GYROSCOPE

It is an instrument, which consist a heavy spinning rotor. It resists any change in direction of rotation of axis.

Gyroscopic effect:
Suppose, a body is rotating about its axis of symmetry. If we change the direction of axis of rotation, it will offer

a resistance. This is known as gyroscopic effect.

Earlier, the use of gyroscope was limited to stabilization of ships. After world- war II, its applications are found
in
Angular velocity
bomb sights, (ω) and
airplanes, spinning
guided missiles etc.

The angular velocity (ω) is a vector quantity and to specify it, the following is required:
magnitude
direction of axis of spin and
sense (Clockwise and anticlockwise)

The spin vector is normal to the plane of spinning.

To determine the sense of spin vector, right hand screw rule can be used.
According to this:

The fingers which makes curve inside indicates sense of rotation (clockwise
& anti clockwise)
Thumb indicates direction of spin vector.

The reverse sense of rotation will give opposite sense of spin vector.
 Gyroscopic couple
Consider a disc of mass moment of inertia ‘I’ is spinning with angular speed ‘ω’.
The disc is spinning along the axis of spin OX in clockwise direction as seen from O towards X.
OY is the axis of precession.

Now,
Angular moment = Mass moment of inertia X Angular velocity
I 

To know the direction of angular momentum, apply the right hand screw rule.
When we look the disc from O, the figures of right hands which is curving inside indicates sense of rotation
i.e. clockwise .
Thumb indicates the direction of angular momentum. In present case, thumb is in direction of OX.
Angular momentum is represented by oa.

Let after time ‘δt’, axis of precession occupies new

position OX’ and makes the angle ‘δθ’ with initial position.

The angular moment is now represented by ‘ob’.

Now, Change in angular momentum is indicated by vector ‘ab’.

The change in angular momentum takes place due to a couple.

Let Couple is represented by C.

Couple (C) = rate change in angular momentum= Change of angular momentum/Time

 I  d
C Lim .............(1) C I 
 t 0  t dt
If ωP is the angular speed of precession, then
Now from vector diagram,
  I    ab oa I  ( oa I  ) d
P
  I   I  dt
Substituting the above value in equation (i), we get Hence C I P
  
C Lim  I  
 t 0  t 
 Stability of four wheelers

When a four wheeler takes turn of radius R, the direction of ‘axis of rotating parts’ (four wheels, engine rotating
parts) changes, consequently, gyroscopic couples produced.

In addition, centrifugal force also acts on vehicle due to turning of vehicle.

Thus, total reaction at the wheels will be

due to weight of wheel

due to centrifugal force

due to gyroscopic couple

 X
Track

Q Engine
P

Outer wheels
b Inner wheels
V2 R Radius.of .track
FC m
R

R Cgw
S
CC
Cge TOP VIEW
Q P
Front wheels
V2 C.G
FC m
R
S h R
C.G
Rear wheels a
Q P b S R VIEW FROM BACKSIDE
 Let
h = height of C.G. of four wheeler above the ground
W= weight of the four wheeler
m = mass of vehicle = W/g
Iw = the mass moment of inertia of each wheel
Ie = the mass moment of inertia of parts rotating at engine speed
G = gear ratio between engine and wheel (i.e. G = speed of engine/speed of wheel)
r = radius of wheel
a = distance between two wheels on an axle (This is known as track width)
b = distance between front and rear wheel (This distance is known as wheel base)
FC = centrifugal force acting on vehicle
V = velocity of vehicle
R = radius of curvature (radius of curved path)
Cgw = gyroscopic couple due to four wheel
Cge = gyroscopic couple due to engine rotating parts
CC =Couple due to centrifugal force
ωw = angular velocity of wheel
ωp =angular velocity of precession
ωe = angular velocity of engine

1.Reaction on wheels due to weight of vehicle:

Assume that weight of vehicle is equally divided among the four wheels
W mg
Weight on each wheel   
4 4
W mg
The reaction of ground on each wheel   
4 4
Track

