Bicycle Wheel

The angulur momentum of the turning bicycle wheels makes them act likegyroscopes to help stabilize the bicycle. This gyroscopic action also helps to turn the bicycle. Having pointed to the gyroscopic nature of the bicycle wheel, it should be pointed out that experiments indicate that the gyroscopic stability arising from the wheels is not a significant part of the stability of a bicycle. The moments of inertia and the speeds are not large enough. The experiments and review of Lowell and Mc ell indicate that the stability of the bicycle can be described in terms of centrifugal force. ! rider who feels an unbalance to the left will turn the handlebars left, producing a segment of a circular path with resulting centrifugal force which pushes the top of the bicycle back toward vertical and a balanced condition. "resumably the larger masses and speeds of motorcycle wheels do make the gyroscopic tor#ues a much larger factor with motorcycles.

Turning a Bicycle
! bicycle held straight up will tend to go straight. $t is tempting to say that it $f the rider leans left, a tor#ue will be produced which stabilized by the gyroscopic action of the causes a counterclockwiseprecession of the bicycle bicycle wheels, but the gyroscopic action wheel, tending to turn the bicycle to the left. is #uite small.

This is a good visual example of the directions of the angular momenta and torques, but the gyroscopic torques of bicycle wheels are apparently quite small (see Lowell and McKell) The gyroscopically motivated descriptions li!e "leaning left turns it left" are more appropriate to motorcycles

If you lean left, you turn left

! rider leaning left will produce a tor#uewhich will cause the bicycle wheel toprecesscounterclockwise as seen from above, turning the bicycle left. The angulur momentumof the bicycle wheels is to the left. The tor#ue produced by leaning is to the rear of the bicycle, as may be seen from the right%hand rule. This gives a rearward change in theangular momentum vector, turning the bicycle left.

This is a good visual example of the directions of the angular momenta and tor#ues, but the gyroscopic tor#ues of bicycle wheels are apparently #uite small &see Lowell and Mc ell'. The gyroscopically motivated descriptions like (leaning left turns it left( are more appropriate to motorcycles. )ith a bicycle at low speeds, the main turning influence comes from the turning of the handlebars. $n terms of the stability of the bicycle when riding, the association with leaning and turning does hold true. The construction of a bicycle is such that a left lean does cause the front wheel to turn left, contributing a kind of self%stability to the bicycle. $f you feel youself unbalanced and leaning left, then turning left does help you correct the imbalance because the centrifugal force associated with the turn does tend to push the top of the bicycle back toward the vertical. "art of the process of learning to ride a bicyle would then seem to be the learning of how to turn the front wheel to produce the needed centrifugal balancing force to bring you back to an upright and balanced orientation. More drastic turns are needed at low speeds to get the necessary centrifugal force which depends upon the inverse of the radius of curvature. Much more gentle turns are sufficient at higher speeds since the centrifugal force depends upon the s#uare of the velocity.

#yroscopic $ffects %ave &lmost 'othing to (o )ith *our &bility to +ide a ,i!e
DAVEN HISKEY DECEMBER 11, 2011 1

Today I found out gyros o!" #ff# ts $a%# a&'ost not$"ng to do ("t$ your a)"&"ty to r"d# a )"*#+ T$# !ro)&#' ("t$ t$# for #s g#n#rat#d fro' t$# gyros o!" #ff# t on a ty!" a& )" y &# "s t$at t$#y s"'!&y ar#n,t %#ry !o(#rfu& ($#n ons"d#r"ng t$# !$ys" s "n%o&%#d "n $a%"ng t$# 'a-or"ty of t$# #nt#r of 'ass of t$# )"*# at t$# to! .("t$ you on "t/+ You ar# )as" a&&y for'"ng an "n%#rt#d !#ndu&u', ($" $ "s 'u $ $ard#r to )a&an # t$an t$# ot$#r (ay around+ To "&&ustrat# $o( 'u $ for # "s n##d#d $#r#, $a%# a !#rson g#t on a )"*# t$at "s o'!&#t#&y st"&&+ No( try and $o&d t$# )"*# and !#rson #nt#r#d )y s"'!&y $o&d"ng on around t$# a0&# of on# of t$# t"r#s+ To o'!ar# t$"s for # ("t$ t$# a'ount g#n#rat#d fro' gyros o!" #ff# ts, ta*# a d#ta $#d )"*# t"r# ("t$ !#gs on t$# s"d#s and $ang on to t$#'+ No( $a%# so'#on# s!"n t$# t"r# r#a&&y fast1 on # "t,s s!"nn"ng, try to &#an t$# t"r# on# (ay or t$# ot$#r+ You,&& f##& t$# gyros o!" #ff# ts, )ut you s$ou&d )# a)&# to do "t so'#($at #as"&y as t$# for # you,&& f##& $#r# "s &"*#&y on&y a f#( *"&ogra's or 2310 !ounds .t$oug$ "t '"g$t f##& &"*# 'or# ("t$ your ar's outstr#t $#d and stra"g$t "n front of you/+ In t$# !r#%"ous as#, ("t$ t$# !#rson s"tt"ng on t$# )"*#, un&#ss t$#y (#r# #0tr#'#&y &"g$t or you ar# H#r u&#s, I,' gu#ss"ng you ou&dn,t #%#n o'# &os# to *##!"ng t$#' )a&an #d, !art" u&ar&y "f your ar's ar# outstr#t $#d fu&&y+ If t$at d"dn,t on%"n # you, &#t,s &oo* at t$# 'at$ .an #0a'!&# don# )y Dr+ Hug$ Hunt of Ca')r"dg# 4n"%#rs"ty/5 6$#n r"d"ng 7u"t# fast at 12 '!$, .a)out 8 '9s/, a ty!" a& )"*# ($##& .d"a'#t#r 800 '', "r u'f#r#n # 2 '/ rotat#s : t"'#s !#r s# ond, ($" $ "s a s!"n rat# of ; 20 rad"ans !#r s# ond+ Its !#r"!$#ra& 'ass, around m ; 1*g, "s on #ntrat#d at t$# r"', "+#+ at a rad"us of r ; :00 ''+ T$# 'o'#nt of "n#rt"a J "s t$#r#for# J ; m r2 ; 0+1 *g '2 .n#ar #noug$/+ Su!!os# I a' fa&&"ng o%#r and I try to us# t$# gyros o!" #ff# t to $#&! !us$ '# u!r"g$t aga"n+ Cons"d#r so'# !r#tty frant" (o))&"ng of t$# $and&#)ars )a * and fort$ s"nuso"da&&y at a rat# of, say, f$and&#;1+8 (o))&#s !#r s# ond .#7u"%a&#nt to an angu&ar fr#7u#n y of (o))&"ng
$and&#

; 2 f$and&# ; 10 rad"ans !#r s# ond/ and at an a'!&"tud# of, say, <93 8 d#gr##s ."# $and&#; 891=0> ; 0+1 rad"an/ +
$and&#

T$# (o))&"ng 'ot"on "s t$#r#for# T$and&# ; $and&# s"n.$and&# t/, and d"ff#r#nt"at"ng t$"s g"%#s a !#a* $and&# (o))&"ng s!##d of ; $and&#+ 0+1 ; 1 rad9s + T$"s "s t$# for #d !r# #ss"on rat# of t$# front ($##& a t"ng as a gyros o!#+ At "ts !#a*, t$# ou!&# r#7u"r#d to a $"#%# t$"s !r# #ss"on 'ot"on, du# to gyros o!" #ff# ts, "s M ; J ; 0+1 > 20 > 1 ; 2 N '

; 10 >

T$# )"*# and I (#"g$, say, 100 *g ; 1000 N, so t$# gyros o!" #ff# t ("&& on&y $#&! '# "f I don,t t"&t 'or# t$an 2 '' fro' )#"ng !#rf# t&y u!r"g$t .1000 N > 0+002 ' ; 2 N '/+

So t$# gyros o!" #ff# t on a )" y &#, #%#n at 12 '!$, "s !ra t" a&&y not$"ng "n t#r's of ($at (ou&d )# r#7u"r#d to *##! you u!r"g$t+ So $o( ar# you not fa&&"ng o%#r #%#ry t(o s# onds on your )" y &#?

