Topic 3: GYROSCOPIC MOTION

A conventional gyroscope consists of a symmetrical circular disc (called rotor) which spins
rapidly about its axis and rotates freely about one or more perpendicular axes. A completely
free gyroscope is shown in Figure 3.1. The disc spins about its own axis ZZ, and is mounted,
by means of gimbal rings, in an inner frame whose plane freely rotates about a
perpendicular axis YY. This inner frame is, in turn, gimbal mounted in an outer frame
whose plane rotates about the third axis XX, perpendicular to both YY and ZZ. Such a
gyroscope exhibits three characteristics, namely stability, nutation and precession. Gyroscopes
are installed in ships to reduce rolling and pitching effects due to waves, as well as in
aeroplanes, gyrocompasses and monorail cars.

Figure 3.1: A free gyroscope (Adapted from: Ryder and Bennet, 1990)

3.1 Precessional Angular Motion

Figure 3.2: Precessional Angular Motion (Khurmi and Gupta, 2006)

Figure 3.2 (a) shows a disc rotating at , in a plane positioned at right angles to the paper,
about the axis of spin OX in anticlockwise direction when viewed from the right. After a
short time , let the axis of spin rotate through small angle to a new axis OX’ such that
the angular velocity of the disc is now ( ). Applying the right hand screw rule, vector
in Figure 3.2 (b) represents the change of angular velocity in time ; i.e. the angular
acceleration of the disc. and represent the horizontal and perpendicular components
of . Thus:
Component of angular acceleration in the in direction,

EME 405 Balancing of Rotating Masses Compiled by: K.N. Nwankwo

Mechanics of Machines Dept. of Mech. Engrg, UAM June 2017
 (for small angle: 1)
*+
Taking limits, when → 0, lim →% & '; ()
*)
Component of angular acceleration in the direction perpendicular to ,
,- ,-

,- ,-
(for small angles: sin )

(δω. δθ is very small and negligible)

*
Taking limits, when → 0, lim →% & '; () += +. +>
*)
Hence, total angular acceleration of the disc:
?@ ?@ AB C DEF
*+ * *+
+= +. +>
*) *) *)
where F ⁄F denotes the angular velocity of the axis of spin about an axis, known as axis of
precession, that is perpendicular to the plane in which the axis of spin rotates. This velocity is
known as angular velocity of precession, +> . Thus the angular motion of the axis of spin about
the axis of precession is known as processional angular motion.

3.2 Gyroscopic Couple

Figure 3.3 shows a rotor spinning about the axis of spin OX with velocity , in a plane
(called plane of spinning) parallel to plane YOZ. Axis of spin, OX rotates about axis OY in a
plane parallel to horizontal plane XOZ. Hence, OX is said to be rotating or processing
about axis OY (perpendicular to OX and OZ), and its velocity is H rad/s. Thus, while XOZ
is called plane of precession, OY is known as the axis of precession.

Figure 3.3: Gyroscopic Couple (Khurmi and Gupta, 2006)

Let I = Mass moment of inertia of the rotor about OX

= Angular velocity of the rotor
∴ Angular momentum of the disc, H is: J K.

Let vector LLLLM in Fig. 3.2 (b) represent the angular momentum of the disc. Since the axis of
spin rotates anticlockwise, having turned through angle in time seconds, its position

EME 405 Balancing of Rotating Masses Compiled by: K.N. Nwankwo

Mechanics of Machines Dept. of Mech. Engrg, UAM June 2017
is now NO . If the angular velocity is assumed to be constant, the angular momentum is
now represented by vector LLLLLLM. Thus:
Change in angular momentum: LLLLLLM P LLLLM LLLLLLM LLLLM. K. . .
Rate of change of angular momentum: K. = Q

The rate of change of angular momentum results from application of a couple to the rotor.
Thus, the couple applied to cause precession is:
S
R lim →% K. = K. = T. +. +>
S
where H is the angular velocity of precession (or speed of rotation) of the axis of spin about
the axis of precession OY.