W
W (Q)
P  
4

4

W
 (S ) W
4 ( R) 
4
 2. Couple due to centrifugal force
As vehicle moves on a curved path, a centrifugal force acts on the vehicle in the outward direction at the centre
of mass of the vehicle.
V2
Centrifugal force, FC m
R
Couple due to centrifugal force,  mV 2 
CC FC h   h
 R 
The above is overturning couple acting on the vehicle. This is equal and opposite to resisting couple.
Resisting couple = (Force on two outer wheels or two inner wheels) X (distance between outer and inner wheel)
For no overturning of vehicle , Overturning couple = Resisting couple
 CC = (Force on two outer wheels or two inner wheels) X (distance between outer and inner wheel)
CC = (Force on two outer wheels or two inner wheels) X (a)
CC
Force on two outer wheel or two inner wheels 
a
There are two outer wheels and two inner wheels
CC
Force on each (one) outer wheel  
2a
CC
Force on each inner wheel  
2a
CC
The reaction of the ground on each outer wheel (Wheel Q and S)  
2a
C
The reaction of the ground on each inner wheel (Wheel P and R)  C
2a

Track W CC CC
  (Q)  P   W
4 2a 2a 4

W CC CC W
  (S )   ( R) 
4 2a 2a 4
 3. Effect of gyroscopic couple
The gyroscopic couple will be
(i) due to four wheels
(ii) due to engine parts

i) Gyroscopic couple due to four wheels

Gyroscopic couple due to four wheels is given by
C gw 4 I w w  p
V V V V
C gw 4 I w   Here, w  .and . p 
r R r R
4 I wV 2
C gw 
rR
Cgw = (Force on two outer wheels or two inner wheels) X (distance between outer and inner wheel)
Cgw = (Force on two outer wheels or two inner wheels) X (a)
C gw
Force on two outer wheel or two inner wheels 
a
 X

Direction of reaction
couple  Down Lift 
b
Outer Inner
wheels wheels

a 0

W
H
E
E
 Down Lift 
L
Wheel is rotating in
clockwise direction
Direction of reaction
couple
Figure C shows the vector presentation of gyroscopic couple on each wheel.
Vehicle is moving in X direction (Forward) so wheels are rotating in clockwise direction when viewed from
inner wheel side.
The angular moment (Ix ω) of wheels is represented by vector oa (according to right hand thumb rule) before
taking the right turn.
When vehicle takes right turn, vector oa will rotate to position ob. Then vector ab is applied couple.
In this way, couple will push the vehicle in outward direction of track (R) or in direction of vector oa/ob. Due to
which, force on each outer wheel will act downward while force on each inner wheel will act upward.
Note : spin vector is acting in Z direction.
 C gw

Inner wheels (P,R)

Outer wheels (Q,S)

a
Rear view of car
There are two outer wheels and two inner wheels
C gw
Force on each (one) outer wheel  
2a
C gw
Force on each inner wheel  
2a
C gw
The reaction of the ground on each outer wheel (Wheel Q and S)  
2a
C gw
The reaction of the ground on each inner wheel (Wheel P and R)  
2a
C gw W CC CC C gw
   (Q)  P   W 
2a 4 2a 2a 4 2a

C gw W CC CC W C gw
   (S )   ( R)  
2a 4 2a 2a 4 2a
 b) gyroscopic couple due to engine rotating parts
The gyroscopic couple due to engine rotating parts is given by
C ge I e e  p ....................( A)
V  e 
e G w G 
r  G  
 p 
V
p 
R
Put the value of ωe and ωp in equation (A)

 V  V
C ge I e  G  
 r  R
I e G V 2
C ge 
rR
Cge = (Force on two Front wheels or two rear wheels) X (distance between front and rear wheels)
Cge = (Force on two front wheels or two reat wheels) X (b)
C ge
Force on two outer wheel or two inner wheels 
b
 X Anticlockwise direction

Parts are
rotating Lift 
anticlockwise
when viewed
Lift 
Direction of
from back
Reaction couple

b
a  Down
 Down
Direction of Reaction
couple

Suppose, the engine is rotating anti-clockwise, when we view the vehicle form back side.
The angular momentum of the rotating engine parts is represented by vector oa before taking a right turn.
It is opposite to X direction. When vehicle change its direction, vector oa change to vector ob.
The vector ab is applied couple. Due to this couple, vehicle tries to lift from front wheels.
Hence force on front wheels will be acting upwards whereas force on back wheels will be act downwards.
Note: Spin vector oa is acting opposite to X direction.
 C ge