@art"a&&y t$"s "s du# s"'!&y to your a)"&"ty to )a&an #+ Ho(#%#r, you,%# !ro)a)&y not" #d "t,s $ard to stay )a&an #d on a )"*# ($#n at a stand st"&&+ 6$#n you start to go r#a&&y s&o(&y, you,&& not" # you natura&&y 'a*# &arg# st##r"ng orr# t"ons to *##! yours#&f )a&an #d+ T$"s, "n fa t, "s t$# !r"'ary t$"ng t$at "s a tua&&y *##!"ng you u!r"g$t on a )" y &# at any s!##d, na'#&y orr# t"%# st##r"ng+ As you f##& an "')a&an # "n on# d"r# t"on, "t ("&& aus# you to st##r t$# )"*# "n t$at d"r# t"on to o'!#nsat#, t$# r#su&t"ng #ntr"!#ta& for # #nds u! )a&an "ng you )a * out, assu'"ng your ad-ust'#nt (as t$# !ro!#r a'ount of turn g"%#n your s!##d and ot$#r su $ fa tors+ If you o%#r turn#d, t$#n you,&& $a%# to 'a*# anot$#r orr# t"on to o'!#nsat# for t$# "')a&an # r#at#d fro' your o%#r orr# t"ng+ T$# fast#r you go, t$# s'a&&#r t$# orr# t"on t$at "s n##d#d to *##! you )a&an #d+ In t$# )#g"nn"ng, t$#s# orr# t"%# 'ot"ons t#nd to )# r#&at"%#&y &arg# and oft#n ("t$ you o%#r o'!#nsat"ng, )# aus# your )ody "s st"&& &#arn"ng to r"d# a )"*#+ T$"s "s ($y you t#nd to )# a )"t (o))&y and (r# * a &ot ($#n you ar# f"rst &#arn"ng+ A%#r t"'#, t$#s# orr# t"ons ("&& g#t s'a&&#r and s'a&&#r and 'or# a urat# unt"& you don,t r#a&&y not" # you ar# do"ng t$#' at a&& ($"&# you r"d# a )"*# a)o%# su!#r s&o( s!##ds .o)%"ous&y you,&& st"&& not" # t$#' ($#n )ar#&y 'o%"ng on your )"*# and t$# &"*#, as !o"nt#d out a)o%#/+ Bonus Ba ts5

Many !#o!&# t$"n* t$at "f you too* t(o t"r#s and s!un t$#' "n o!!os"t# d"r# t"ons, t$at you,d $a%# t$# sa'# gyros o!" #ff# t as "f t$#y (#r# s!"nn"ng "n t$# sa'# d"r# t"on+ In fa t, ($at ("&& $a!!#n "s t$at, "f t$# ($##&s (#r# s!un "n o!!os"t# d"r# t"ons, t$# t(o (ou&d an #& #a $ ot$#r out, "n t#r's of gyros o!" #ff# t+ T$"s fa t $as )##n us#d to d#'onstrat# to !#o!&# t$at t$#y an r"d# a )"*# ("t$ no !ro)&#'s ("t$out t$# gyros o!" #ff# t )y 'ount"ng #0tra ($##&s ra"s#d s&"g$t&y off t$# ground ($" $ ount#r rotat# t$# a tua& t"r#s+ T$# fart$#r for(ard t$# #nt#r of 'ass for t$# )"*# < !#rson r"d"ng t$# )"*#, t$# &#ss front ($##& 'o%#'#nt t$at ("&& )# n##d#d to 'a"nta"n )a&an #+ T$"s "s !ro)a)&y 'ost not" #a)&# on #rta"n usto' 'otor y &#s ($#r# t$# front ($##& st" *s (#&& out fro' t$# )"*#+ Anot$#r &#ss *no(n fa tor "n a )"*#,s r"d#3a)"&"ty "s so'#t$"ng a&&#d Ctra"&D+ S"'!&y !ut, t$"s "s a '#asur# of $o( 'u $ t$# d"stan # fro' t$# front ($##&,s !o"nt tou $#s t$# ground tra"&s t$# st##r"ng a0"s, onta t !o"nt, ($" $ "s ($#r# t$# #nt"r# st##r"ng '# $an"s' .for*, $and&#)ars, front ($##&, #t / !"%ots+ A &ong#r tra"& ("&& 'a*# a )"*# f##& 'u $ 'or# sta)&# t$an a s$ort#r on#+ Ho(#%#r, "f t$# tra"& "s too &ong, t$# )"*# ("&& f##& d"ff" u&t to st##r+ B"*#s ("t$ too &"tt&# tra"&, or #%#n n#gat"%# tra"&, ("&& f##& "n$#r#nt&y unsta)&#1 t$oug$, du# to orr# t"%# st##r"ng, you an st"&& r"d# t$#'+ Du# to t$# st##r"ng "ssu# ("t$ t$# "n r#as#d tra"&, 'ounta"n )"*#s and tour"ng )"*#s ty!" a&&y $a%# 'u $ &#ss tra"& t$an str##t )"*#s+ In t$# as# of 'ounta"n )"*#s, t$"s a&&o(s for 'or# Cag"&"tyD on t$# )"*# to $#&! o'!#nsat# for roug$ t#rra"n+ In t$# as# of tour"ng )"*#s, t$"s $#&!s o'!#nsat# for t$# fa t t$at you,&& !ro)a)&y )# !a *"ng a&ong 7u"t# a )"t of )aggag# ("t$ you and t$us, #0tra (#"g$t &o( to t$# ground+ T$"s "s ($y tour"ng )"*#s ("&& oft#n f##& unsta)&# "f you don,t $a%# t$at )aggag# add#d on and &o( to t$# ground+ 6$"&# gyros o!" and tra"& for #s ar#n,t n#ar&y suff" "#nt to *##! you )a&an #d on a )"*#, t$#y ar# ty!" a&&y suff" "#nt to *##! a r"d#r&#ss )"*# go"ng stra"g$t unt"& "t s&o(s to a #rta"n !o"nt, ($" $ %ar"#s fro' )"*# to )"*# )as#d on ($##& s"E# and tra"&+ So'#t$"ng a&&#d a Cgyro)"*#D "s urr#nt&y "n d#%#&o!'#nt to $#&! !#o!&# &#arn to r"d# )"*#s+ T$"s )"*# $as an "nt#rna& f&y($##& t$at !ro%"d#s a s"gn"f" ant "n r#as# "n gyros o!" #ff# t+ T$# "n%#ntors of t$"s )"*# t$#n $o!# t$at on# ou&d )# d#%#&o!#d ($#r# t$# gyros o!" #ff# t (ou&d )# suff" "#nt to *##! t$# )"*# 'ost&y )a&an #d #%#n ("t$ a r"d#r, ($"&# st"&& not )#"ng too u')#rso'# a )"*# "n t#r's of (#"g$t and t$# &"*#+ Anot$#r !&a # you,&& s## t$"s so'#($at su) ons "ous Cauto3 orr# t"ngD !$#no'#non !o! u! "s ($#n you ar# try"ng to stand "n on# !&a # on on# foot+ 6$#n do"ng so, you $a%# to ar#fu&&y )a&an # yours#&f to *##! fro' fa&&"ng o%#r+ As soon as you start $o!!"ng t$oug$, 'ost !#o!&# $a%# &"tt&# d"ff" u&ty *##!"ng t$#'s#&%#s )a&an #d+ T$"s "s )# aus#, ($#n you $o!, you not on&y so'#($at natura&&y g#n#rat# orr# t"%# 'o%#'#nts, )ut you ("&& a&so $a%# your foot &and around ($#r# "t n##ds to )# to *##! yours#&f )a&an #d+ R#ad 'or# at $tt!599(((+today"foundout+ o'9"nd#0+!$!920119129gyros o!" 3#ff# ts3$a%#3a&'ost3not$"ng3to3do3("t$3your3a)"&"ty3to3r"d#3a3 )"*#9F)'E2HA8:%@s7%VMG+HH

What keeps the bicycle upright?

The question is often as!ed and, as often as not, is an introduction to expound on the gyroscopic forces of the rotating wheels that ma!e bicycling possible This claim is as accurate as the one that authoritatively explains that spo!es support the bicycle wheel by hanging the hub from the upper spo!es They don-t and it doesn-t *ome who propose the gyroscope theory, also explain that the advanced skill of making fast turns on a bicycle involves a techni#ue they call countersteer. $n fact, a

bicycle cannot be ridden without countersteer, commonly called balance, and it is this balance that is used to keep the bicycle upright, +ust as one does while walking, running, ice skating or roller skating. To say that the gyroscopic forces of rotating wheels keep the bicycle upright, ignores that roller skates are operated the same way and have so little gyroscopic moment that one cannot detect it. ,n ice skates the argument fails entirely. -esides, a bicycle can be ridden at less than three miles per hour, at which speeds there is no effective gyroscopic reaction. Those who ride no%hands sense and make use of the small gyroscopic effect of the front wheel to steer. This, together with trail of the steering geometry stabilize steering. )ithout trail, the bicycle would have poor straight ahead preference and would riding no%hands difficult. Many bicyclists never master riding no%hands because the gyroscopic forces are too small for them to detect. Hands on the handlebars completely obscure these forces. .or those who ride no%hands, countersteer should be visible and obvious because the bicycle must be leaned away from the preferred lean angle and direction of a curve so that the turn can be initiated. )ith hands on the bars, although the opposing lean is unnecessary, countersteer is still needed and can be done without counter%leaning. That there are gyroscopic forces is evident from the riderless bicycle test in which a bicycle is shoved at a brisk speed &from another bicycle' and allowed to coast on its own. $f the initial course is straight, the bicycle will continue this path until it slows to a speed where gyroscopic forces are too small to correct steering. Then the bicycle takes a steep turn as it falls. /yroscopic forces are also used to walk a bicycle, holding it by the saddle and steering it to either side by #uickly tilting the bicycle. The effect can be observed by resting a road bicycle &with a horizontal top tube' on the shoulder tilted forward +ust enough to make the front wheel aim straight ahead. *pinning the front wheel by hand forward will make it steer as one expects, left for a left tilt, right for a right tilt, all moves performed in less than a second. )ith the wheel spinning backward, all responses are reversed. ! good example of a bicycle with no gyroscopic forces is the ski%bob, a (bicycle( with short ski runners in place of wheels. This bicycle, having no rotating parts, is ridden downslope easily by anyone who can ride a bicycle.

