the governor for the given configuration.

What will be the equilibrium speed for the

maximum radius of 250 mm?
[Ans. 144.5 r.p.m. ; 158.2 r.p.m.]

5) A spring controlled governor of the Hartnell type with a central spring under compression
has balls each of mass 2 kg. The ball and sleeve arms of the bell crank levers are respectively
100 mm and 60 mm long and are at right angles. In the lowest position of the governor
sleeve, the radius of rotation of the balls is 80 mm and the ball arms are parallel to the
governor axis. Find the initial load on the spring in order that the sleeve may begin to lift at
300 r.p.m. If the stiffness of the spring is 30 kN/m, what is the equilibrium speed
corresponding to a sleeve lift of 10 mm?

[Ans. 527 N ; 342 r.p.m.]

6) In a governor of the Hartnell type, the mass of each ball is 1.5 kg and the lengths of the
vertical and horizontal arms of the bell crank lever are 100 mm and 50 mm respectively. The
fulcrum of the bell crank lever is at a distance of 90 mm from the axis of rotation. The
maximum and minimum radii of rotation of balls are 120 mm and 80 mm and the
corresponding equilibrium speeds are 325 and 300 r.p.m. Find the stiffness of the spring and
the equilibrium speed when the radius of rotation is 100 mm.
[Ans. 18 kN/m, 315 r.p.m.]

7) A Porter governor has all four arms 200 mm long. The upper arms are pivoted on the axis
of rotation and the lower arms are attached to a sleeve at a distance of 25 mm from the axis.
Each ball has a mass of 2 kg and the mass of the load on the sleeve is 20 kg. If the radius of
rotation of the balls at a speed of 250 r.p.m. is 100 mm, find the speed of the governor after
the sleeve has lifted 50 mm. Also determine the effort and power of the governor.
[Ans. 275.6 r.p.m.; 22.4 N; 1.12 N-m]

8) A Porter governor has arms 250 mm each and four rotating flyballs of mass 0.8 kg each.
The sleeve movement is restricted to ± 20 mm from the height when the mean speed is 100
r.p.m. Calculate the central dead load and sensitivity of the governor neglecting friction when
the flyball exerts a centrifugal force of 9.81 N. Determine also the effort and power of the
governor for 1 percent speed change.
[Ans. 11.76 N; 11.12; 0.196 N; 7.7 N-mm]

Gyroscopes:
 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 resistance to change in the direction of rotational axis is called gyroscopic
effect.
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

The angular momentum of the rotating mass is given by,

H = mK2 = I
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.For the small value of angle of rotation 50,
we can write,
However, the rate of change of angular momentum is:

C=Ip
Where,
C = gyroscopic couple (N-m)
 = angular velocity of rotary body (rad/s)
p = angular velocity of precession (rad/s)

The couple I.ω.ωp, in the direction of the vector xx′ (representing the change in angular
momentum) is the active gyroscopic couple, which has to be applied over the disc when the
axis of spin is made to rotate with angular velocity ωp about the axis of precession. When the
axis of spin itself moves with angular velocity ωp, the disc is subjected to reactive couple
whose magnitude is same (i.e. I. ω.ωp) but opposite in direction to that of active couple. This
reactive couple to which the disc is subjected when the axis of spin rotates about the axis of
precession is known as reactive gyroscopic couple.
Effect of the Gyroscopic Couple on an Aeroplane:
The top and front view of an aeroplane is shown in Fig Let engine or propeller rotates in the
clockwise direction when seen from the rear or tail end and the aeroplane takes a turn to the
left.