Couple R T. +. +> is the active gyroscopic couple to be applied over the rotor when the
axis of spin rotates about axis of precession with velocity H . Vector lies in the
horizontal plane XOZ and perpendicular to vertical plane XOY after a small displacement
.

Example 3.1: (Khurmi and Gupta). A flywheel of mass 10 kg and radius of gyration 200 mm is
spinning about its axis, which is horizontal and is suspended at a point distant 150 mm from the
plane of rotation of the flywheel. Determine the angular velocity of precession of the flywheel. The
spin speed of flywheel is 900 rpm.
Solution: m = 10 kg; k = 0.2 m; l = 0.15 m;
N = 900 rpm, 2V ∗ 900⁄60 94.2478 DF/
Couple due to weight of disc: R B^_ 10 ∗ 9.81 ∗ 0.15 14.715 aB
Mass moment of inertia of the disc about an axis through its centre of gravity is,
K Bb c 10 ∗ 0.2c 0.4 b^Bc
But couple: R K . H (where H is the velocity of precession)
14.715 0.4 ∗ 94.2478 ∗ H 37.6991 H
+> ef. geh/ig. jkke l. ik mn*/o

3.3 Effect of Gyroscopic Couple on an aeroplane

Figure 3.4: An aeroplane taking a left turn (Khurmi and Gupta, 2006)

EME 405 Balancing of Rotating Masses Compiled by: K.N. Nwankwo

Mechanics of Machines Dept. of Mech. Engrg, UAM June 2017
Figure 3.4 shows the top and front views of an aeroplane. The engine/propeller is assumed
to rotate clockwise, when viewed from the tail end, and the aeroplane turns to the left.
Let Angular velocity of the engine in rad/s,
B Mass of the engine and propeller in kg
b radius of gyration of engine and propeller in m
K Mass moment of inertia of engine and propeller Bb c in kg-m2
? Linear velocity of aeroplane in m/s
p Radius of curvature in m, and
H Angular velocity of precession ?⁄p in rad/s

Then, gyroscopic couple acting on the aeroplane is: R K. . H

Figure 3.5: Effect of gyroscopic couple on an aeroplane

When the aeroplane takes a left turn, the active gyroscopic couple changes the direction of
the angular momentum vector from to as Figure 3.5 (a) shows. In the limits, the
vector which is perpendicular to represents the active gyroscopic couple or the
change of angular momentum. The plane of this couple is represented by the vertical plane
XOY in Figure 3.4 (b), and perpendicular to vector . From the right hand screw rule, the
direction of the active gyroscopic couple is clockwise (see front view of Figure 3.4 (a)), and
in the OZ axis of Figure 3.4 (b). Conversely, the reactive gyroscopic couple would act in the
opposite (anticlockwise) direction. Its effect is to raise the nose and dip the tail of the
aeroplane. For a right-hand turn under similar conditions above, the reactive couple would
dip the nose and raise the tail.

On the other hand, for anticlockwise rotation of the engine when viewed from the tail end,
with the aeroplane taking a left turn, the reactive couple would dip the nose and raise the tail.
While for a right-hand turn under same conditions, the couple raise the nose and dip the tail of
the aeroplane.

However, for a clockwise rotation of the engine, viewing from the front, when the aeroplane
takes a left turn, the reactive couple raises the tail and dips the nose. For a right-hand turn under
similar conditions, the reactive couple raises the nose and dips the tail of the aeroplane.

