rotation when the inclination of the arms to the vertical is 45°.
Solution. Given : BP = BD = 178 mm ; PQ = DH = 38 mm ; m = 1.15 kg ; M = 20 kg ; N =

280 r.p.m. ; α = β = 30°
First of all, let us find the friction force (F). The equilibrium position of the governor when
the lines are at 30° to vertical, is shown in Fig. From the figure, we find that radius of
rotation,
r = BG = BF + FG = BP × sin α + FG
= 178 sin 30° + 38 = 127 mm
and height of the governor,
h = BG / tan α
= 127 / tan 30° = 220 mm = 0.22 m

We know that radius of rotation when inclination of the arms to the vertical is 45 (i.e. when α
= β = 45°),
r = BG = BF + FG = BP × sin α + FG
= 178 sin 45° + 38 = 164 mm
and height of the governor,
h = BG / tan α = 164 / tan 45° = 164 mm = 0.164 m
Let N1 = Minimum speed of rotation, and
N2 = Maximum speed of rotation.
3.6 Hartnell Governor

A Hartnell governor is a spring loaded governor as shown in Fig. 18.18. It consists of two
bell crank levers pivoted at the points O,O to the frame. The frame is attached to the
governor spindle and therefore rotates with it. Each lever carries a ball at the end of the
vertical arm OB and a roller at the end of the horizontal arm OR. A helical spring in
compression provides equal downward forces on the two rollers through a collar on the
sleeve. The spring force may be adjusted by screwing a nut up or down on the sleeve.
Let m = Mass of each ball in kg,

M = Mass of sleeve in kg,
r1 = Minimum radius of rotation in metres,
r2 = Maximum radius of rotation in metres,
ω1 = Angular speed of the governor at minimum radius in rad/s,
ω2 = Angular speed of the governor at maximum radius in rad/s,
S1 = Spring force exerted on the sleeve at ω1 in newtons,
S2 = Spring force exerted on the sleeve at ω2 in newtons,
FC1 = Centrifugal force at ω1 in newtons = m (ω1)2 r1,
FC2 = Centrifugal force at ω2 in newtons = m (ω2)2 r2,
s = Stiffness of the spring or the force required to compress the spring by one mm,
x = Length of the vertical or ball arm of the lever in metres,
y = Length of the horizontal or sleeve arm of the lever in metres, and
r = Distance of fulcrum O from the governor axis or the radius of rotation when the governor
is in mid-position, in metres.

Consider the forces acting at one bell crank lever. The minimum and maximum position is
shown in Fig. 18.19. Let h be the compression of the spring when the radius of rotation
changes from r1 to r2.
For the minimum position i.e. when the radius of rotation changes from r to r1, as shown in
Fig. the compression of the spring or the lift of sleeve h1 is given by
Similarly, for the maximum position i.e. when the radius of rotation changes from r to r2, as
shown in Fig.the compression of the spring or lift of sleeve h2 is given by

Neglecting the obliquity effect of the arms (i.e. x1 = x2 = x, and y1 = y2 = y) and the moment
due to weight of the balls (i.e. m.g), we have for minimum position,


GYROSCOPE
CONTENTS
3.1 INTRODUCTION
3.2 GYROSCOPIC COUPLE
3.3 GYROSCOPIC EFFECT ON SHIP
3.4 GYROSCOPIC EFFECT ON AEROPLANE
3.5 STABILITY OF AUTOMOTIVE VEHICLE
3.1 INTRODUCTION
‘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
precessional motion of a rotary body. Gyroscope finds applications in gyrocompass, used in
aircraft, naval ship, control system of missiles and space shuttle. The gyroscopic effect is also
felt on the automotive vehicles while negotiating a turn.
A gyroscope consists of a rotor mounted in the inner gimbal. The inner gimbal is
mounted in the outer gimbal which itself is mounted on a fixed frame as shown in Fig.1.
When the rotor spins about X-axis with angular velocity ω rad/s and the inner gimbal
precesses (rotates) about Y-axis, the spatial mechanism is forced to turn about Z-axis other
than its own axis of rotation, and the gyroscopic effect is thus setup. The resistance to this
motion is called gyroscopic effect.
Fig. 1 Gyroscope mechanism

ANGULAR MOTION
A rigid body, (Fig.2) spinning at a constant angular velocity ω rad/s about a spin axis
through the mass centre. The angular momentum ‗H‘ of the spinning body is represented by a
vector whose magnitude is ‗Iω‘. I represents the mass amount of inertia of the rotor about the
axis of spin.
Fig.2 Spinning body
‗.‘ H= Iw
The direction of the angular momentum can be found from the right hand screw rule
or the right hand thumb rule. Accordingly, if the fingers of the right hand are bent in the
direction of rotation of rotor, then the thumb indicates the direction of momentum.
3.2 GYROSCOPIC COUPLE
Consider a rotary body of mass m having radius of gyration k mounted on the shaft
supported at two bearings. Let the rotor spins (rotates) about X-axis with constant angular
velocity rad/s. The X-axis is, therefore, called spin axis, Y-axis, precession axis and Z-axis,
the couple or torque axis (Fig.3).