Gyroscopic effect of bicycle wheels

&lthough the gyroscopic effect of its wheels is not what !eeps the bicycle upright, as is often claimed, it is essential in riding no.hands,

or to wal! the bicycle while holding only onto the saddle, as is often done The belief that leading the bicycle while wal!ing next to it holding onto the saddle is effected by the lean of the bicycle and trail of the front wheel is often mentioned as a mechanism and it seems possible that this is true %owever, there are a few effects that ma!e this not the case *eparating the variables of this effect is difficult unless a good diagnostic method is used. The tests proposed rely on leaning the bicycle near to reality, that is, the bicycle must lean laterally about an axis about as near to the axles of the wheels as it does on the road. This means that hanging the bicycle from high above will cause much translation to achieve lean. This causes lateral accelerations that interfere with the accuracy of the simulation. There are three effects that interact when walking the bicycle, hand on saddle only. They are0 / #ravitational force of leaning, bearing on the trail of the wheel 0 1nertial force of the center of mass of the wheel and handlebar acting on steering when the bicycle is rapidly tilted 2 #yroscopic moment about the inclined axis of the for! when the frame is tilted about its hori3ontal long axis The suspended bicycle test works as described below if the head bearings are properly ad+usted and the tilt motion is executed in less than a second about an axis near the wheel centers. )hen done slowly over several seconds the gyroscopic moment is too small to overcome the gravitational moment. $f the tilt is induced rapidly, in a small fraction of a second, (countersteer( is induced through inertial moment about the steering axis. )ith the bicycle suspended in a vertical plane, tilted 4ust enough forward to ma!e the front wheel stably align straight ahead5 )ith the wheel not rotating, the wheel will steer toward the direction of lateral tilt if the tilt is induced in more than a half second. $f the tilt is done rapidly, the wheel will steer in the opposite direction before steering to the direction of tilt. )ith the wheel manually spun forward, its steering response becomes faster but behaves largely the same as with the non%rotating wheel.

)ith the wheel manually spun backward, steering response to frame tilt is opposite to the direction of tilt when induced in one second or less. The effect diminishes as rotation slows. The effect is best observed if the bicycle is tilted back and forth, e#ually to both sides of vertical in a one second period. $n this mode, steering will nod from side to side, toward the direction of lean if the wheel is spinning forward and opposite to the direction of lean if spinning backward. The experiment of riderless bicycle stability has been discussed here and bears on this thread because the riderless bicycle has no gravitational lean steer, there being no side loads on the trail of the front wheel This occurs because the bicycle is balanced & plumb bob hanging from the top tube will remain pointing to the downtube during the entire run 1n this case the bicycle uses only the gyroscopic moment of tilt to stay upright That is, it steers into the slightest lean that would ma!e it fall The bicycle finally falls when speed becomes too slow or it runs off the course

What is Gyroscopic Effect? What is a gyroscope? What is a gyroscopic effect? Read on to find the answers.

A gyroscope is a devise that can be used to maintain orientation based on the principles of angular momentum. It is a mechanism by means of which a rotor is journaled to spin around an a is. !he gyroscopic effect can be best e plained by the principle of behavior of a gyroscope. According to the e"uation that describes gyroscope behavior# the tor"ue on the gyroscope applied perpendicular to its a is of rotation and also perpendicular to its angular momentum causes it to rotate about an a is perpendicular to both the tor"ue and the angular momentum. !his rotational motion is referred to as precession. If a spinning gyroscope is placed such that its a is is hori$ontal and loosely supported from one end# the gyroscope does not fall. It rather maintains its hori$ontal a is and the unsupported end starts moving in a circular manner about the hori$ontal a is. !he resultant rotation is perpendicular to the gravitational tor"ue and the a is of rotation. !he speed of precession of a gyroscope inversely varies with its angular momentum. A gyroscope can be considered as having three a es. !he spin a is is the one defining the gyroscope strength. If the spin a is lies along a vertical line# the other two a es lie in the plane of the page. !he gyroscope spins around its spin a is# the tor"ue is applied to the primary a is and the secondary a is is the a is of precession. !he spin a is gives rise to the gyroscopic effect. !he gyroscopic effect is commonly used in toys li%e the yo&yos and tops. Read more at 'u$$le( http())www.bu$$le.com)articles)what&is&gyroscopic&effect.html

Boomerangs and Gyroscopes

The gyroscopic effect

)heels show the gyroscopic effect 6irst 1-m going to demonstrate this with a bicycle wheel & bicycle wheel is a commonplace ob4ect which has a gyroscopic effect when it spins 1 would li!e you to examine this in some detail, and it-s also one of the exercises 1 want to show you how best to examine the gyroscopic effect 7ne of the problems with a bicycle wheel is that if you try to hold it on the spindle you get your fingers stuc! in the spo!es ,ut if you go to a bi!e shop and get a stunt peg (preferably with little grooves) you can attach it to the bi!e wheel, giving you a handle, and ma!ing things much safer 'ow spin the wheel *ou-ll feel really curious gyroscopic effects 1t-s rather hard to describe them, but 1 want to ma!e it clear to you 8o ta!e a piece of string 1f you get stunt pegs which have little grooves in them, the string can be attached very easily 'ow spin the wheel, holding it up (vertically) on the piece of string *ou should see clearly that something rather ama3ing is happening . the wheel spins round in the vertical plane This is the gyroscopic effect, and it-s called gyroscopic precession 1n broad terms the reason why this is happening is because there is a spinning ob4ect, the wheel, and there is a couple or moment or torque being provided which is at right angles to the direction of spin, and 1 will explain this more in a minute This is nothing special . bi!e wheels aren-t the only things that do this 1 have my 0 year.old daughter-s spinning top with me 1 can attach a piece of string to the bottom, then put the string in my mouth so 1 have both hands free, then hold the top in one hand and spin it with the other 1f you try this, then hold the string and watch the top, you will see it precess around the string $ven a 0 year.old-s top shows these ama3ing gyroscopic effects9 The question is, why: ,efore we can really understand the gyroscopic effect properly we have to understand some important concepts The first is the concept of the couple (also !nown as moment or torque) 1n the diagram you can see a couple defined as an angular force 'ote the two pin! forces mar!ed f applied in opposite directions to a bar, this is called a couple . because there are two forces 1 can use the right hand rule to define the direction of the couple 1f my fingers curl in the actual turning direction, then my thumb will point upwards in the direction of the couple 1 can also demonstrate a couple if 1 sit on a rotating stool, and someone pushes my shoulders round, so 1 go round and round )hat happens is that if one of my shoulders is pulled and the other pushed, 1 go round, because there are two forces in opposite directions moving me

The next concept we have to understand is that of moment of inertia Moment of inertia is the angular equivalent of mass 7n the left of the picture to the left, 1 have a dumbbell shaped ob4ect which has two masses relatively close together on it, on the right of the slide there is the same dumbbell shaped ob4ect but the masses

are further apart The one on the right has a higher angular mass than the one on the left, as we shall see shortly The angular mass we call moment of inertia The other thing we can tal! about is called angular momentum &ngular momentum is the product of the moment of inertia and the angular velocity, /;/ where J is moment of inertia, and /;/ is angular velocity This is 4ust the same as defining linear momentum as the product of mass and linear velocity & heavy car has more linear momentum when going at a certain speed than a light car travelling at the same speed . it ta!es more effort to stop it 8imilarly a heavy pair of dumbbells has more angular momentum than a light pair of dumbbells, and it ta!es more effort to stop it rotating )hat is interesting about this, is that 1 can change the moment of inertia of the dumbbells by moving the weights in and out 1 can demonstrate the concept of moment of inertia by holding two heavy weights (<!g) close to my chest 1t is quite easy for someone to apply a couple to my shoulders and spin me around 1f 1 hold the weights at arm-s length, it is much harder for someone to apply a couple to my shoulders and spin me round The reason is that 1 have a higher moment of inertia 1t-s li!e having a higher mass & heavier car is harder to push than a lighter one &n ob4ect with high moment of inertia is harder to spin than one with a low moment of inertia 1 changed my moment of inertia in the middle of that experiment, simply by moving my arms in and out with the heavy weights *ou can-t change the mass of a car so easily 1n changing my moment of inertia, angular momentum on this (almost) frictionless stool is conserved . this means it stays constant 8o if my moment of inertia is reduced by bringing the weights in, or increased by bringing the weights out, then my angular speed must increase or decrease accordingly (since /;/ ) 1f 1 start spinning with the weights in, 1 go quite fast 1f 1 then stretch out my arms, so 1 hold the weights at arm-s length, 1 slow down 1f 1 bring them bac!, 1 speed up again Let-s loo! at the circular motion formula again +emember the mass going round in a circle, with the centripetal force acting on it The force is at right angles to the direction in which the ob4ect is travelling at any point &ccording to 'ewton-s 8econd Law of Motion, there is a change in momentum in the direction of the applied force, so the linear momentum is constantly changing 1t is equal to mv, and v changes as the ob4ect changes direction (velocity incorporates the idea of direction since it is a vector, speed is 4ust the si3e of the velocity, without the direction) 1f we loo! at a spinning disc or spinning bicycle wheel, which has a certain angular moment, and then apply a couple =provided by the two orange forces> to the spin The angular momentum changes in the direction of the applied couple, so the direction of the angular moment has been tilted over =see the small diagram> 1f we apply 'ewton-s 8econd Law of Motion to angular motion, it says that angular momentum changes in the direction of the applied couple