Example 3.2: (Khurmi and Gupta). An aeroplane makes a complete half circle of 50 metres
radius, towards left, when flying at 200 km per hour. The rotary engine and propeller has a mass of
400 kg with a radius of gyration of 300 mm. The engine runs at 2400 r.p.m. clockwise, when viewed
from the rear. Find the gyroscopic couple on the aircraft and state its effect on it. What will be the
effect, if the aeroplane turns to the right?
Solution: R = 50 m; v = 200 km per hour = 55.56 m per sec; m = 400 kg;

EME 405 Balancing of Rotating Masses Compiled by: K.N. Nwankwo

Mechanics of Machines Dept. of Mech. Engrg, UAM June 2017
 k = 300 mm =0.3 m; N = 2400 r.p.m.; w = 251.33 rad/s;
Moment of inertia of the propeller and engine, K Bb c 400 = 0.3c 36 b^ P Bc
qq.qr
Angular velocity of precession, H ?⁄p 1.1112 DF/
q%
Gyroscopic Couple on the aircraft,
R K. ∙ H 36 = 251.33 = 1.1112 10.054 ba P B
Since the engine rotates clockwise and the aeroplane takes a left turn, the effect of
the gyroscopic couple is to raise the nose upwards and lower the tail downwards. However, for a
right turn, the nose dips downwards while the tail is raised upwards.

3.3 Effects of Gyroscope Couple on Naval Ship

Figure 3.6: Terms used in a naval ship (Khurmi and Gupta, 2006)

Figure 3.4 shows the top and front views of a naval ship. The fore-end of the ship is called
bow while the rear end is called the stern. When viewed from the stern, the right and left
sides of the ship are called star-board and port respectively. Gyroscopic effects are felt in the
steering, pitching and rolling of ships; and are similar for boats driven either by propellers
or turbines.

(a) Gyroscopic effect during Steering: Steering is the turning of a complete ship, while
moving forward, in a curve towards the right or left. As shown in Figure 3.7, consider a
naval ship taking a left turn with the rotor rotating in the clockwise direction as viewed
from the stern. The effect of the active gyroscopic couple is similar and obtained in the same
way, as in the aeroplane under the same conditions. The reactive gyroscopic couple act in a
corresponding way (anticlockwise/opposite direction), and its effect would be to raise the
bow (front) and lower the stern (tail) of the ship. For a right-hand steering, the reactive couple
raises the stern but lowers the bow. However, for anti-clockwise rotation of the rotor when
viewed from the stern and with the ship steering to the left, the effect of the reactive couple
is to lower the bow and raise the stern. And if it steers to the right, its effect is to raise the bow
and lower the stern.

EME 405 Balancing of Rotating Masses Compiled by: K.N. Nwankwo

Mechanics of Machines Dept. of Mech. Engrg, UAM June 2017
On the other hand, when viewed from the fore (bow) end with the rotor clockwise and ship
steered to the left, the reactive couple would raise the stern and lower the bow. Whereas if
steered to the right under similar conditions the couple will raise the bow and lower the stern.

Figure 3.7: Steering of naval ship for a left turn (Khurmi and Gupta, 2006)

(b) Gyroscopic effect during pitching. Pitching is the movement of a complete ship up
and down in a vertical plane about a transverse axis, which is same as the axis of precession.
It takes place with simple harmonic motion of the (longitudinal) axis of spin about the
transverse axis.

Figure 3.8: Effect of gyroscopic couple on a naval ship during pitching

After time t seconds, the angular displacement of the axis of spin from mean position is:
∅ sin u .
where ∅ is the amplitude of swing i.e. maximum angle turned from the mean
position (in radians)
u 2V⁄ H angular velocity of S.H.M. u ( H vB@ w@ v F C x. J. y. vE @ )
Angular velocity of precession,
S
H ∅ u cos u
S
Maximum velocity of precession, |}~ ∅ u ∅ = 2V⁄ H (cos u 1)
Hence, maximum gyroscopic couple, •€n• T. +. +‚€n•

Sƒ S „ c
Angular acceleration
S S
P∅ u sin u
…
Maximum acceleration during pitching (€n• ∅+e (sin u 1)

EME 405 Balancing of Rotating Masses Compiled by: K.N. Nwankwo

Mechanics of Machines Dept. of Mech. Engrg, UAM June 2017
When pitching upward, the effect of the reactive gyroscopic couple is to move the ship toward the star-
board (right side), and if downward, to move it toward the port (left) side. Pitching of a ship
produces forces on the bearings which act horizontally and perpendicularly to the motion of the ship.
The corresponding maximum gyroscopic couple cause shearing of the ship’s holding-down bolts.