Fig. 3
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 + H, where H is the change
in the angular momentum, represented by vector ab [Figure 15.2(b)]. For the small value of
angle of rotation 50, we can write
However, the rate of change of angular momentum is:
or C = IWWp
where C = gyroscopic couple (N-m)

W = angular velocity of rotary body
(rad/s) Wp = angular velocity of
precession (rad/s)

Direction of Spin vector, Precession vector and Couple/Torque vector with forced
precession
To determine the direction of spin, precession and torque/couple vector, right hand
screw rule or right hand rule is used. The fingers represent the rotation of the disc and the
thumb shows the direction of the spin, precession and torque vector (Fig.4).
Fig.4. Direction of Spin vector, Precession vector and Couple/Torque vector
The method of determining the direction of couple/torque vector is as follows.
Case (i):
Consider a rotor rotating in anticlockwise direction when seen from the right (Fig.5
and Fig. 6), and to precess the spin axis about precession axis in clockwise and anticlockwise
direction when seen from top. Then, to determine the active/reactive gyroscopic couple
vector, the following procedure is used.
1. Turn the spin vector through 900 in the direction of precession on the XOZ
plane
2. The turned spin vector will then correspond to the direction of active
gyroscopic couple/torque vector
3. The reactive gyroscopic couple/torque vector is taken opposite to active gyro
vector direction

Fig. 5 Direction of active and reactive gyroscopic couple/torque vector
Case (ii):
Consider a rotor rotating in clockwise direction when seen from the right (Fig.7 and Fig. 8),
and to precess the spin axis about precession axis in clockwise and anticlockwise direction
when seen from top. Then, to determine the active/reactive gyroscopic couple vector,
1. Turn the spin vector through 900 in the direction of precession on the XOZ
plane
2. The turned spin vector will then correspond to the direction of active
gyroscopic couple/torque vector
The reactive gyroscopic couple/torque vector is taken opposite to active gyro
vector direction

The resisting couple/ reactive couple will act in the direction opposite to that of the
gyroscopic couple. This means that, whenever the axis of spin changes its direction, a
gyroscopic couple is applied to it through the bearing which supports the spinning axis.
Please note that, for analyzing the gyroscopic effect of the body, always reactive
gyroscopic couple is considered.
.

Problem 1
A disc of 5 kg mass with radius of gyration 70 mm is mounted at span on a horizontal
shaft spins at 720 rpm in clockwise direction when viewed from the right hand bearing. If the
shaft precesses about the vertical axis at 30 rpm in clockwise direction when viewed from the
top, determine the reactions at each bearing due to mass of the disc and gyroscopic effect.
Reaction on the bearings due to weight of the disc, Rm = mg/2 = 5x9.81 /2 = 24.53 N
The angular momentum vector and induced reactive gyroscopic couple acting in
anticlockwise direction is shown in Fig.9b.

3.3 GYROSCOPIC EFFECT ON SHIP
Gyroscope is used for stabilization and directional control of a ship sailing in the
rough sea. A ship, while navigating in the rough sea, may experience the following three
different types of motion:
r Steering—The turning of ship in a curve while moving forward

r 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.

For stabilization of a ship against any of the above motion, the major requirement is
that the gyroscope shall be made to precess in such a way that reaction couple exerted by the
rotor opposes the disturbing couple which may act on the frame.
r Ship Terminology
Bow – It is the fore end of ship

Stern – It is the rear end of ship
Starboard – It is the right hand side of the ship looking in the direction of motion
Port – It is the left hand side of the ship looking in the direction of motion
Fig. 10
Consider a gyro-rotor mounted on the ship along longitudinal axis (X-axis) as shown
in Fig.10 and rotate in clockwise direction when viewed from rear end of the ship. The
angular speed of the rotor is rad/s. The direction of angular momentum vector oa, based on
direction of rotation of rotor, is decided using right hand thumb rule as discussed earlier.The
gyroscopic effect during the three types of motion of ship is discussed.
Fig.11

Gyroscopic effect on Steering of ship
+ 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.
Fig. 12
Fig. 13
Note that, always reactive gyroscopic couple is considered for analysis. From the
above analysis (Fig.12), 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.
(ii) Right turn with clockwise rotor
When ship takes a right turn and the rotor rotates in clockwise direction viewed
from stern, the gyroscopic couple acts on the ship is analyzed (Fig 14). Again, 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.