ω = Angular velocity of the engine in rad/s,

m = Mass of the engine and the propeller in kg,
k = Its radius of gyration in metres,
I = Mass moment of inertia of the engine and the propeller in kg-m2
= m.k2,
v = Linear velocity of the aeroplane in m/s,
R = Radius of curvature in metres, and
ωp = Angular velocity of precession= v/R rad/s
∴ Gyroscopic couple acting on the aeroplane,
 C = I.ω.ωp

1. When the aeroplane takes a right turn under similar conditions as discussed above, the
effect of the reactive gyroscopic couple will be to dip the nose and raise the tail of the
aeroplane.
2. When the engine or propeller rotates in anticlockwise direction when viewed from the rear
or tail end and the aeroplane takes a left turn, then the effect of reactive gyroscopic couple
will be to dip the nose and raise the tail of the aeroplane.
3. When the aeroplane takes a right turn under similar conditions as mentioned in note 2
above, the effect of reactive gyroscopic couple will be to raise the nose and dip the tail of the
aeroplane.
4. When the engine or propeller rotates in clockwise direction when viewed from the front
and the aeroplane takes a left turn, then the effect of reactive gyroscopic couple will be to
raise the tail and dip the nose of the aeroplane.
5. When the aeroplane takes a right turn under similar conditions as mentioned in note 4-
above, the effect of reactive gyroscopic couple will be to raise the nose and dip the tail of the
aeroplane.

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
(i) Steering—The turning of ship in a curve while moving forward
(ii) Pitching—The movement of the ship up and down from horizontal position in a
vertical plane about transverse axis
(iii)Rolling—Sideway motion of the ship about longitudinal axis.
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.

The top and front views of a naval ship are shown in Fig. The fore end of the ship is called
bow and the rear end is known as stern or aft. The left hand and right hand sides of the ship,
when viewed from the stern are called port and star-board respectively.
1. Steering, 2. Pitching, and 3. Rolling.
Effect of Gyroscopic Couple on a Naval Ship during Steering
Steering is the turning of a complete ship in a curve towards left or right, while it moves
forward. Consider the ship taking a left turn, and rotor rotates in the clockwise direction when
viewed from the stern, as shown in Fig. 14.8. The effect of gyroscopic couple on a naval ship
during steering taking left or right turn may be obtained in the similar way as for an aeroplane
When the rotor of the ship rotates in the clockwise direction when viewed from the stern, it
will have its angular momentum vector in the direction ox as shown in Fig. As the ship steers
to the left, the active gyroscopic couple will change the angular momentum vector from ox to
ox′. The vector xx′ now represents the active gyroscopic couple and is perpendicular to ox.
Thus the plane of active gyroscopic couple is perpendicular to xx′ and its direction in the axis
OZ for left hand turn is clockwise as shown. The reactive gyroscopic couple of the same
magnitude will act in the opposite direction (i.e. in anticlockwise direction). The effect of this
reactive gyroscopic couple is to raise the bow and lower the stern.
Notes: 1. When the ship steers to the right under similar conditions as discussed above, the
effect of the reactive gyroscopic couple, will be to raise the stern and lower the bow.
2. When the rotor rates in the anticlockwise direction, when viewed from the stern and the
ship is steering to the left, then the effect of reactive gyroscopic couple will be to lower the
bow and raise the stern.
3. When the ship is steering to the right under similar conditions as discussed in note 2 above,
then the effect of reactive gyroscopic couple will be to raise the bow and lower the stern.
4. When the rotor rotates in the clockwise direction when viewed from the bow or fore end
and the ship is steering to the left, then the effect of reactive gyroscopic couple will be to
raise the stern and lower the bow.
5. When the ship is steering to the right under similar conditions as discussed in note 4 above,
then the effect of reactive gyroscopic couple will be to raise the bow and lower the stern.
6. The effect of the reactive gyroscopic couple on a boat propelled by a turbine taking left or
right turn is similar as discussed above.
Effect of Gyroscopic Couple on a Naval Ship during Pitching
Pitching is the movement of a complete ship up and down in a vertical plane about transverse
axis. In this case, the transverse axis is the axis of precession. The pitching of the ship is
assumed to take place with simple harmonic motion i.e. the motion of the axis of spin about
transverse axis is simple harmonic.