(c) Gyroscopic effect during rolling Rolling is the tilting rotation of a ship about its
longitudinal (bow-stern) axis. Thus, in rolling, the precession axis is same as the
longitudinal axis, and is parallel to the axis of spin of the (propeller/engine). From Section
3.2, it was established that for the effect of gyroscopic couple to occur, the axis of precession
should always be perpendicular to the axis of spin. Hence, during rolling there is no effect of
gyroscopic couple acting on the ship’s body.

Example 3.3: (Khurmi and Gupta). The turbine rotor of a ship has a mass of 3500 kg. It has a
radius of gyration of 0.45 m and a speed of 3000 r.p.m. clockwise when looking from the stern.
Determine the gyroscopic couple and its effect upon the ship: (i) when the ship is steering to the left on
a curve of 100 m radius at a speed of 36 km/h. (ii) when the ship is pitching in a simple harmonic
motion, the bow falling with its maximum velocity. The period of pitching is 40 seconds and the
angular displacement between the two extreme positions of pitching is 12 degrees.
Solution. m = 3500 kg, k = 0.45 m; N = 300 r.p.m. i.e. 2π×3000/60=314.16
rad/s;
(i) When ship is steering to the left: R = 100 m; v = 36 km/h = 10 m/s
Moment of inertia of rotor: K Bb c 3500 × 0.45c = 708.75 b^ − Bc
Angular velocity of precession: H = ?/p = 10/100 = 0.1 DF/
Gyroscopic Couple: R = K. . H = 708.75 × 0.1 × 314.16 = ……. …g †‡ − €
(ii) When ship is pitching with falling bow: H = 40
Angle of swing, ∅ = 12/2 = 6% = 6 × V/180 = 0.105 DF
Angular velocity of simple harmonic motion, u = 2V/ H = 0.157 DF/
Maximum angular velocity of precession, H = ∅ u = 0.105 × 0.157 = 0.0165 /
∴ Gyroscopic couple, R = K. . H = 708.75 × 314.16 × 0.0165 = i. jg †‡ − €
Note: Refer to relevant parts of the note for discussion of the effect of the gyroscopic couple in each
case.

Example 3.4: (Khurmi and Gupta) A ship propelled by a turbine rotor which has a mass of 5
tonnes and a speed of 2100 r.p.m. The rotor has a radius of gyration of 0.5 m and rotates in a
clockwise direction when viewed from the stern. Find the gyroscopic effects in the following
conditions:
(1) The ship sails at a speed of 30 km/h and steers to the left in a curve having 60 m radius.
(2) The ship pitches 6 degrees above and 6 degrees below the horizontal position. The bow is
descending with its maximum velocity. The motion due to pitching is simple harmonic and the
periodic time is 20 seconds.
(3) The ship rolls and at a certain instant it has an angular velocity of 0.03 rad/s clockwise
when viewed from stern.
Determine also the maximum angular acceleration during pitching. Explain how the
direction of motion due to the gyroscopic effect is determined in each case.

EME 405 Balancing of Rotating Masses Compiled by: K.N. Nwankwo

Mechanics of Machines Dept. of Mech. Engrg, UAM June 2017
Solution: mass = 5 t = 5,000 kg; N = 2100 r.p.m., w = 219.9 rad/s; k = 0.5 m
1. Ship steers to the left.
v = 30 km/h = 8.33 m/s; R = 60 m
Angular velocity of precession, wp = v/R = 8.33/60 = 0.139 rad/s
Moment of inertia of rotor, K Bb c 5,000 = 0.5c 1250 b^Bc
Gyroscopic couple, R K. . H 1250 = 219.9 = 0.139 i‰. …e †‡€
For the prevailing, conditions the gyroscopic effect would raise the bow and lower the stern
of the ship.
2. Ship pitches with bow descending at maximum velocity
∅ 6% 6 = V⁄180 0.105 DF; H 20
Angular velocity of S.H.M. u 2V/ H 0.3142 DF/
Maximum velocity of precession, |Š‹Œ ∅. u 0.105 = 0.3142 0.033 DF/
Maximum gyroscopic couple, R}~ K. . |Š‹Œ 1250 = 219.9 = 0.033
R}~ klh‰. h ‡€
Since the bow is descending (i.e. the ship is pitching downward), the gyroscopic
effect is to turn the ship towards the port (left) side.