Fig. 14
Fig.15
Fig. 16
Left turn with anticlockwise rotor
When ship takes a left turn and the rotor rotates in anticlockwise direction viewed
from stern, the gyroscopic couple act on the ship is analyzed in the following way (Fig.18).

Fig. 17
Fig.18
Fig. 19
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.
(iv) Right turn with anticlockwise rotor
When ship takes a right turn and the rotor rotates in anticlockwise direction viewed
from stern, the gyroscopic couple act on the ship is according to Fig 20. Now, the reaction
couple tends to raise the bow of the ship and dip the stern.

Fig.20
Fig. 21
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 the horizontal
position in vertical plane (Fig.22. & Fig. 23)
Fig.22 Pitching action of ship

Fig.23 Pitching action of ship
Consider a rotor mounted along the longitudinal axis and rotates in clockwise
direction when seen from the rear end of the ship. The direction of momentum for this
condition is shown by vector ox (Fig.24). When the ship moves up the horizontal position in
vertical plane by an angle from the axis of spin, the rotor axis (X-axis) processes about
Z-axis in XY-plane and for this case Z-axis becomes precession axis. The gyroscopic couple
acts in anticlockwise direction about Y-axis and the reaction couple acts in opposite direction,
i.e. in clockwise direction, which tends to move towards right side (Fig.25). However, when
the ship pitches down the axis of spin, the direction of reaction couple is reversed and the ship
turns towards left side (Fig. 26).

Fig. 24
Fig. 25
Fig.18
Fig.26
Similarly, for the anticlockwise direction of the rotor viewed from the rear end (Stern)
of the ship, the analysis may be done.

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.
Fig.27
Problem 2
A turbine rotor of a ship has a mass of 3500 kg and rotates at a speed of 2000 rpm.
The rotor has a radius of gyration of 0.5 m and rotates in clockwise direction when viewed
from the stern (rear) end. Determine the magnitude of gyroscopic couple and its direction for
the following conditions
A When the ship runs at a speed of 12 knots and steers to the left in a curve of 70 m
radius
A When the ship pitches 6° above and 6° below the horizontal position and the bow
(Front) end is lowered. The pitching motion is simple harmonic with periodic time
30 sec.
(iii)When the ship rolls and at a certain instant, it has an angular velocity of 0.05 rad/s
clockwise when viewed from the stern
Also find the maximum angular acceleration during pitching.
Solution Given, 1 knot = 1.86 kmph, the linear velocity of the ship:
Angular velocity of the rotor:

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.28.
Fig.28
Wpmax = 0.2094 x 0.1047 = 0.022 rad/s
Maximum couple for pitching:
Cmax = IWWpmax
4. 875 x 209.44 x 0.022
5. 4031.72 Nm
The effect of gyroscopic couple due to pitching is shown in Fig.29. The reactive
gyroscopic couple will act in anticlockwise direction seen from top and it will turn ship
towards the left side.

Fig.29
iii) Angular velocity of precession while the ship rolls is:
Wp = 0.05 rad/s
and gyroscopic couple : C = 1WWp

= 875 x 209.44 x 0.05
= 9163 Nm
Since the ship rolls in the same plane as the plane of spin, there is no gyroscopic effect.
Angular velocity of precess during pitching is:
Therefore, angular acceleration:
Maximum angular acceleration:

Wmax = -AW02
= 0.1047 x 0.20942
= 0.00459 rad/s2
Problem 3
A ship is propelled by a rotor of mass of 2000 kg rotates at a speed of 2400 rpm. The
radius of gyration of rotor is 0.4 m and spins clockwise direction when viewed from bow
(front) end. Find the gyroscopic couple and its effect when;
= the ship takes left turn at a radius of 350 m with a speed of 35 kmph
= the ship pitches with the bow rising at an angular velocity of 1
rad/s (iii)the ship rolls at an angular velocity of 0.15 rad/s
Solution

Angular velocity:
The reaction gyroscopic couple will act in anticlockwise and will tend to lower the bow as
shown in Figure 30.
Fig.30
Pitching. Angular velocity of precession during pitching a)p = 1.0 rad/s
Gyroscopic couple: C = 320 x 251.33 x 1.0
= 80425.6 Nm Ans.
The reaction gyroscopic couple acting in anticlockwise direction will tend to turn the bow
towards the Right side as shown in Figure 31.