)e are now in a position to loo! at a bicycle wheel properly 1magine a bicycle wheel spinning, with a couple applied The string on the stunt peg holding the bicycle wheel creates a couple The bicycle wheel-s weight provides a downwards force at the wheel-s centre, and there is also an upwards force through the string This is a couple since there are two opposite forces which are not aligned with each other 1f 1 spin the bicycle wheel this is at right angles to the couple and so at right angles to the angular momentum This means that the angular momentum changes, creating motion in the direction of the couple This is gyroscopic precession This is not straightforward stuff, but it is important to realise all this can be analysed in this way

where C is the applied couple, J is the moment of inertia, /;/ is the spin in radians per second and /;/ is the precession rate in radians per second =radians are another way of measuring angles5 2?@ degrees equals /;/ radians> 1 can demonstrate this to ma!e it clearer to you 1f 1 hold the bicycle wheel up with the piece of string through the stunt peg, then there is a couple acting on the wheel 1f 1 then spin the wheel, it precesses round steadily =see the directions on the diagram> 1f 1 point my right thumb upwards my fingers point in the direction of the precession To chec! the formula, 1 could spin the wheel bac!wards (changing /;/ to a negative value), and 1 should then find the wheel precesses bac!wards ( /;/ has to be negative also since C and J are the same) This turns out to be what happens 1 can also spin the wheel slowly, and the precession should then be fast . and it is (the product /;/ has to remain constant) & very fast spin causes quite slow precession 1t-s really quite wonderful stuff9

How Gyroscopes Work

)y Mars$a&& Bra"n 138 @ag# 1 2 : I

Jyros o!#s an )# %#ry !#r!&#0"ng o)-# ts )# aus# t$#y 'o%# "n !# u&"ar (ays and #%#n s##' to d#fy gra%"ty+ T$#s# s!# "a& !ro!#rt"#s 'a*# gyros o!#s #0tr#'#&y "'!ortant "n #%#ryt$"ng fro' your )" y &# to t$# ad%an #d na%"gat"on syst#' on t$# s!a # s$utt&#+ A ty!" a& a"r!&an# us#s a)out a doE#n gyros o!#s "n #%#ryt$"ng fro' "ts o'!ass to "ts auto!"&ot+ T$# Russ"an M"r s!a # stat"on us#d 11 gyros o!#s to *##! "ts or"#ntat"on to t$# sun, and t$# Hu))&# S!a # T#&#s o!# $as a )at $ of na%"gat"ona& gyros as (#&&+ Jyros o!" #ff# ts ar# a&so #ntra& to t$"ngs &"*# yo3yos and Br"s)##sK In t$"s #d"t"on of HowStuffWorks, (# ("&& &oo* at gyros o!#s to und#rstand ($y t$#y ar# so us#fu& "n so 'any d"ff#r#nt !&a #s+ You ("&& a&so o'# to s## t$# r#ason )#$"nd t$#"r %#ry odd )#$a%"orK

Precession
If you $a%# #%#r !&ay#d ("t$ toy gyros o!#s, you *no( t$at t$#y an !#rfor' a&& sorts of "nt#r#st"ng tr" *s+ T$#y an )a&an # on str"ng or a f"ng#r1 t$#y an r#s"st 'ot"on a)out t$# s!"n a0"s "n %#ry odd (ays1 )ut t$# 'ost "nt#r#st"ng #ff# t "s a&&#d precession+ T$"s "s t$# gra%"ty3 d#fy"ng !art of a gyros o!#+ T$# fo&&o("ng %"d#o s$o(s you t$# #ff# ts of !r# #ss"on us"ng a )" y &# ($##& as a gyro5 T$# 'ost a'aE"ng s# t"on of t$# %"d#o, and a&so t$# t$"ng t$at "s un)#&"#%a)&# a)out gyros o!#s, "s t$# !art ($#r# t$# gyros o!" )" y &# ($##& "s a)&# to $ang "n t$# a"r &"*# t$"s5

The ability of a gyroscope to "defy gra ity" is baffling!

Ho( an "t do t$at? T$"s 'yst#r"ous #ff# t "s !r# #ss"on+ In t$# g#n#ra& as#, !r# #ss"on (or*s &"*# t$"s5 If you $a%# a s!"nn"ng gyros o!# and you try to rotat# "ts s!"n a0"s, t$# gyros o!# ("&& "nst#ad try to rotat# a)out an a0"s at r"g$t ang&#s to your for # a0"s, &"*# t$"s5

"n figure 1# the gyroscope is spinning on its a$is% "n figure &# a force is applied to try to rotate the spin a$is% "n figure 3# the gyroscope is reacting to the input force along an a$is perpendicular to the input force%

So ($y do#s !r# #ss"on $a!!#n?

@ag# 1 2 : I

's forces are applied to the a$le# the two points identified will atte(pt to (o e in the indicated directions%

The )ause of Precession

6$y s$ou&d a gyros o!# d"s!&ay t$"s )#$a%"or? It s##'s tota&&y nons#ns" a& t$at t$# )" y &# ($##&Ls a0&# an $ang "n t$# a"r &"*# t$at+ If you t$"n* a)out ($at "s a tua&&y $a!!#n"ng to t$# d"ff#r#nt s# t"ons of t$# gyros o!# as "t rotat#s, $o(#%#r, you an s## t$at t$"s )#$a%"or "s o'!&#t#&y nor'a&K G#tLs &oo* at t(o s'a&& s# t"ons of t$# gyros o!# as "t "s rotat"ng 33 t$# to! and t$# )otto', &"*# t$"s5 6$#n t$# for # "s a!!&"#d to t$# a0&#, t$# s# t"on at t$# to! of t$# gyros o!# ("&& try to 'o%# to t$# &#ft, and t$# s# t"on at t$# )otto' of t$# gyros o!# ("&& try to 'o%# to t$# r"g$t, as s$o(n+ If t$# gyros o!# "s not s!"nn"ng, t$#n t$# ($##& f&o!s o%#r, as s$o(n "n t$# %"d#o on t$# !r#%"ous !ag#+ If t$# gyros o!# "s s!"nn"ng, t$"n* a)out ($at $a!!#ns to t$#s# t(o s# t"ons of t$# gyros o!#5 *ewton+s first law of (otion stat#s t$at a )ody "n 'ot"on ont"nu#s to 'o%# at a onstant s!##d a&ong a stra"g$t &"n# un&#ss a t#d u!on )y an un)a&an #d for #+ So t$# to! !o"nt on t$# gyros o!# "s a t#d on )y t$# for # a!!&"#d to t$# a0&# and )#g"ns to 'o%# to(ard t$# &#ft+ It ont"nu#s try"ng to 'o%# &#ft(ard )# aus# of N#(tonLs f"rst &a( of 'ot"on, )ut t$# gyroLs s!"nn"ng rotat#s "t, &"*# t$"s5

's the two points rotate# they continue their (otion%

T$"s #ff# t "s t$# aus# of !r# #ss"on+ T$# d"ff#r#nt s# t"ons of t$# gyros o!# r# #"%# for #s at on# !o"nt )ut t$#n rotat# to n#( !os"t"onsK 6$#n t$# s# t"on at t$# to! of t$# gyro rotat#s H0 d#gr##s to t$# s"d#, "t ont"nu#s "n "ts d#s"r# to 'o%# to t$# &#ft+ T$# sa'# $o&ds tru# for t$# s# t"on at t$# )otto' 33 "t rotat#s H0 d#gr##s to t$# s"d# and "t ont"nu#s "n "ts d#s"r# to 'o%# to t$# r"g$t+ T$#s# for #s rotat# t$# ($##& "n t$# !r# #ss"on d"r# t"on+ As t$# "d#nt"f"#d !o"nts ont"nu# to rotat# H0 'or# d#gr##s, t$#"r or"g"na& 'ot"ons ar# an #&&#d+ So t$# gyros o!#Ls a0&# $angs "n t$# a"r and !r# #ss#s+ 6$#n you &oo* at "t t$"s (ay you an s## t$at !r# #ss"on "snLt 'yst#r"ous at a&& 33 "t "s tota&&y "n *##!"ng ("t$ t$# &a(s of !$ys" sK

,ses of Gyroscopes
T$# #ff# t of a&& t$"s "s t$at, on # you s!"n a gyros o!#, "ts a0&# (ants to *##! !o"nt"ng "n t$# sa'# d"r# t"on+ If you 'ount t$# gyros o!# "n a s#t of gi(bals so t$at "t an ont"nu# !o"nt"ng "n t$# sa'# d"r# t"on, "t ("&&+ T$"s "s t$# )as"s of t$# gyro-co(pass+ If you 'ount t(o gyros o!#s ("t$ t$#"r a0&#s at r"g$t ang&#s to on# anot$#r on a !&atfor', and !&a # t$# !&atfor' "ns"d# a s#t of g"')a&s, t$# !&atfor' ("&& r#'a"n o'!&#t#&y r"g"d as t$# g"')a&s rotat# "n any (ay t$#y !&#as#+ T$"s "s t$"s )as"s of inertial na igation syste(s .INS/+ In an INS, s#nsors on t$# g"')a&sL a0&#s d#t# t ($#n t$# !&atfor' rotat#s+ T$# INS us#s t$os# s"gna&s to und#rstand t$# %#$" &#Ls rotat"ons r#&at"%# to t$# !&atfor'+ If you add to t$# !&atfor' a s#t of t$r## s#ns"t"%# accelero(eters, you an t#&& #0a t&y ($#r# t$# %#$" &# "s $#ad"ng and $o( "ts 'ot"on "s $ang"ng "n a&& t$r## d"r# t"ons+ 6"t$ t$"s "nfor'at"on, an a"r!&an#Ls auto!"&ot an *##! t$# !&an# on ours#, and a ro *#tLs gu"dan # syst#' an "ns#rt t$# ro *#t "nto a d#s"r#d or)"tK Bor 'or# "nfor'at"on on gyros o!#s and t$#"r a!!&" at"ons, $# * out t$# &"n*s on t$# n#0t !ag#K