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

Effect of Gyroscopic Couple on a Naval Ship during Rolling

 We know that, for the effect of gyroscopic couple to occur, the axis of precession
should always be perpendicular to the axis of spin. If, however, the axis of precession
 becomes parallel to the axis of spin, there will be no effect of the gyroscopic couple
acting on the body of the ship.
 In case of rolling of a ship, the axis of precession (i.e. longitudinal axis) is always
parallel to the axis of spin for all positions. Hence, there is no effect of the gyroscopic
couple acting on the body of a ship.
Problems:
1. A uniform disc of diameter 300 mm and of mass 5 kg is mounted on one end of an arm
of length 600 mm. The other end of the arm is free to rotate in a universal bearing. If
the disc rotates about the arm with a speed of 300 r.p.m. clockwise, looking from the
front, with what speed will it precess about the vertical axis?

Solution. Given: d = 300 mm or r = 150 mm = 0.15 m ; m = 5 kg ; l = 600 mm = 0.6

m ; N = 300 r.p.m. or  = 2π × 300/60 = 31.42 rad/s
We know that the mass moment of inertia of the disc, about an axis through its centre
of
gravity and perpendicular to the plane of disc,
I = m.r2/2 = 5(0.15)2/2 = 0.056 kg-m2
and couple due to mass of disc,
C = m.g.l = 5 × 9.81 × 0.6 = 29.43 N-m
Let wP = Speed of precession.
We know that couple (C),
29.43 = I. ωp = 0.056 × 31.42 × P = 1.76 P
P = 29.43/1.76 = 16.7 rad/s Ans.

2. An aeroplane makes a complete half circle of 50 metres radius, towards left, when
flying at 200 km per hr. The rotary engine and the propeller of the plane has a mass
of 400 kg and a radius of gyration of 0.3 m. The engine rotates at 2400 r.p.m.
clockwise when viewed from the rear. Find the gyroscopic couple on the aircraft and
state its effect on it.

Solution:
Given : R = 50 m ; v = 200 km/hr = 55.6 m/s ; m = 400 kg ; k = 0.3 m ;
N = 2400 r.p.m. or ω = 2π × 2400/60 = 251 rad/s
We know that mass moment of inertia of the engine and the propeller,
I = m.k2 = 400(0.3)2 = 36 kg-m2
and angular velocity of precession,
ωP = v/R = 55.6/50 = 1.11 rad/s
We know that gyroscopic couple acting on the aircraft,
C = I. ω. ωp = 36 × 251.4 × 1.11 = 100 46 N-m
= 10.046 kN-m Ans.
when the aeroplane turns towards left, the effect of the gyroscopic couple is to lift the
nose upwards and tail downwards.

3. The turbine rotor of a ship has a mass of 8 tonnes and a radius of gyration 0.6 m. It
rotates at 1800 r.p.m. clockwise, when looking from the stern. Determine the
gyroscopic couple, if the ship travels at 100 km/hr and steer to the left in a curve of 75
m radius.
 Solution. Given: m = 8 t = 8000 kg ; k = 0.6 m ; N = 1800 r.p.m. or ω = 2π × 1800/60
= 188.5 rad/s ; v = 100 km/h = 27.8 m/s ; R = 75 m
We know that mass moment of inertia of the rotor,
I = m.k2 = 8000 (0.6)2 = 2880 kg-m2
and angular velocity of precession,
ωP = v / R = 27.8 / 75 = 0.37 rad/s
We know that gyroscopic couple,
C = I.ω. ωp = 2880 × 188.5 × 0.37 = 200 866 N-m
= 200.866 kN-m Ans.
When the rotor rotates in clockwise direction when looking from the stern and the
ship steers to the left, the effect of the reactive gyroscopic couple is to raise the bow
and lower the stern.
4. The heavy turbine rotor of a sea vessel rotates at 1500 r.p.m. clockwise looking from
the stern, its mass being 750 kg. The vessel pitches with an angular velocity of 1
rad/s. Determine the gyroscopic couple transmitted to the hull when bow is rising, if
the radius of gyration for the rotor is 250 mm. Also show in what direction the couple
acts on the hull?