Rolling, Gyroscopic couple: C = l6XQp

= 320 x 251.33 x 0.15 = 12063.84 Nm
During rolling, the ship rolls in the same plane as the plane of spin and there will be no
gyroscopic effect.
3.4 Gyroscopic Effect on Aeroplane
Aeroplanes are subjected to gyroscopic effect when it taking off, landing and
negotiating left or right turn in the air.
Let
ω = Angular velocity of the engine rotating parts in rad/s,
m = Mass of the engine and propeller in kg,
rW = Radius of gyration in m,
I = Mass moment of inertia of engine and propeller in kg m2,
V = Linear velocity of the aeroplane in m/s,
R = Radius of curvature in m,
ωp =Angular velocity of precession = rad/s
Gyroscopic couple acting on the aero plane = C = I WWp
Fig.32
Let us analyze the effect of gyroscopic couple acting on the body of the aero plane for
various conditions.
Case (i): PROPELLER rotates in CLOCKWISE direction when seen from rear end and
Aeroplane turns towards LEFT


Fig.38
According to the analysis, the reactive gyroscopic couple tends to dip the tail and raise the
nose of aeroplane.
Fig.39
Case (ii): PROPELLER rotates in CLOCKWISE direction when seen from rear end and
Aeroplane turns towards RIGHT
Fig.40
Fig.41

Fig.42
Fig.43
Fig. 44
According to the analysis, the reactive gyroscopic couple tends to raise the tail and dip
the nose of aeroplane.

Fig.45
Case (iii): PROPELLER rotates in ANTICLOCKWISE direction when seen from rear end
and Aeroplane turns towards LEFT
Fig.46
Fig.47
Fig.48

Fig.49
The analysis indicates, the reactive gyroscopic couple tends to raise the tail and dip
the nose of aeroplane.
Fig.49
Fig.50
Fig. 50
Case (iv): PROPELLER rotates in ANTICLOCKWISE direction when seen from rear
end and Aeroplane turns towards RIGHT
Fig.51
Fig.52

Fig.53
Fig.54
The analysis shows, the reactive gyroscopic couple tends to raise the tail and dip the
nose of aeroplane.
Fig.55
Case (v): PROPELLER rotates in CLOCKWISE direction when seen from rear end and
Aeroplane takes off or nose move upwards
Fig.56

Fig.57
The analysis show, the reactive gyroscopic couple tends to turn the nose of aeroplane
toward right
Fig.58
Case (vi): PROPELLER rotates in CLOCKWISE direction when seen from rear end and
Aeroplane is landing or nose move downwards
Fig.59

Fig. 61
The reactive gyroscopic couple tends to turn the nose of aeroplane toward left
Fig.62
Case (vii): PROPELLER rotates in ANTICLOCKWISE direction when seen from rear end
and Aeroplane takes off or nose move upwards

Fig.63
The reactive gyroscopic couple tends to turn the nose of aeroplane toward left
Fig.64
Case (viii): PROPELLER rotates in ANTICLOCKWISE direction when seen from rear end
and Aeroplane is landing or nose move downwards
Fig.65
The analysis show, the reactive gyroscopic couple tends to turn the nose of aeroplane
toward right

Fig.66
Problem 4
An aeroplane flying at a speed of 300 kmph takes right turn with a radius of 50 m.
The mass of engine and propeller is 500 kg and radius of gyration is 400 mm. If the engine
runs at 1800 rpm in clockwise direction when viewed from tail end, determine the gyroscopic
couple and state its effect on the aeroplane. What will be the effect if the aeroplane turns to
its left instead of right?
Solution Angular velocity of aeroplane engine:
Case (i): PROPELLER rotates in CLOCKWISE direction when seen from rear end and
Aeroplane turns towards RIGHT
Fig.67

Fig.68
According to the analysis, the reactive gyroscopic couple tends to dip the nose and
raise the tail of the aeroplane.
Fig.69
When aeroplane turns to its left, the magnitude of gyrocouple remains the same. However,
the direction of reaction couple is reversed and it will raise the nose and dip the tail of the
aeroplane.
Fig.70
3.5 Stability of Automotive Vehicle
A vehicle running on the road is said to be stable when no wheel is supposed to leave
the road surface. In other words, the resultant reactions by the road surface on wheels should
act in upward direction. For a moving vehicle, one of the reaction is due to gyroscopic couple

produced by the rotating wheels and rotating parts of the engine. Let us discuss stability of
two and four wheeled vehicles when negotiating a curve/turn.
Stability of Two Wheeler negotiating a turn
Fig.71
Fig. 71 shows a two wheeler vehicle taking left turn over a curved path. The vehicle
is inclined to the vertical for equilibrium by an angle known as angle of heel.
Let
m = Mass of the vehicle and its rider in kg,
W = Weight of the vehicle and its rider in newtons = 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.
Fig.7
2