3. Ship rolls (with angular velocity of 0.03 rad/s)

In this case, the angular velocity of precession is same as the rolling velocity: wp = 0.03 rad/s
Gyroscopic couple, R K. . H 1250 = 219.9 = 0.03 ‰…fj. …h ‡€

3.4 Effects of Gyroscope Couple and Stability of a four-wheel vehicle in a curved path

Figure 3.8: Four wheel vehicle moving in a curved path

Figure 3.8 shows an automobile of four wheels A, B, C and D taking a left turn. A and C are
inner while B and D are outer wheels. The centre of gravity (C.G.) lies vertically above the
road surface. The parameters of the vehicle are as follows:

EME 405 Balancing of Rotating Masses Compiled by: K.N. Nwankwo

Mechanics of Machines Dept. of Mech. Engrg, UAM June 2017
 m = mass of the vehicle in kg,
W = Weight of the vehicle in newton,
rW = Radius of the wheels in metres,
R = Radius of curvature in metres (R > rW)
h = Distance of centre of gravity, vertically above the road surface in metres,
x = Width of track in metre,
IW = Mass moment of one of the wheels in kg-m2
• Angular velocity of the wheels or velocity of spin in rad/s
IE = Mass moment of inertia of the rotating parts of the engine in kg-m2
Ž Angular velocity of rotating parts of the engine in rad/s
G = Gear ratio = Ž / •
? = Linear velocity of the vehicle in m/s = • . •
The weight (W) of the vehicle acts downwards, and is equally distributed over the four
wheels, while the reaction between each wheel and road surface act upwards. Hence:
Road reaction over reaction = •/4 = B. ^/4 newtons

(a) Effect of gyroscopic couple As the vehicle takes a left turn, a gyroscopic couple is
set up due to its precession and other rotating parts.
Angular velocity of precession, H = ?/p
Gyroscopic couple due to the 4 wheels, R• = 4 K• . • . H
Gyroscopic couple due to rotating parts of engine, RŽ = KŽ Ž H = KŽ . •. • . H
Net gyroscopic couple, R = R• ± RŽ = 4 K• . • . H ± KŽ . •. • . H
= • . H (4 K• ± •. KŽ )
The sign in the net gyroscopic couple is positive if the wheels and rotating parts
rotate in the same direction, but negative if in the opposite direction.

Vertical reaction is produced on the road surface due to the gyroscopic couple. The reaction
is vertically upwards on the outer wheels and downwards on the inner wheels.
If the magnitude of reaction at the two outer or inner wheels is taken as P newtons,
from Fig. 3.8, ’ × = R; ’ = R/
∴ Vertical reaction at each of the outer or inner wheels, ’/2 = R/2

(b) Effect of centrifugal couple Since the vehicle moves along a curved path,
centrifugal force will act outwardly at the centre of gravity of the vehicle. The effect of this
centrifugal force is to overturn the vehicle. But, centrifugal force:
}×” ƒ
“ = •
A corresponding couple, called overturning couple Co, tends to overturn the vehicle. Hence:
}×” ƒ
R =“ ×ℎ = × ℎ.
•
The overturning couple is balanced by vertical reactions, which are vertically upwards on
the outer wheels and vertically downwards on the inner wheels. If the magnitude of the
reaction at the two outer or inner wheels is —, then:
˜™ }.” ƒ š
—× =R ; —= =
•
.