Lift   Down
b
There are two front wheels and two rear wheels
C ge
Force on each (one) front wheel  
2b
C ge
Force on each rear wheel  
2b
C ge
The reaction of the ground on each front wheel (Wheel P and Q)  
2b
C ge
The reaction of the ground on each rear wheel (Wheel S and R)  
2b
C ge C gw CC CC C gw C ge
  W  (Q)  P   W  
2b 
2a 4 2a 2a 4 2a 2b

C ge C gw W CC CC W C gw C ge
    (S )   ( R)   
2b 2a 4 2a 2a 4 2a 2b
 Table shows the reaction of the ground on each wheel.
Actions Contribution to reaction at each wheel
Sr. no.
P Q R S

1 Weight of vehicle
W W W W
   
4 4 4 4
2 Couple due to centrifugal force
CC CC CC CC
   
2a 2a 2a 2a
3 Gyroscopic couple due to wheels C gw C gw C gw
C gw   
 2a 2a 2a
2a
4 Gyroscopic couple due to engine C ge C ge C ge
parts  C ge  
2b  2b 2b
2b
 The four wheeled vehicle will be stable if the total vertical reaction of the ground on any of the wheels is
positive (or upwards)

According to table, the minimum reaction is at wheels

W CC C gw C ge
RP    
4 2a 2a 2b
W CC C gw C ge
RQ    
4 2a 2a 2b
W C C C
RR   C  gw  ge
4 2a 2a 2b
W CC C gw C ge
RS    
4 2a 2a 2b
Now substitute the value of CC , Cgw , Cge in first equation
  mV 2    2
  I e G V 2 
 h
   4 I w  V
W  R   rR   rR 
RP       
4  2a   2a   2b 
  
     
W V2  4 I w  I eGV 2
  m h  
4 2aR  r  2rRb
In above equation, the speed of vehicle is only variable. Hence this reaction depends upon the speed of
vehicle. At a particular speed, the reaction becomes zero.
Let us find the speed at which RP is zero. For this speed
RP 0

W V2  4 I w  I eGV 2
  m h    0
4 2aR  r  2rRb

V2  1  4 I w   I eG W
 m h    
R  2a  r   2rb 4
WR
V
 1  4I  I G 
4   m h  w   e 
 2a  r  2rb 
This is known as critical speed. If vehicle moves more than this speed, it becomes unstable.
Here wheel R is considered for analysis because it is inner wheel. The possibility to lift this wheel is more.
Problem 1: A car is of total mass 3000Kg. It has wheel base equal to 2.5m and track width equal to 1.5 m.
2
The effective diameter of each wheel is 80 cm and moment of inertia of each wheel is 1.0 Kg .m . The
2
rear axle ratio is 4. The mass moment of inertia of engine rotating parts is 3 Kg .m .and spin axis of
engine parts is perpendicular to the spin axis of wheels. Determine the reaction at each wheel if car takes
right turn of 100 m radius at 108 km/h speed. Also determine critical speed. The height of c.g is 0.5m from
ground and it is placed on the vertical line through geometric centre of wheels.
Given: Speed of car (V) = 108 km/hr
108 1000
V 30m / sec
60 60

Wheel base (b)=2.5 m

Track width (a) = 1.5m
Total mass of car (m) =3000 kg
Weight of car (W) = mxg= 3000X9.81N
Mass moment of inertia of each wheel (I w)=1.0 Kg m2
Mass moment of inertia of engine parts (I e)=3 kg m2
Diameter of wheel (d)=80cm=0.8m {wheel radius (r) =0.8/2=0.4m}
Track width (R)= 100m
Height of C.G (h) = 0.5 m
Overall gear ratio between engine and wheel (G) = 4.0
As C.G of car is at a height from the ground on the geometric centre of wheels, hence the weight of car will
be equally divided among the four wheels.
 X
Track

Q Engine
P

2.5m Outer wheels Inner wheels

V2
R 100m
Centrifugal
CC m h
couple R

R Cgw
S
CC
Cge TOP VIEW
Q P
Wheel diameter,
d=0.8m
V2 C.G
CC m h
R
S 0.5m R
C.G

Q P 1.5m
2.5m S R VIEW FROM BACKSIDE
With reference to the table of preceding article, the expression of wheel reaction is given as follows:

W CC C gw C ge
The reaction at wheel P RP    
4 2a 2a 2b
W C C C ge
The reaction at wheel Q RQ   C  gw 
4 2a 2a 2b
W C C C
The reaction at wheel R RR   C  gw  ge
4 2a 2a 2b