Fig.73
Fig.74
Let us consider the effect of the gyroscopic couple and centrifugal couple on the wheels.
1. Effect of Gyroscopic Couple
We know that, V = ω W × rW
ωE = G .ωW or ωE = G .v/ rW
Angular momentum due to wheels = 2 Iw ωW
Angular momentum due to engine and transmission = IE ωE
Total angular momentum (I xω) = 2 Iw ωW IE ωE

Also, Velocity of precession = ωp =
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‘. In other words, the axis of spin is inclined to the horizontal at an angle θ , as shown
in Fig.73 Thus, the angular momentum vector I ω due to spin is represented by OA inclined
to OX at an angle θ. But, the precession axis is in vertical. Therefore, the spin vector is
resolved along OX.
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.
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…
Analysis:
Fig.75

Fig.7
6
2. Effect of Centrifugal Couple
Fig. 77
We have,
Centrifugal force,
or
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 as shown in Fig.78
Therefore, the total Over turning couple: C = Cg + Cc
Fig.79
For the vehicle to be in equilibrium, overturning couple should be equal to balancing

couple acting in clockwise direction due to the weight of the vehicle and rider.
C = mgh sinθ
Fig.80
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.

Problem 5
A motorcycle and its rider together weighs 2000 N and their combined centre of
gravity is 550 mm above the road when motorcycle is upright. Each wheel is of 580 mm
diameter and has a moment of inertia of 1.0 kgm2. The moment of inertia of rotating parts of
engine is 0.15 kg m2. The engine rotates at 5 times the speed of the vehicle and the same
sense. Determine the angle of heel necessary when motorcycle is taking a turn over a track of
35 m radius at a speed of 60 kmph.
Solution:
Velocity of vehicle :
Angular velocity of wheel:
Angular velocity of precession:
(i) Gyroscopic couple due to two wheels:
Cw = 2Iw WWp cosθ

2 x 1 .0 x 57.48 x 0.476 x cos θ
54.72 cosθ Nm
= Gyroscopic couple due to rotating parts of engine:
CE = IE GWWp cosθ
0.15 x 5 x 57.48 x 0.476 x cosθ
20.52cosθ Nm
ii) Centrifugal force due to angular velocity of die wheel:
Centrifugal couple: Cc = 1618.7 x 0.55 cosθ

= 890.28 cos θ Nm
Total overturning couple: C = C w + C e + Cc

T (54.72 + 20.52 + 890.28) cosθ
T 965.52 cosθ Nm
Balancing couple
For the stability of motorcycle, overturning couple should be equal to resisting couple.
1100 sinθ = 965.52 cosθ
or

Problem 6
A motor cycle with its rider has a mass of 300 kg. The centre of gravity of the
machine and rider combined being 0.6 m above the ground with machine in vertical position.
Moment of inertia of each wheel is 0.525 kg m2 and the rolling diameter of 0.6 m. The engine
rotates 6 times the speed of the road wheels and in the same sense. The engine rotating parts
have a mass moment of inertia of 0.1686 kg m2. Find (i) the angle of heel necessary if the
vehicle is running at 60 km/hr round a curve of 30 m (ii) If the road and tyre friction allow for
the angle of heel not to exceed 50o, what is the maximum road velocity of the motor cycle.
Solution:
m = 300 kg, h = 0.6 m, Iw = 0.525 kg m2 , dw=0.6 m; rw = 0.3 m, G = 6, IE = 0.1686
m , V= 60km/hr = 16.66 m/s, R = 30 m (i) θ = ? (ii) θ = 50o V=?
1. Angle of heel,
We have,
A) Given, , V=?,
Stability of Four Wheeled Vehicle negotiating a turn.
Stable condition Unstable Condition

Fig.81
Consider a four wheels automotive vehicle as shown in Figure 82. The engine is
mounted at the rear with its crank shaft parallel to the rear axle. The centre of gravity of the
vehicle lies vertically above the ground where total weight of the vehicle is assumed to be
acted upon.
Let
m = Mass of the vehicle (kg)
W = Weight of the vehicle (N) = m.g,
h = Height of the centre of gravity of the vehicle (m)
rW = Radius of the wheels (m)
R = Radius of track or curvature (m)
IW = Mass moment of inertia of each wheel (kg-m2)
IE = Mass moment of inertia of the rotating parts of the engine (kg-m2)
ωW = Angular velocity of the wheels
(rad/s) ωE = Angular velocity of the engine
(rad/s)
G = Gear ratio = ωE / ωW,
v = Linear velocity of the vehicle (m/s)= ωW ×
rW, x = Wheel track (m)
b = Wheel base (m)
Fig.82
1. Reaction due to weight of Vehicle