Bicycle Wheel Gyro

A bicycle wheel acts lI%e a giant gyroscope
In the weightless environment of the space shuttle, the astronauts experimented with a toy gyroscope. Even when an astronaut gave the spinning gyro a shove, the toy's axle stubbornly resisted changing direction. ny rapidly spinning wheel exhibits this gyroscopic

property. spinning bicycle wheel resists efforts to tilt it and point the axle in a new direction. !ou can use this tendency to ta"e yourself for an unexpected spin.

bicycle wheel*+heap or free from a thrift shop# a bi%e store# or your friends., # handles *-lastic handles from a hardware store wor% perfectly and are cheap. Get the %ind of handle that is designed to screw onto a file., low friction rotating stool or platform. *!yping or computer chairs often wor% well., $ptional% Eyebolt& drill& chain or rope suspended from a large stand or a ceiling& spo"e guards. dult help

*./ minutes or less, 0crew the handles onto each side of the wheel1s a le. 2ou may have to remove the outer nuts to clear enough a le for the handles. 2ou may want to put plastic spo%e guards on the hubs first to protect your fingers from the spinning wheel. If you have the eyebolt# drill a hole in the end of one handle for it. 3ount the screw eye in the

hole.

4old the wheel by the handles while another person gets it spinning as fast as possible. 0it on the stool with your feet off the floor# and tilt the wheel. If the stool has sufficiently low friction# the stool should start to turn. !ilt the wheel in the other direction. Get the wheel spinning# and then use the eyebolt in the end of the handle to hang the wheel from a hoo% mounted to the free end of a chain or rope. 4old the wheel so that the a le is hori$ontal# then release it. !he a le will remain more or less hori$ontal while it moves slowly in a circle.

If you don1t have a chain or rope# rest the eyebolt on your fingertips. 'e sure to practice this before you try a demonstration. 2ou will have to move with the wheel as it slowly turns in a circle.

A rotating bicycle wheel has angular momentum# which is a property involving the speed of rotation# the mass of the wheel# and how the mass is distributed. 5or e ample# most of a bicycle wheel1s mass is concentrated along the wheel1s rim# rather than at the center# and this causes a larger angular momentum at a given speed. Angular momentum is characteri$ed by both si$e and direction. !he bicycle wheel# you# and the chair comprise a system that obeys the principle of conservation of angular momentum. !his means that any change in angular momentum within the system must be accompanied by an e"ual and opposite change# so the net effect is $ero. 0uppose you are now sitting on the stool with the bicycle wheel spinning. 6ne way to change the angular momentum of the bicycle wheel is to change its direction. !o do this# you must e ert a twisting force# called a tor"ue# on the wheel. !he bicycle wheel will then e ert an e"ual and opposite tor"ue on you. *!hat1s because for every action there is an e"ual and opposite reaction., !hus# when you twist the bicycle wheel in space# the bicycle wheel will twist you the opposite way. If you are sitting on a low friction pivot# the twisting force of the bicycle wheel will cause you to turn. !he change in angular momentum of the wheel is compensated for by your own change in angular momentum. !he system as a whole ends up obeying the principle of conservation of angular momentum. 7nfortunately# the gyroscopic precession of the wheel hanging from the rope is not e plainable in as straightforward a manner as the rotating stool effect. 4owever# the effect itself is well worth e periencing# even though its e planation is too difficult to underta%e here. 5or more information# consult any college physics te t under precession.

B" y &# and 'otor y &# dyna'" s

.icycle and (otorcycle dyna(ics "s t$# s "#n # of t$# 'ot"on of )" y &#s and 'otor y &#s and t$#"r o'!on#nts, du# to t$# for #sa t"ng on t$#'+ Dyna'" s "s a )ran $ of &ass" a& '# $an" s, ($" $ "n turn "s a )ran $ of !$ys" s+ B"*# 'ot"ons of "nt#r#st "n &ud#)a&an "ng, st##r"ng, )ra*"ng, a ont"nu#s today+M1NM2NM:N #&#rat"ng, sus!#ns"on a t"%at"on, and %")rat"on+ T$# study of t$#s# 'ot"ons )#gan "n t$# &at# 1Ht$ #ntury and

B" y &#s and 'otor y &#s ar# )ot$ s"ng&#3tra * %#$" &#s and so t$#"r 'ot"ons $a%# 'any funda'#nta& attr")ut#s "n o''on and ar# funda'#nta&&y d"ff#r#nt fro' and 'or# d"ff" u&t to study t$an ot$#r ($##&#d %#$" &#s su $ as d" y &#s, tr" y &#s, and 7uadra y &#s+MIN As ("t$ un" y &#s, )"*#s &a * &at#ra& sta)"&"ty ($#n stat"onary, and und#r 'ost "r u'stan #s an on&y r#'a"n u!r"g$t ($#n 'o%"ng for(ard+E0!#r"'#ntat"on and 'at$#'at" a& ana&ys"s $a%# s$o(n t$at a )"*# stays u!r"g$t ($#n "t "s st##r#d to *##! "ts #nt#r of 'ass o%#r "ts ($##&s+ T$"s st##r"ng "s usua&&y su!!&"#d )y a r"d#r, or "n #rta"n "r u'stan #s, )y t$# )"*# "ts#&f+ S#%#ra& fa tors, "n &ud"ng g#o'#try, 'ass d"str")ut"on, and gyros o!" #ff# t a&& ontr")ut# "n %ary"ng d#gr##s to t$"s s#&f3sta)"&"ty, )ut &ong3stand"ng $y!ot$#s#s and &a"'s t$at any s"ng&# #ff# t, su $ as gyros o!" or tra"&, "s so&#&y r#s!ons")&# for t$# sta)"&"E"ng for # $a%# )##n d"s r#d"t#d+M1NM2NM8NMON 6$"&# r#'a"n"ng u!r"g$t 'ay )# t$# !r"'ary goa& of )#g"nn"ng r"d#rs, a )"*# 'ust &#an "n ord#r to 'a"nta"n )a&an # "n a turn5 t$# $"g$#r t$# s!##d or s'a&&#r t$# turn rad"us, t$# 'or# &#an "s r#7u"r#d+ T$"s )a&an #s t$# ro&& tor7u# a)out t$# ($##& onta t !at $#s g#n#rat#d )y #ntr"fuga& for # du# to t$# turn ("t$ t$at of t$# gra%"tat"ona& for #+ T$"s &#an "s usua&&y !rodu #d )y a 'o'#ntary st##r"ng "n t$# o!!os"t# d"r# t"on, a&&#d ount#rst##r"ng+ Count#rst##r"ng s*"&& "s usua&&y a 7u"r#d )y 'otor &#arn"ng and #0# ut#d %"a !ro #dura& '#'ory rat$#r t$an )y ons "ous t$oug$t+ 4n&"*# ot$#r ($##&#d %#$" &#s, t$# !r"'ary ontro& "n!ut on )"*#s "s st##r"ng tor7u#, not !os"t"on+M=N A&t$oug$ &ong"tud"na&&y sta)&# ($#n stat"onary, )"*#s oft#n $a%# a $"g$ #noug$ #nt#r of 'ass and a s$ort #noug$ ($##&)as# to &"ft a ($##& off t$# ground und#r suff" "#nt a #&#rat"on or d# #&#rat"on+ 6$#n )ra*"ng, d#!#nd"ng on t$# &o at"on of t$# o')"n#d #nt#r of 'ass of t$# )"*# and r"d#r ("t$ r#s!# t to t$# !o"nt ($#r# t$# front ($##& onta ts t$# ground, )"*#s an #"t$#r s*"d t$# front ($##& or f&"! t$# )"*# and r"d#r o%#r t$# front ($##&+ A s"'"&ar s"tuat"on "s !oss")&# ($"&# a #&#rat"ng, )ut ("t$ r#s!# t to t$# r#ar ($##&

Forces
If t$# )"*# and r"d#r ar# ons"d#r#d to )# a s"ng&# syst#', t$# for #s t$at a t on t$at syst#' and "ts o'!on#nts an )# roug$&y d"%"d#d "nto t(o grou!s5 "nt#rna& and #0t#rna&+ T$# #0t#rna& for #s ar# du# to gra%"ty, "n#rt"a, onta t ("t$ t$# ground, and onta t ("t$ t$# at'os!$#r#+ T$# "nt#rna& for #s ar# aus#d )y t$# r"d#r and )y "nt#ra t"on )#t(##n o'!on#nts+

E0t#rna& for #s on a )"*# and r"d#r &#an"ng "n a turn5 gra%"ty "n gr##n, drag "n )&u#, %#rt" a& ground r#a t"on "n r#d, n#t !ro!u&s"%# and ro&&"ng r#s"stan # "n y#&&o(, fr" t"on "n r#s!ons# to turn "n orang#, and n#t tor7u#s on front ($##& "n 'ag#nta+