W C C C
The reaction at wheel S RS   C  gw  ge
4 2a 2a 2b
The centrifugal couple is given by:
V2 302
CC m h 3000  0.5 13500 Nm
R 100

The gyroscopic couple due to wheels is given by:

4 I wV 2 302
C gw  4 1 90 Nm
rR 0.4 100
The gyroscopic couple due to engine is given by:

 V  V 302 12 9
C ge I e  G    3.0 4   270 Nm
 r  R 0.4 100 0.4
Substituting these values in reactions at wheels P,Q,R and S, we get
3000 9.81 13500 90 270
RP     2773.5 N ( a 1.5.and .b 2.5)
4 2 1.5 2 1.5 2 2.5

3000 9.81 13500 90 270

RQ     11833.5 N
4 2 1.5 2 1.5 2 2.5

3000 9.81 13500 90 270

RR     2881.5 N
4 2 1.5 2 1.5 2 2.5
3000 9.81 13500 90 270
RS     11887.5 N
4 2 1.5 2 1.5 2 2.5
Critical speed is given by:

WR 3000 9.81100
V 
 1  4I  I G   1  4 1  3 4 
4   m h  w   e  4  3000 0.5   
 2a  r  2rb   2 1.5  0.4  2 0.4 2.5 

37.82
V 37.82m / s  60 60km / hr 136.16km / hr
1000
 Stability of two wheelers
When a two wheeler moves straight on road, vehicle remain stable due to various forces such as tractive effort,
resistance forces etc.
As speed of two wheeler increases, it become more stable because gyroscopic couple maintain the front wheel
straight on road.

Lets assume a two wheeler

is taking a turn with velocity
V
V

Front wheel
R

Axis of spin before Radius of

turning track
Engine

Rear wheel
When a two wheeler steered left or right, the axis of wheels and other rotating parts undergoes precession.
Due to this, gyroscopic couple acts along with other forces.

Let
Iw = mass moment of inertia on each wheel in Kg/m2
Ie = mass moment of inertia of engine parts
r = radius of wheel
R = radius of track
G = gear ratio between engine and wheel = engine speed/wheel speed = ωe / ω
ωe = angular velocity of engine rotating parts in rad/sec
ω = angular velocity of wheels in rad/sec = V/r
h = the height of C.G. of the two wheel along with rider
V = the linear velocity of two wheeler in m/s = ω x r
W = total weight of two wheeler with the rider
θ = the inclination of the vehicle to the vertical during equilibrium
H = Total angular momentum of the rotating parts

H = (Angular moment of two wheels) + (angular moment of engine rotating parts)

H 2 I w     I e e .............( A)

Here, V

r
 V
G e Therefore e G  G 
 r
 Cg

h
2 CG
mV
FC 
R   h cos 
h sin 
New Axis of spin
W

Put the value of ωe and ω in equation (A)

 V  V
H  2 I w     I e G  
 r  r
V
H  2 I w  GI e 
r
As two wheeler takes turn, it becomes inclined to vertical plane.
The total angular momentum vector oa which was acting horizontally
before taking turns, is now resolved into two components H cos θ and
H sin θ ( during taking turn)
The horizontal component H cos θ undergoes precession as two wheeler moves along curved path.
Therefore, gyroscopic couple ‘Cg’ is given by

Cg = (Horizontal component of total angular momentum) x ω p ( C I .P )

C g  H cos P
Now put the value of H and ωP in above equation.

V V  V
C g  2 I w  GI e cos     P  
r R  R
V2
C g  2 I w  GI e cos
rR
Taking moment about point of contact ,

C g   FC h cos  W h sin 

 V2   V2 
C g   M  h cos  W h sin   FC M  
 R   R 

V2   V2 
  w
2 I  GI e cos  
  M  h cos   W h sin 
 rR   R 
V2  2 I w  GI e  
cos   M  W h sin 
R  r 
 V 2  2 I w  GI e  
 M
R  r  sin 

W h cos

V 2  2 I w  GI e  
 M
R  r 

tan  
W h
The angle ‘θ’ in the above equation is known as angle of heel.
b
Reactive
couple

a o
Cg Gyroscopic couple

Wheel is rotating
clockwise when
viewed from right
side of bike
Reactive
couple