Weight of the vehicle. Assuming that weight of the vehicle (mg) is equally distributed over
four wheels. Therefore, the force on each wheel acting downward is mg/4 and the reaction by
the road surface on the wheel acts in upward direction.

x Effect of Gyroscopic couple due to Wheel
Gyroscopic couple due to four wheels is,
Cw = 4 IwWWp
(iii) Effect of Gyroscopic Couple due to Engine

Gyroscopic couple due to rotating parts of the engine
CE = IE WWp = IE G WWp
Therefore, Total gyroscopic couple:
Cg = Cw + CE= WWp (4IW ± IEG)
When the wheels and rotating parts of the engine rotate in the same direction, then positive
sign is used in the above equation. Otherwise negative sign should be considered.
Assuming that the vehicle takes a left turn, the reaction gyroscopic couple on the vehicle acts
between outer and inner wheels.
Fig.83
This gyroscopic couple tends to press the outer wheels and lift the inner wheels.

Fig.84
Due to the reactive gyroscopic couple, vertical reactions on the road surface will be
produced. The reaction will be vertically upwords on the outer wheels and vertically
downwords on the inner wheels. Let the magnitude of this reaction at the two outer and inner
wheels be P Newtons, then,
P x X = Cg
Road reaction on each outer/Inner wheel,
Effect of Centrifugal Couple

When a vehicle moves on a curved path, a centrifugal force acts on the vehicle in
outward direction through the centre of gravity of the vehicle( Fig…)
Fig.85
Centrifugal force,
This force forms a Centrifugal couple.
This centrifugal couple tends to press the outer and lift the inner

Fig.86
Due to the centrifugal couple, vertical reactions on the road surface will be produced.
The reaction will be vertically upwords on the outer wheels and vertically downwords on the
inner wheels. Let the magnitude of this reaction at the two outer and inner wheels be F
Newtons, then,
Fig.87
The reactions on the outer/inner wheels are as follows,
Fig.88

Total vertical reaction at each outer wheels
Total vertical reaction at each inner wheels
Problem 7
An automobile car is travelling along a track of 100 m mean radius. The moment of
inertia of 500 mm diameter wheel is 1.8 kg m2. The engine axis is parallel to the rear axle and
crank shaft rotates in the same sense as the wheel. The moment of inertia of rotating parts of
the engine is 1 kg m2. The gear ratio is 4 and the mass of the vehicle is 1500 kg. If the centre
of gravity of the vehicle is 450 mm above the road level and width of the track of the vehicle
is 1.4 m, determine the limiting speed of the vehicle for condition that all four wheels
maintain contact with the road surface.
Solution Let = limiting velocity of the vehicle.
Angular velocity:
Precession velocity:
(i) Reaction due to gyroscopic couple:
(a) Gyroscopic couple due to four wheels:
(b) Gyroscopic couple due to engine parts:
Reaction due to total gyroscopic couple on each outer wheel:

Reaction due to total gyroscopic couple on each inner wheel:
(ii) Reaction due to centrifugal couple:
Centrifugal force:
Overturning couple due to centrifugal force:

Cc = Fc x h
= 15 v2x 0.45 = 6.75 v2 Nm
Vertical downward reaction on each inner wheel is:
(iii) Reaction due to weight of the vehicle:
The limiting condition to avoid lifting of inner wheels from the road surface is:
or
or
Problem 8
A four wheeled motor vehicle of mass 2000 kg has a wheel base of 2.5 m, track width
1.5m and height of c.g is 500 mm above the ground level and lies 1 m from the front axle.
Each wheel has an effective diameter of 0.8m and a moment of inertia of 0.8 kgm2. The drive
shaft, engine flywheel rotating at 4 times the speed of road wheel in clockwise direction
when viewed from the front and is equivalent to a mass of 75 kg having a radius of gyration
of 100mm.If the vehicle is taking a right turn of 60 m radius at 60kmph, determine the load
on each wheel.
Solution,
Since the C.G of the vehicle is 1 m from the front,
The percentage of weight on the front wheels = (2.5-1)/2.5 x 100

= 60%

The percentage of weight on the rear wheels = 40 %
Total weight on the front wheels = 11772 N
Total weight on the rear wheels = 7848 N

Weight on each of front wheel = 5886 N = WF/2
Weight on each of rear wheel = 3924 N = WR/2
The road reaction due to weight of the vehicle is always upwards
Effect of Gyroscopic couple due to Wheel,

CW = 4IW. WW. WP
= 37.1 Nm
Gyroscopic couple due to wheels acts between outer and inner wheels.
Fig.89
Fig.90
The gyroscopic couple tends to press the outer and lift the inner wheels