/edit01$ternal

forces

As ("t$ a&& 'ass#s, gra%"ty !u&&s t$# r"d#r and a&& t$# )"*# o'!on#nts to(ard t$# #art$+ At #a $ t"r# onta t !at $ t$#r# ar# ground r#a t"on for #s ("t$ )ot$ $or"Eonta& and %#rt" a& o'!on#nts+ T$# %#rt" a& o'!on#nts 'ost&y ount#ra t t$# for # of gra%"ty, )ut a&so %ary ("t$ )ra*"ng and a #&#rat"ng+ Bor d#ta"&s, s## t$# s# t"on on longitudinal stability )#&o(+ T$# $or"Eonta& o'!on#nts, du# tofr" t"on )#t(##n t$# ($##&s and t$# ground, "n &ud"ng ro&&"ng r#s"stan #, ar# "n r#s!ons# to !ro!u&s"%# for #s, )ra*"ng for #s, and turn"ng for #s+ A#rodyna'" for #s du# to t$# at'os!$#r# ar# 'ost&y "n t$# for' of drag, )ut an a&so )# fro' ross("nds+ At nor'a& )" y &"ng s!##ds on &#%#& ground, a#rodyna'" drag "s t$# &arg#st for # r#s"st"ng for(ard 'ot"on+M28N51== At fast#r s!##d, a#rodyna'" drag )# o'#s o%#r($#&'"ng&y t$# &arg#st for # r#s"st"ng for(ard 'ot"on+ Turn"ng for #s ar# g#n#rat#d dur"ng 'an#u%#rs for )a&an "ng "n add"t"on to -ust $ang"ng d"r# t"on of tra%#&+ T$#s# 'ay )# "nt#r!r#t#d as #ntr"fuga& for #s "n t$# a #&#rat"ng r#f#r#n # fra'# of t$# )"*# and r"d#r1 or s"'!&y as "n#rt"a "n a stat"onary, "n#rt"a& r#f#r#n # fra'#and not for #s at a&&+ Gyroscopic for #s a t"ng on rotat"ng !arts su $ as ($##&s, #ng"n#, trans'"ss"on, #t +, ar# a&so du# to t$# "n#rt"a of t$os# rotat"ng !arts+ T$#y ar# d"s uss#d furt$#r "n t$# s# t"on on gyros o!" #ff# ts )#&o(+ /edit0"nternal

forces

Int#rna& for #s, t$os# )#t(##n o'!on#nts of t$# )"*# and r"d#r syst#', ar# 'ost&y aus#d )y t$# r"d#r or )y fr" t"on+ In add"t"on to !#da&"ng, t$# r"d#r an a!!&y tor7u#s )#t(##n t$# st##r"ng '# $an"s' .front for*, $and&#)ars, front ($##&, #t +/ and r#ar fra'#, and )#t(##n t$# r"d#r and t$# r#ar fra'#+ Br" t"on #0"sts )#t(##n any !arts t$at 'o%# aga"nst #a $ ot$#r5 "n t$# dr"%# tra"n, )#t(##n t$# st##r"ng '# $an"s' and t$# r#ar fra'#, #t + In add"t"on to )ra*#s, ($" $ r#at# fr" t"on )#t(##n rotat"ng ($##&s and non3rotat"ng fra'# !arts, 'any )"*#s $a%# front and r#ar sus!#ns"ons, and so'# 'otor y &#s $a%# a st##r"ng da'!#r to d"ss"!at# und#s"ra)&# *"n#t" #n#rgy+M1IN An )"*#s ("t$ r#ar sus!#ns"ons, f##d)a * )#t(##n t$# dr"%# tra"n and t$# sus!#ns"on "s an "ssu# d#s"gn#rs att#'!t to $and&# ("t$ %ar"ous &"n*ag# onf"gurat"ons and da'!#rs+M2ON

Motions
Mot"ons of a )"*# an )# roug$&y grou!#d "nto t$os# out of t$# #ntra& !&an# of sy''#try5 &at#ra&1 and t$os# "n t$# #ntra& !&an# of sy''#try5 &ong"tud"na& or %#rt" a&+ Gat#ra& 'ot"ons "n &ud# )a&an "ng, &#an"ng, st##r"ng, and turn"ng+ Mot"ons "n t$# #ntra& !&an# of sy''#try "n &ud# ro&&"ng for(ard, of ours#, )ut a&so sto!!"#s, ($##&"#s, )ra*# d"%"ng, and 'ost sus!#ns"on a t"%at"on+ Mot"ons "n t$#s# t(o grou!s ar# &"n#ar&y d# ou!&#d, t$at "s t$#y do not "nt#ra t ("t$ #a $ ot$#r to t$# f"rst ord#r+M2N An un ontro&&#d )"*# "s &at#ra&&y unsta)&# ($#n stat"onary and an )# &at#ra&&y s#&f3sta)&# ($#n 'o%"ng und#r t$# r"g$t ond"t"ons or ($#n ontro&&#d )y a r"d#r+ Con%#rs#&y, a )"*# "s &ong"tud"na&&y sta)&# ($#n stat"onary and an )# &ong"tud"na&&y unsta)&# ($#n und#rgo"ng suff" "#nt a [edit]Lateral #&#rat"on or d# #&#rat"on+

dynamics

Af t$# t(o, &at#ra& dyna'" s $as !ro%#n to )# t$# 'or# o'!&" at#d, r#7u"r"ng t$r##3d"'#ns"ona&, 'u&t")ody dyna'" ana&ys"s ("t$ at &#ast t(o g#n#ra&"E#d oord"nat#s to ana&yE#+ At a '"n"'u', t(o ou!&#d, s# ond3ord#r d"ff#r#nt"a& #7uat"ons ar# r#7u"r#d to a!tur# t$# !r"n "!a& 'ot"ons+
M2N

E0a t so&ut"ons ar# not !oss")&#, and nu'#r" a& '#t$ods 'ust )# us#d "nst#ad+M2N Co'!#t"ng t$#or"#s of $o( )"*#s )a&an # an st"&& )# found "n !r"nt o'!&"s$#d s"'!&y ("t$ !&anar *"n#t" s and -ust

and on&"n#+ An t$# ot$#r $and, as s$o(n "n &at#r s# t"ons, 'u $ &ong"tud"na& dyna'" ana&ys"s an )# a on# oord"nat#+

/edit0.alance

Ba&an "ng a )" y &# )y *##!"ng t$# ($##&s und#r t$# #nt#r of 'ass

A )"*# r#'a"ns u!r"g$t ($#n "t "s st##r#d so t$at t$# ground r#a t"on for #s #0a t&y )a&an # a&& t$# ot$#r "nt#rna& and #0t#rna& for #s "t #0!#r"#n #s, su $ as gra%"tat"ona& "f &#an"ng, "n#rt"a& or #ntr"fuga& "f "n a turn, gyros o!" "f )#"ng st##r#d, and a#rodyna'" "f "n a ross("nd+ M28NSt##r"ng 'ay )# su!!&"#d )y a r"d#r or, und#r #rta"n "r u'stan #s, )y t$# )"*# "ts#&f+ T$"s s#&f3sta)"&"ty "s g#n#rat#d )y a o')"nat"on of s#%#ra& #ff# ts t$at d#!#nd on t$# g#o'#try, 'ass d"str")ut"on, and for(ard s!##d of t$# )"*#+ T"r#s, sus!#ns"on, st##r"ng da'!"ng, and fra'# f&#0 an a&so "nf&u#n # "t, #s!# "a&&y "n 'otor y &#s+ E%#n ($#n stay"ng r#&at"%#&y 'ot"on&#ss, a r"d#r an )a&an # a )"*# )y t$# sa'# !r"n "!&#+ 6$"&# !#rfor'"ng a tra * stand, t$# r"d#r an *##! t$# &"n# )#t(##n t$# t(o onta t !at $#s und#r t$# o')"n#d #nt#r of 'ass )y st##r"ng t$# front ($##& to on# s"d# or t$# ot$#r and t$#n 'o%"ng for(ard and )a *(ard s&"g$t&y to 'o%# t$# front onta t !at $ fro' s"d# to s"d# as n# #ssary+ Bor(ard 'ot"on an )# g#n#rat#d s"'!&y )y !#da&"ng+ Ba *(ards 'ot"on an )# g#n#rat#d t$# sa'# (ay on a f"0#d3g#ar )" y &#+ At$#r("s#, t$# r"d#r an ta*# ad%antag# of an o!!ortun# s&o!# of t$# !a%#'#nt or &ur $ t$# u!!#r )ody )a *(ards ($"&# t$# )ra*#s ar# 'o'#ntar"&y #ngag#d+ M2=N If t$# st##r"ng of a )"*# "s &o *#d, "t )# o'#s %"rtua&&y "'!oss")&# to )a&an # ($"&# r"d"ng+ An t$# ot$#r $and, "f t$# gyros o!" #ff# t of rotat"ng )"*# ($##&s "s an #&&#d )y add"ng ount#r3rotat"ng ($##&s, "t "s st"&& #asy to )a&an # ($"&# r"d"ng+ M2NM8N An# ot$#r (ay t$at a )"*# an )# )a&an #d, ("t$ or ("t$out &o *#d st##r"ng, "s )y a!!&y"ng a!!ro!r"at# tor7u#s )#t(##n t$# )"*# and r"d#r s"'"&ar to t$# (ay a gy'nast an s("ng u! fro' $ang"ng stra"g$t do(n on un#%#n !ara&&#& )ars, a !#rson an start s("ng"ng on a s("ng fro' r#st )y !u'!"ng t$#"r &#gs, or a dou)&# "n%#rt#d !#ndu&u' an )# ontro&&#d ("t$ an a tuator on&y at t$# #&)o(+M2HN /edit02orward

