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Gyroscopes
8.01
W14D1
Today’s Reading Assignment
Young and Freedman: 10.7
Announcements
2
Demo: Gimbaled Gyroscope (B140)
Rules to Live By: Angular
Momentum and Torque
1) About any fixed point P
r r r r r r
L P L about cm Lof cm L about cm rP,cm mtotal v cm
r
r r ext dL P
P P,i
i dt
2) Independent of the CM motion, even if L about cm and
are not parallel r
r dL about cm
about cm
dt
Mini Demo: Pivoted Falling Stick
1) Asin t öi Acos t öj
2) Asin t öi Acos t öj
3) Acos t öi Asin t öj
4) Acos t öi Asin t öj
5) Asin t öi Acos t öj
6) Acos t öi Asin t öj
Example: Time Derivative of
Position Vector for Circular
Motion
Circular Motion: position vector
points radially outward, with constant
magnitude but changes in direction.
The velocity vector points in a
tangential direction to the circle.
dr d ˆ
r r rˆ v r
dt dt
Generalization: Time Derivative
of a Vector
Consider a vector A Az kˆ Ar rˆ
r r
where Ar A sin A Az A cos
r ext r d
P L P,
dt
Introduction To Gyroscopic
Motion
Gyroscopic Approximation
Flywheel is spinning with an
angular velocity
r̂
Precessional angular velocity
k̂
r
1. Calculate torque about appropriate point P P
r
2. Calculate angular momentum about P LP
The disk is rotating about two orthogonal axes through center of mass. It
is rotating about the axis of the shaft, with angular speed ω. The moment
of inertia of a uniform disk about this axis is I1 = (1/2) MR2. The disk is
also rotating about the z-axis with angular speed Ω. The moment of
inertia of a uniform disk about a diameter is I2 = (1/4)MR2. The angular
momentum about the center of mass is the sum of two contributions
r
Lcm I1 rö I2 kö (1/ 2)MR2 rö (1/ 4)MR2 kö
Angular Momentum Due to Motion of
Center of Mass
The angular momentum about the pivot point P due to the
center of mass motion is
r r
rP,cm MVcm Md 2 kö
r r r r
L P Lcm rP,cm MVcm
r
ö ö
L P I1 r I2 k Md kö
2
r
L P I1 r (I2 Md ) kö
ö 2
Gyroscope: Time Derivative of
Angular Momentum
If the angular speed (precession
angular speed) about the z-axis
is constant then only the direction
of the spin angular momentum
r r
L P, Lspin I1 rö
1) = 4 0
2) = 2 0
3) = 0
4) = (1/2) 0
5) = (1/4) 0
Table Problem: Tilted Gyroscope
A wheel of mass M and moment of
inertia I cm about its centra l axis, through
its center of mass, is at one end of an
axle of l ength d . The a xle is pivoted at
an angle with respect t o the vertical.
The wheel is set into motion so that it
executes uniform precession. Its spin
angular velocity has magnitude and
is directed as sho wn in the figure below.
Find the magnitude and direction of the
precessional angular velocity in
terms of the other parameters. Assume
r
.
Demo: Gyroscope in a Suitcase
A gyroscope inside a suitcase is spun up via a connection to
the outside of the suitcase. The suitcase is carried across
the lecture hall. When the lecturer turns while walking, the
gyroscope causes the suitcase to rise about the handle.
Table Problem: Suspended
Gyroscope
A gyroscope wheel is at one end of
an axle of length d . The oth er end of
the axle is suspended from a string
of length s . The wheel is set into
motion so that it executes uniform
precession in the horizontal plane.
The string makes an angle with
the vertical. The wheel has mass M
and moment of inertia about its
center of mass I cm . Its sp in angular
speed is . Neglect the mass of the
shaft and the mass of the string.
Assume . What is the
direction and magnitude of the
precessional angular velocity?