Fig. 91
The road reaction is vertically upward for outer wheels and downward for inner wheels
Effect of Gyroscopic Couple due to Engine
Gyroscopic couple due to engine
CE = IE. WE. WP
CE = IE.G. WW. WP
= 34.7 N m
Gyroscopic couple due to engine acts between Front and Rear wheels.
Fig. 92
Fig. 93

The couple tends to press Rear wheels and Lift front wheels
Fig. 94
The road reaction is vertically upward for REAR and downward for FRONT
wheels.
Fig.95
Road reaction on each Front/Rear wheels
Effect of Centrifugal Couple
Fig.96

Centrifugal force,
Centrifugal Couple
The gyroscopic couple tends to press the outer and lift the inner wheels.
Fig.97
Fig. 98
The road reaction is vertically upward for outer wheels and downward for inner
wheels. Road reaction on each outer/Inner wheel
Engine crank shaft rotates clockwise direction seen from front, and Vehicle takes
RIGHT turn

Fig.99
Load on front wheel 1 = 4322.86 N

Load on front wheel 2 = 7435.26 N
Load on rear wheel 3 = 2374.74 N
Load on rear wheel 4 = 5487.14 N
Problem 9
A section of an electric rail track of gauge 1.5 m has a left hand curve of radius 300
m, the superelevation of the outer rail being 260 mm. The approach to the curve is along a
straight length of track, over the last 50 m there is a uniform increase in elevation of the outer
rail from level track to the super elevation of 260 mm. Each motor used for traction has a
rotor of mass 550 kg and radius of gyration 300 mm. The motor shaft is parallel to the axes of
the running wheels. It is supported in bearings 780 mm apart and runs at four times the wheel
speed but in opposite direction. The diameter of running wheel is 1.2 m. Determine the forces
on the bearings due to gyroscopic action when the train is travelling at 90 kmph (a) on the last
50 m of approach track (b) on the curve track.
Solution Angular velocity:
Let p = angular velocity of precession.
Moment of inertia: I= mk2 = 550 x 0.32 = 49.5 kg m2
Gyroscopic couple:

Forces on bearings:
(a) Angle turned by engine shaft in the last 50 m track
Time taken to cover this distance
Velocity of precession:
Forces on bearings: P = 10577.1 x 0.0867 = 917.03 N
The change in momentum is represented by vector oa and ob as shown in Figure 15.18.
The couple required for precession is, therefore, acting in clockwise looking upward
direction. The reaction couple acts in anticlockwise direction looking downward as the forces
on the bearings are in the directions shown in Figure 100.
i) When electric rail moves on curved path, the effective angular velocity of precession
about the axis perpendicular to the axis of rotation is:
where is angle due to superelevation of outer rail. Referring to Figure 15.19.
or

Effective angular velocity of spin =
Therefore,
Forces on bearings: P = 10577.1 Wp

= 10577.1 x 0.08206
= 867.95 N Ans.
The change in angular momentum vector and reaction couple shown in Figure 15.19 shows
direction of forces on the bearings.
Fig.101
Problem 10.
A four wheeled trolley of total weight 20 kN running on rails of 1 m gauge rounds a
curve of 30 m at 40 kmph on a track of embankment slope of 100. The wheels have external
diameter of 0.6 m and each pair of axle weighs 2000 N and has a radius of gyration of 0.25
m. The height of the C.G of trolley above the wheel is 1 m. Calculate the reaction on the each
rail due to gyroscopic and centrifugal couple.
Solution,
Weight of trolley = N = 20000 N

Wheel track = 2x
=1m
Radius of curve = R = 30 m
Trolley velocity = 40 kmph= 11.1 m/s
Track of embankment slope of = = 100
Diameter of wheel = d = 0.6 m
Weight of each pair of wheels = W1 = 2000 N= mg
Radius of gyration kg = 0.25 m
Height of C.G from wheel base = 1 m

Fig.102
Referring to above Fig. 102,
Consider, the total effect of weight of trolley and that of centrifugal force F,
The reaction RA and RB at the wheels X and Y,
Resolving forces perpendicular to the track,

RA+RB = mg Cos θ + F Sin θ
= mg cos θ + m sin θ
= mg
= 20000
RA+RB = 21.158 N
Taking moments about Q,
RA * 2 = ( F sin θ + mg cos θ ) - ( F cos θ + mg sin θ ) h
RA = -
= -
= –
RA = 5751 N
RB = 15407 N
Let the force at each pair of wheels or each rail due to gyroscopic couple = Fg
Gyroscopic couple applied = Iω cosθ ωp

Fg * 2x = Iω cosθ ωp
=
But, I = mk2g = = 12.74 kg m2
ωp = = = 0.37 rad/s
ω= = = 37 rad/s
Fg =
= 172 N
Reaction on inner rail = RA - Fg
ii) 5751 – 172
5479 N
Reaction on outer rail = RA + Fg

1) 15407 + 172
15579 N

REFERENCES
1.S.S.Rathan(2009),Theory of Machines,3rd edition, Tata MC Graw Hill Education Pvt.td, New

Delhi.
2.SadhuSingh(2012),Theory of Machines,3rd edition,Pearson, New Delhi.