speed

T$# r"d#r a!!&"#s tor7u# to t$# $and&#)ars "n ord#r to turn t$# front ($##& and so to ontro& &#an and 'a"nta"n )a&an #+ At $"g$ s!##ds, s'a&& st##r"ng ang&#s 7u" *&y 'o%# t$# ground onta t !o"nts &at#ra&&y1 at &o( s!##ds, &arg#r st##r"ng ang&#s ar# r#7u"r#d to a $"#%# t$# sa'# r#su&ts "n t$# sa'# a'ount of t"'#+ B# aus# of t$"s, "t "s usua&&y #as"#r to 'a"nta"n )a&an # at $"g$ s!##ds+ M:0N /edit0)enter

of (ass location

T$# fart$#r for(ard . &os#r to front ($##&/ t$# #nt#r of 'ass of t$# o')"n#d )"*# and r"d#r, t$# &#ss t$# front ($##& $as to 'o%# &at#ra&&y "n ord#r to 'a"nta"n )a&an #+ Con%#rs#&y, t$# furt$#r )a * . &os#r to t$# r#ar ($##&/ t$# #nt#r of 'ass "s &o at#d, t$# 'or# front ($##& &at#ra& 'o%#'#nt or )"*# for(ard 'ot"on ("&& )# r#7u"r#d to r#ga"n )a&an #+ T$"s an )# not" #a)&# on &ong3($##&)as# r# u')#nts and $o!!#rs+ It an a&so )# an "ssu#

for tour"ng )"*#s ("t$ a $#a%y &oad of g#ar o%#r or #%#n )#$"nd t$# r#ar ($##&+ M:1N Mass o%#r t$# r#ar ($##& an )# 'or# #as"&y ontro&&#d "f "t "s &o(#r t$an 'ass o%#r t$# front ($##&+M11N A )"*# "s a&so an #0a'!&# of an "n%#rt#d !#ndu&u'+ Pust as a )roo'st" * "s #as"#r to )a&an # t$an a !#n "&, a ta&& )"*# .("t$ a $"g$ #nt#r of 'ass/ an )# #as"#r to )a&an # ($#n r"dd#n t$an a &o( on# )# aus# "ts &#an rat# ("&& )# s&o(#r+ M:2N Ho(#%#r, a r"d#r an $a%# t$# o!!os"t# "'!r#ss"on of a )"*# ($#n "t "s stat"onary+ A to!3$#a%y )"*# an r#7u"r# 'or# #ffort to *##! u!r"g$t, ($#n sto!!#d "n traff" for #0a'!&#, t$an a )"*# ($" $ "s -ust as ta&& )ut ("t$ a &o(#r #nt#r of 'ass+ T$"s "s an #0a'!&# of a %#rt" a& s# ond3 &ass &#%#r+ A s'a&& for # at t$# #nd of t$# &#%#r, t$# s#at or $and&#)ars at t$# to! of t$# )"*#, 'or# #as"&y 'o%#s a &arg# 'ass "f t$# 'ass "s &os#r to t$# fu& ru', ($#r# t$# t"r#s tou $ t$# ground+ T$"s "s ($y tour"ng y &"sts ar# ad%"s#d to arry &oads &o( on a )"*#, and !ann"#rs $ang do(n on #"t$#r s"d# of front and r#ar ra *s+M::N /edit0Trail

B" y &# $#ad ang&#, ra*#, and tra"&

A fa tor t$at "nf&u#n #s $o( #asy or d"ff" u&t a )"*# ("&& )# to r"d# "s trail, t$# d"stan # t$at t$# front ($##& ground onta t !o"nt tra"&s )#$"nd t$# st##r"ng a0"s ground onta t !o"nt+ T$# st##r"ng a0"s "s t$# a0"s a)out ($" $ t$# #nt"r# st##r"ng '# $an"s' .for*, $and&#)ars, front ($##&, #t +/ !"%ots+ In trad"t"ona& )"*# d#s"gns, ("t$ a st##r"ng a0"s t"&t#d )a * fro' t$# %#rt" a&, !os"t"%# tra"& t#nds to st##r t$# front ($##& "nto t$# d"r# t"on of a &#an, "nd#!#nd#nt of for(ard s!##d+ M28N T$"s an )# s"'u&at#d )y !us$"ng a stat"onary )"*# to on# s"d#+ T$# front ($##& ("&& usua&&y a&so st##r to t$at s"d#+ In a &#an, gra%"ty !ro%"d#s t$"s for #+ T$# dyna'" s of a 'o%"ng )"*# ar# 'or# o'!&" at#d, $o(#%#r, and ot$#r fa tors an ontr")ut# to or d#tra t fro' t$"s #ff# t+M1N Tra"& "s a fun t"on of $#ad ang&#, for* offs#t or ra*#, and ($##& s"E#+ T$#"r r#&at"ons$"! an )# d#s r")#d )y t$"s for'u&a5 M:IN

($#r#

"s ($##& rad"us,

"s t$# $#ad ang&# '#asur#d &o *3("s# fro' t$# $or"Eonta& and

"s t$# for* offs#t or ra*#+ Tra"& an )#

"n r#as#d )y "n r#as"ng t$# ($##& s"E#, d# r#as"ng or s&a *#n"ng t$# $#ad ang&#, or d# r#as"ng t$# for* ra*#+ T$# 'or# tra"& a trad"t"ona& )"*# $as, t$# 'or# sta)&# "t f##&s, M:2N a&t$oug$ too 'u $ tra"& an 'a*# a )"*# f##& d"ff" u&t to st##r+ B"*#s ("t$ n#gat"%# tra"& .($#r# t$# onta t !at $ "s a tua&&y "n front of ($#r# t$# st##r"ng a0"s "nt#rs# ts t$# ground/, ($"&# st"&& r"da)&#, ar# r#!ort#d to f##& %#ry unsta)&#+ Nor'a&&y, road ra "ng )" y &#s $a%# 'or# tra"& t$an 'ounta"n )"*#s or tour"ng )"*#s+ In t$# as# of 'ounta"n )"*#s, &#ss tra"& a&&o(s 'or# a urat# !at$ s#&# t"on off3road, and a&so a&&o(s t$# r"d#r to r# o%#r fro' o)sta &#s on t$# tra"& ($" $ '"g$t *no * t$# front ($##& off ours#+ Tour"ng )"*#s ar# )u"&t ("t$ s'a&& tra"& to a&&o( t$# r"d#r to ontro& a )"*# (#"g$#d do(n ("t$ )aggag#+ As a ons#7u#n #, an un&oad#d tour"ng )"*# an f##& unsta)&#+ In )" y &#s, for* ra*#, oft#n a ur%# "n t$# for* )&ad#s for(ard of t$# st##r"ng a0"s, "s us#d to d"'"n"s$ tra"&+ M:8N B"*#s ("t$ n#gat"%# tra"& #0"st, su $ as t$# @yt$on Go(ra #r, and ar# r"da)&#, and an #0!#r"'#nta& )"*# ("t$ n#gat"%# tra"& $as )##n s$o(n to )# s#&f3 sta)&#+M1N In 'otor y &#s, ra*# r#f#rs to t$# $#ad ang&# "nst#ad, and offs#t r#at#d )y t$# tr"!&# tr## "s us#d to d"'"n"s$ tra"&+M:ON A s'a&& sur%#y )y 6$"tt and 6"&sonM28N found5

tour"ng )" y &#s ("t$ $#ad ang&#s )#t(##n O2Q and O:Q and tra"& )#t(##n I: '' and 80 '' ra "ng )" y &#s ("t$ $#ad ang&#s )#t(##n O:Q and OIQ and tra"& )#t(##n 2= '' and I2 '' tra * )" y &#s ("t$ $#ad ang&#s of O2Q and tra"& )#t(##n 2:+2 '' and :O ''+

Ho(#%#r, t$#s# rang#s ar# not $ard and fast+ Bor #0a'!&#, G#Mond Ra "ng Cy &#s off#rs and t$# sa'# s"E# ($##&s5

M:=N

)ot$ ("t$ for*s t$at $a%# I2 '' of offs#t or ra*#

a 2008 T#t# d# Cours#, d#s"gn#d for road ra "ng, ("t$ a $#ad ang&# t$at %ar"#s fro' O1RQ to OIQ, d#!#nd"ng on fra'# s"E#, and t$us tra"& t$at %ar"#s fro' 21+2 '' to 8H ''+ a 200O B"&'or#, d#s"gn#d for t$# tra *, ("t$ a $#ad ang&# t$at %ar"#s fro' O2SQ to OIQ, d#!#nd"ng on fra'# s"E#, and t$us tra"& t$at %ar"#s fro' 21+2 '' to 81 ''+

