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    Dynamics of Machine Lect 7

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    alangkritamandal
    This document discusses the mathematical foundations of gyroscopic motion. It begins with early observations by Newton and introduces Euler's seminal work deriving dynamic equations relating applied moments, inertia, angular acceleration, and angular velocity. These Euler equations describe the motion of rigid bodies in three dimensions and spherical coordinates. Examples are provided to illustrate applying the Euler equations to analyze specific gyroscopic systems and their rotational dynamics.

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    Dynamics of Machine Lect 7

    Uploaded by

    alangkritamandal
    12 views14 pages
    This document discusses the mathematical foundations of gyroscopic motion. It begins with early observations by Newton and introduces Euler's seminal work deriving dynamic equations relating applied moments, inertia, angular acceleration, and angular velocity. These Euler equations describe the motion of rigid bodies in three dimensions and spherical coordinates. Examples are provided to illustrate applying the Euler equations to analyze specific gyroscopic systems and their rotational dynamics.

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    Dynamics of Machine Lect 7 (2)

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    This document discusses the mathematical foundations of gyroscopic motion. It begins with early observations by Newton and introduces Euler's seminal work deriving dynamic equations relating applied moments, inertia, angular acceleration, and angular velocity. These Euler equations describe the motion of rigid bodies in three dimensions and spherical coordinates. Examples are provided to illustrate applying the Euler equations to analyze specific gyroscopic systems and their rotational dynamics.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    12 views14 pages

    Dynamics of Machine Lect 7

    Uploaded by

    alangkritamandal
    This document discusses the mathematical foundations of gyroscopic motion. It begins with early observations by Newton and introduces Euler's seminal work deriving dynamic equations relating applied moments, inertia, angular acceleration, and angular velocity. These Euler equations describe the motion of rigid bodies in three dimensions and spherical coordinates. Examples are provided to illustrate applying the Euler equations to analyze specific gyroscopic systems and their rotational dynamics.

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    You are on page 1of 14

    Lecture 7

    Mathematical Foundation to
    Gyroscopic motion
    Background
    Earliest observation and studies on Gyroscope: Newton
    Example: Motion of planet (large Gyroscope)

    Mathematical foundation of principles of Gyroscopic motion: Euler

    Euler derived a set of dynamic equation relating applied moment, inertia, angular
    acceleration and angular velocity.

    These eqns. are called Euler’s equation


    Motion of rigid body in 3-D

    𝑦
    𝜔𝑦 ,

    𝑃
    𝜔
    𝛽 𝛿𝑚
    ,
    , and 𝛾 ,
    𝛼 𝑦
    𝑥
    𝑧 𝜔𝑥
    𝑥
    𝜔𝑧
    𝑧
    Motion of rigid body in 3-D (Cont.)
    Angular momentum of particle about axis

    Moment of applied force about axis

    Thus, we have , and


    Rigid Bodies in Spherical Motion
    we have , and

    The velocity component of particle in terms of angular velocity

    , and
    Rigid Bodies in Spherical Motion (Cont.)
    Most of the body are symmetric, thus in this condition the product of inertia are zero.

    , and
    𝑦 𝑌𝐻
    Vector direction of action of angular Ω
    momentum and angular velocity is
    not coincident. 𝜔
    Fixed frame (, and ) 𝑥
    Rigid body frame (, and ) 𝑋
    𝑍
    𝑧
    Rigid Bodies in Spherical Motion (Cont.)

    𝑦 𝑌
    𝑦 Ω

    𝜔
    𝑥 𝑥
    𝜏𝑧
    𝑧
    𝑋
    𝑍
    𝑚𝑔 𝑧
    Rigid Bodies in Spherical Motion (Cont.)

    Active
    𝑦 Active
    CW
    CCW
    Reactive
    Reactive
    𝑥
    𝜏𝑧 CW disc CCW disc
    𝑧
    Active
    Active
    𝑚𝑔 CCW
    CW

    Reactive
    Reactive
    Euler Equations
    Euler derived a set of dynamic equation relating applied moment, inertia, angular
    acceleration and angular velocity.

    𝑦𝑌 𝑀 𝜔 𝐻

    𝑍
    𝑧
    Example
    Euler derived a set of dynamic equation relating applied moment, inertia, angular
    acceleration and angular velocity.
    ’
    𝑦 𝜔𝑃

    The rotation
    𝜔𝑠
    and
    𝑥′ 𝑧
    𝑥
    𝜃
    𝑧′
    Example

    𝑦 𝑦 ′ 𝜔𝑝 ’
    𝜔𝑃
    𝑦
    𝑧
    𝜃
    𝜔𝑠
    𝑧′ 𝑥′ 𝑧
    𝑥
    , and 𝜃
    𝑧′
    Example
    , and

    Substituting we get
    , and

    Thus the absolute magnitude of and are same

    𝑦 𝑦′
    𝑧
    moment will be
    𝜃 acting in the axis.

    𝑧′
    Example

    𝜔𝑃

    𝜔𝑠 𝐻 ¿ 𝐼 𝜔𝑠 𝜔𝑠

    𝛻𝐻 𝐻′
    Next class

    Introduction to mechanical vibration

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