3.Ballaneys(1994),Theory of Machines,19th edition, Hanna Publications, Delhi.
4.Sharma,C.S, Kamalesh Purohit(2006),Theory of Mechanisms and Machines, Prentice-Hall of

India Pvt. Ltd. New Delhi.
5.Malhotra and Guptha (2006),TheTheory of Machines,3rd edition Sathy Prakashan, New Delhi.
6.Ashok A.G(2009), Mechanisms and Machine Theory, 2nd edition, PHI Learning Pvt. Ltd.
New Delhi.

18ME53 - Dynamics of Machines - NOTES

Uploaded by

Copyright:

Available Formats

18ME53 - Dynamics of Machines - NOTES

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

18ME53 - Dynamics of Machines - NOTES

Uploaded by

Copyright:

Available Formats

DYNAMICS OF MACHINES

DEPARTMENT OFMECHANICAL ENGINEERING

To impart excellent technical education in mechanical engineering to develop technically

 To provide an ambience to impart excellent technical education in mechanical

After successful completion of program, the graduates will be

PROGRAM OUTCOMES (PO’S)

The Mechanical engineering program students will attain:

PO1. Engineering knowledge: Apply the knowledge of mathematics, science, engineering

PO3. Design/development of solutions: Design solutions for complex engineering problems

PO4. Conduct investigations of complex problems: Use research-based knowledge and

PO10. Communication: Communicate effectively on complex engineering activities with the

PROGRAM SPECIFIC OUTCOMES (PSO’S)

After successful completion of program, the graduates will be

PSO 3: To apply modern management techniques and manufacturing techniques to produce

2. Mechanical Vibrations, V. P. Singh, Dhanpat Rai and Company, Rai and

TOM (M&M theory) is divided into two parts:-

a & b are called static forces.

Depart of Mechanical Engineering , ATMECE MYSORE Page 1

Example of other static forces are:

Depart of Mechanical Engineering , ATMECE MYSORE Page 2

1.2. Static equilibrium.

For a rigid body to be in Equilibrium

i.e, (i) ∑ F = 0 (ii) ∑ M = 0

∑ Fz = 0 ∑Tz =0 (For a planar system represented by 2D vectors)

Fx, Fy, Fz force Components along X, Y & Z axis

1.3 Equilibrium of two and three force members.

Depart of Mechanical Engineering , ATMECE MYSORE Page 3

1.4 Members with two forces and torque.

(iii) Equilibrium of a body acted upon by 2 forces and a torque.

For equilibrium, the two forces must form a

Free body diagram

slider-crank mechanism with and without friction.

Problem No.1: Slider crank mechanism

Depart of Mechanical Engineering , ATMECE MYSORE Page 4

1.5 Free body diagrams.

Free body diagram

Measure the lengths of vectors and multiply by the

i.e, F23 = − F32

i.e., F43 = − F23 = 8.8 × 103 N

Also, F23 = - F32 (equal in magnitude and opposite in direction).

Depart of Mechanical Engineering , ATMECE MYSORE Page 5

Link 2 is acted upon by 2 forces and a torque

F32 & F12 form a counter clock wise couple of magnitude,

F23 × h= F12 × h = 8.8 × 103 × 0.125 = 1100Nm.

To keep 2 in equilibrium, T2 should act clockwise and magnitude is 1100

Problem No 2. Four link mechanism.

AD=50mm, AB=40mm, BC=100mm, Dc=75mm, DE= 35mm,

Depart of Mechanical Engineering , ATMECE MYSORE Page 6

F32 & F12 from a CCW couple which is equaled

Depart of Mechanical Engineering , ATMECE MYSORE Page 7

Depart of Mechanical Engineering , ATMECE MYSORE Page 8

Depart of Mechanical Engineering , ATMECE MYSORE Page 9

Than, torque on link 2,

Depart of Mechanical Engineering , ATMECE MYSORE Page 10

Problem No 7. Determine T2 to keep the body in equilibrium. O2A =100MM, AB=250MM,

The problem is solved as two

Depart of Mechanical Engineering , ATMECE MYSORE Page 11

1.7 Force Analysis considering friction.