Solution. Given: N = 1500 r.p.m. or ω = 2π × 1500/60 = 157.1 rad/s; m = 750 kg;

ωP = 1 rad/s; k = 250 mm = 0.25 m
We know that mass moment of inertia of the rotor,
I = m.k2 = 750 (0.25)2 = 46.875 kg-m2
∴ Gyroscopic couple transmitted to the hull (i.e. body of the sea vessel),
C = I.ω.ωp = 46.875 × 157.1 × 1= 7364 N-m = 7.364 kN-m
When the bow is rising i.e. when the pitching is upward, the reactive gyroscopic
couple acts in the clockwise direction which moves the sea vessel towards star-board.

5. 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 stern. Determine the
gyroscopic couple and its effect upon the ship:
1. when the ship is steering to the left on a curve of 100 m radius at a speed of
36 km/h.
2. 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 total angular
displacement between the two extreme positions of pitching is 12 degrees.

Solution
Given : m = 3500 kg ; k = 0.45 m; N = 3000 r.p.m. or ω = 2π × 3000/60 = 314.2 rad/s
1. When the ship is steering to the left Given: R =100 m ; v = km/h = 10 m/s
We know that mass moment of inertia of the rotor,
I = m.k2 = 3500 (0.45)2 = 708.75 kg-m2
and angular velocity of precession,
ωp = v/R = 10/100 = 0.1 rad/s
∴ Gyroscopic couple,
C = I.ω. ωp = 708.75 × 314.2 × 0.1 = 22 270 N-m
= 22.27 kN-m Ans.
When the rotor rotates clockwise when looking from the stern and the ship takes a left
turn, the effect of the reactive gyroscopic couple is to raise the bow and lower the
stern.
 2. When the ship is pitching with the bow falling
Given: tp = 40 s
Since the total angular displacement between the two extreme positions of pitching is
12°
(i.e. 2φ = 12°), therefore amplitude of swing,
φ = 12 / 2 = 6° = 6 × π/180 = 0.105 rad
and angular velocity of the simple harmonic motion,
ω1 = 2π / tp = 2π / 40 = 0.157 rad/s
We know that maximum angular velocity of precession,
ωp = φ.ω1 = 0.105 × 0.157 = 0.0165 rad/s
∴ Gyroscopic couple,
C = I.ω. ωp = 708.75 × 314.2 × 0.0165 = 3675 N-m
= 3.675 kN-m Ans.
When the bow is falling (i.e. when the pitching is downward), the effect of the
reactive gyroscopic couple is to move the ship towards port side.

EXERCISES
1. 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 r.p.m. [Ans. 0.39 rad/s]

2. A horizontal axle AB, 1 m long, is pivoted at the mid point C. It carries a weight of 20
N at A and a wheel weighing 50 N at B. The wheel is made to spin at a speed of 600
r.p.m in a clockwise direction looking from its front. Assuming that the weight of the
flywheel is uniformly distributed around the rim whose mean diameter is 0.6 m,
calculate the angular velocity of precession of the system around the vertical axis
through C.
[Ans. 0.52 rad/s]

3. Each paddle wheel of a steamer have a mass of 1600 kg and a radius of gyration of
1.2 m. The steamer turns to port in a circle of 160 m radius at 24 km / h, the speed of
the paddles being 90 r.p.m. Find the magnitude and effect of the gyroscopic couple
acting on the steamer. [Ans. 905.6 N-m]

4. An aeroplane makes a complete half circle of 50 metres radius, towards left, when
flying at 200 km per hour. The rotary engine and the propeller of the plane 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 its right instead
of to the left?
[Ans. 10 kN-m]
5. The rotor of the turbine of a yacht makes 1200 r.p.m. clockwise when viewed from
stern. The rotor has a mass of 750 kg and its radius of gyration is 250 mm. Find the
maximum gyroscopic couple transmitted to the hull (body of the yacht) when yacht
pitches with maximum angular velocity of 1 rad /s. What is the effect of this couple?
[Ans. 5892 N-m]