EME 405 Balancing of Rotating Masses Compiled by: K.N. Nwankwo

Mechanics of Machines Dept. of Mech. Engrg, UAM June 2017
 › }.” ƒ .š
∴ Vertical reaction at each of the outer or inner wheels, =
c c•.
Summarily, total reaction at each of the outer wheels:
• | ›
’ = + +
œ c c
and total vertical reaction at each of the inner wheels:
• | ›
’• = − −
œ c c
From a little consideration it could be seen that as the vehicle run at high speeds long the
curved path, ’• may be negative or zero. This will cause the inner wheels to leave the
ground, and tends to overturn it. To maintain contact between the inner wheels and
ground, the sum of P/2 and — /2 must be less than W/4.

Example 3.5: (Khurmi and Gupta) A four-wheel trolley car of mass 2500 kg runs on rails,
which are 1.5 m apart and travels around a curve of 30 m radius at 24 km/hr. The rails are at the
same level. Each wheel of the trolley is 0.75 m in diameter and each of the two axles is driven by a
motor running in a direction opposite to that of the wheels at a speed of five times the speed of
rotation of the wheels. The moment of inertia of each of axle with gear and wheels is 18 km-m2. Each
motor with shaft and gear pinion has a moment of inertia of 12 kg-m2. The centre of gravity of the
car is 0.9 m above the rail level. Determine the vertical force exerted by each wheel on the rails taking
into consideration the centrifugal and gyroscopic effects. State the centrifugal and gyroscopic effects on
the trolley.

Solution: m = 2500 kg; x = 1.5 m; R = 30 m; v = 24 km/hr = 6.67 m/s; dW = 0.75m or rW

= 0.375 m; G = Ž / • = 5; IW = 18 kg-m2; IE = 12 kg-m2; h = 0.9 m
Weight of the car is uniformly distributed to the four wheels, and acts downwards;
while reaction between the wheels and road surface has same magnitude will act downward.
Road reaction on each wheel = ž/f = B. ^/4 = 2500 × 9.81/4 = jeie. …h ‡
Angular velocity of the wheels = • = ?/ • = 6.67/0.35 = 17.79 DF/
Angular velocity of precession = | = ?/p = 6.67/30 = 0.22 DF/
Gyroscopic couple due to a par of wheels and axle,
R• = 2K• • H = 2 × 18 × 17.79 × 0.22 = 140.9 a − B
Gyroscopic couple due to the rotating parts of motor and gears,
RŽ = 2KŽ Ž H = 2KŽ • • H = 2 × 12 × 5 × 17.79 × 0.22
RŽ = 469.66 a − B
Net gyroscopic couple, R = R• − RŽ = 140.9 − 469.66 = −328.76 a − B
Thus a vertical reaction on the rails due to this net gyroscopic couple is vertically
downwards on the outer wheels and vertically upwards on the inner wheels. If the reaction
at each of the wheels is taken as P/2, then:
‚/… = R/2 = 328.76/2 × 1.5 = elk. hk ‡
But centrifugal force “ = B? c /p = 2500 × 6.67c /30 = 3707.41 a
Overturning couple R = “ × ℎ = 3707.41 × 0.9 = 3336.67 a − B
A vertical reaction balances this centrifugal force, and is vertically upwards on the outer
wheels and vertically downwards on the inner wheel. If its value at either of the wheels is
Q/2, then:
Ÿ/… = R /2 = 3336.67/2 × 1.5 = eee…. …… ‡

EME 405 Balancing of Rotating Masses Compiled by: K.N. Nwankwo

Mechanics of Machines Dept. of Mech. Engrg, UAM June 2017
It is known that vertical force on each outer wheel is:
‚ •/4 − ’/2 + —/2 = 6131.25 − 109.59 + 1112.22 = geii. ‰‰ ‡
Similarly vertical force on each inner wheel is:
‚T = •/4 + ’/2 − —/2 = 6131.25 + 109.59 − 1112.22 = he…‰. j… ‡

EME 405 Balancing of Rotating Masses Compiled by: K.N. Nwankwo

Mechanics of Machines Dept. of Mech. Engrg, UAM June 2017