T$# a'ount of tra"& a !art" u&ar )"*# $as 'ay %ary ("t$ t"'# for s#%#ra& r#asons+ An )"*#s ("t$ front sus!#ns"on, #s!# "a&&y t#&#s o!" for*s, o'!r#ss"ng t$# front sus!#ns"on, du# to $#a%y )ra*"ng for #0a'!&#, an st##!#n t$# st##r"ng a0"s ang&# and r#du # tra"&+ Tra"& a&so %ar"#s ("t$ &#an ang&#, and st##r"ng ang&#, usua&&y d# r#as"ng fro' a 'a0"'u' ($#n t$# )"*# "s stra"g$t u!r"g$t and st##r#d stra"g$t a$#ad+ M:HN Tra"& an d# r#as# to E#ro ("t$ suff" "#nt&y &arg# &#an and st##r ang&#s, ($" $ an a&t#r $o( sta)&# a )"*# f##&s+ M11N B"na&&y, #%#n t$# !rof"&# of t$# front t"r# an "nf&u#n # $o( tra"& %ar"#s as t$# )"*# "s &#an#d and st##r#d+ A '#asur#'#nt s"'"&ar to tra"&, a&&#d #"t$#r (echanical trail , nor(al trail, or true trail,MI0N "s t$# perpendicular d"stan # fro' t$# st##r"ng a0"s to t$# #ntro"d of t$# front ($##& onta t !at $+ /edit0Wheelbase A fa tor t$at "nf&u#n #s t$# d"r# t"ona& sta)"&"ty of a )"*# "s wheelbase, t$# $or"Eonta& d"stan # )#t(##n t$# ground onta t !o"nts of t$# front and r#ar ($##&s+ Bor a g"%#n d"s!&a #'#nt of t$# front ($##&, du# to so'# d"stur)an #, t$# ang&# of t$# r#su&t"ng !at$ fro' t$# or"g"na& "s "n%#rs#&y !ro!ort"ona& to ($##&)as#+MHN A&so, t$# rad"us of ur%atur# for a g"%#n st##r ang&# and &#an ang&# "s !ro!ort"ona& to t$# ($##&)as#+ MHN B"na&&y, t$# ($##&)as# "n r#as#s ($#n t$# )"*# "s &#an#d and st##r#d+ In t$# #0tr#'#, ($#n t$# &#an ang&# "s H0T, and t$# )"*# "s st##r#d "n t$# d"r# t"on of t$at &#an, t$# ($##&)as# "s "n r#as#d )y t$# rad"us of t$# front and r#ar ($##&s+ M11NMclarification neededN /edit0Steering

(echanis( (ass distribution

Anot$#r fa tor t$at an a&so ontr")ut# to t$# s#&f3sta)"&"ty of trad"t"ona& )"*# d#s"gns "s t$# d"str")ut"on of 'ass "n t$# st##r"ng '# $an"s', ($" $ "n &ud#s t$# front ($##&, t$# for*, and t$# $and&#)ar+ If t$# #nt#r of 'ass for t$# st##r"ng '# $an"s' "s "n front of t$# st##r"ng a0"s, t$#n t$# !u&& of gra%"ty ("&& a&so aus# t$# front ($##& to st##r "n t$# d"r# t"on of a &#an+ T$"s an )# s##n )y &#an"ng a stat"onary )"*# to on# s"d#+ T$# front ($##& ("&& usua&&y a&so st##r to t$at s"d# "nd#!#nd#nt of any "nt#ra t"on ("t$ t$# ground+ MI1N Add"t"ona& !ara'#t#rs, su $ as t$# for#3to3aft !os"t"on of t$# #nt#r of 'ass and t$# #&#%at"on of t$# #nt#r of 'ass a&so ontr")ut# to t$# dyna'" )#$a%"or of a )"*#+ M28NMI1N /edit0Gyroscopic

effects

Jyros o!" #ff# t on front ($##& of a )"*#+ A!!&y"ng a tor7u# ."n gr##n/ a)out t$# &#an a0"s r#su&ts "n a r#a t"on tor7u# ."n )&u#/ a)out t$# st##r a0"s+

T$# ro&# of t$# gyros o!" #ff# t "n 'ost )"*# d#s"gns "s to $#&! st##r t$# front ($##& "nto t$# d"r# t"on of a &#an+ T$"s !$#no'#non "s a&&#dprecession and t$# rat# at ($" $ an o)-# t !r# #ss#s "s "n%#rs#&y !ro!ort"ona& to "ts rat# of s!"n+ T$# s&o(#r a front ($##& s!"ns, t$# fast#r "t ("&& !r# #ss ($#n t$# )"*# &#ans, and %" #3%#rsa+ MI2N T$# r#ar ($##& "s !r#%#nt#d fro' !r# #ss"ng as t$# front ($##& do#s )y fr" t"on of t$# t"r#s on t$# ground, and so ont"nu#s to &#an as t$oug$ "t (#r# not s!"nn"ng at a&&+ H#n # gyros o!" for #s do not !ro%"d# any r#s"stan # to t"!!"ng+ MI:N

At &o( for(ard s!##ds, t$# !r# #ss"on of t$# front ($##& "s too 7u" *, ontr")ut"ng to an un ontro&&#d )"*#,s t#nd#n y to o%#rst##r, start to &#an t$# ot$#r (ay and #%#ntua&&y os "&&at# and fa&& o%#r+ At $"g$ for(ard s!##ds, t$# !r# #ss"on "s usua&&y too s&o(, ontr")ut"ng to an un ontro&&#d )"*#,s t#nd#n y to und#rst##r and #%#ntua&&y fa&& o%#r ("t$out #%#r $a%"ng r#a $#d t$# u!r"g$t !os"t"on+ M11N T$"s "nsta)"&"ty "s %#ry s&o(, on t$# ord#r of s# onds, and "s #asy for 'ost r"d#rs to ount#ra t+ T$us a fast )"*# 'ay f##& sta)&# #%#n t$oug$ "t "s a tua&&y not s#&f3sta)&# and (ou&d fa&& o%#r "f "t (#r# un ontro&&#d+ Anot$#r ontr")ut"on of gyros o!" #ff# ts "s a ro&& 'o'#nt g#n#rat#d )y t$# front ($##& dur"ng ount#rst##r"ng+ Bor #0a'!&#, st##r"ng &#ft aus#s a 'o'#nt to t$# r"g$t+ T$# 'o'#nt "s s'a&& o'!ar#d to t$# 'o'#nt g#n#rat#d )y t$# out3tra *"ng front ($##&, )ut )#g"ns as soon as t$# r"d#r a!!&"#s tor7u# to t$# $and&#)ars and so an )# $#&!fu& "n 'otor y &# ra "ng+MHN Bor 'or# d#ta"&, s## t$# ount#rst##r"ng art" &#+ /edit0Self-stability B#t(##n t$# t(o unsta)&# r#g"'#s '#nt"on#d "n t$# !r#%"ous s# t"on, and "nf&u#n #d )y a&& t$# fa tors d#s r")#d a)o%# t$at ontr")ut# to )a&an # .tra"&, 'ass d"str")ut"on, gyros o!" #ff# ts, #t +/, t$#r# 'ay )# a rang# of for(ard s!##ds for a g"%#n )"*# d#s"gn at ($" $ t$#s# #ff# ts st##r an un ontro&&#d )"*# u!r"g$t+ M2N It $as )##n !ro%#n t$at n#"t$#r gyros o!" #ff# ts nor !os"t"%# tra"& ar# suff" "#nt )y t$#'s#&%#s or n# #ssary for s#&f3sta)"&"ty, a&t$oug$ t$#y #rta"n&y an #n$an # $ands3fr## ontro&+ M1N Ho(#%#r, #%#n ("t$out s#&f3sta)"&"ty a )"*# 'ay )# r"dd#n )y st##r"ng "t to *##! "t o%#r "ts ($##&s+ M8N Not# t$at t$# #ff# ts '#nt"on#d a)o%# t$at (ou&d o')"n# to !rodu # s#&f3sta)"&"ty 'ay )# o%#r($#&'#d )y add"t"ona& fa tors su $ as $#ads#t fr" t"on and st"ff ontro& a)&#s+
M28N

T$"s %"d#o s$o(s a r"d#r&#ss )" y &# #0$")"t"ng s#&f3sta)"&"ty+

/edit03ongitudinal Gong"tud"na& a

acceleration
#&#rat"on #&"'"nat#s #&#rat"on .d# #&#rat"on/ $ang#s t$# s!##ds of s#&f sta)"&"ty+ M10N

#&#rat"on $as )##n s$o(n to $a%# a &arg# and o'!&#0 #ff# t on &at#ra& dyna'" s+ In on# study, !os"t"%# a

s#&f sta)"&"ty, and n#gat"%# a /edit0Turning

Motor y &#s &#an"ng "n a turn+

T$# for #s, )ot$ !$ys" a& and "n#rt"a&, a t"ng on a &#an"ng )"*# "n t$# rotat"ng r#f#r#n # fra'# of a turn ($#r# N "s t$# nor'a& for #,Ff "s fr" t"on, m "s 'ass, r "s turn rad"us, v "s for(ard s!##d, and g "s t$# a #&#rat"on of gra%"ty+

Jra!$ of )"*# &#an ang&# %s for(ard s!##d, assu'"ng un&"'"t#d fr" t"on )#t(##n t"r#s and ground+

Cy &"st r"d"ng ("t$ no $ands on t$# $and&#)ars+

In ord#r for a )"*# to turn, t$at "s, $ang# "ts d"r# t"on of for(ard tra%#&, t$# front ($##& 'ust a"' a!!ro0"'at#&y "n t$# d#s"r#d d"r# t"on, as ("t$ any front3($##& st##r#d %#$" &#+ Br" t"on )#t(##n t$# ($##&s and t$# ground t$#n g#n#rat#s t$# #ntr"!#ta& a roug$&y a!!ro0"'at#d, for s'a&& st##r"ng ang&#s, )y5 #&#rat"onn# #ssary to a&t#r t$# ours# fro' stra"g$t a$#ad as a o')"nat"on of orn#r"ng for # and a')#r t$rust+ T$# rad"us of t$# turn of an u!r"g$t .not &#an"ng/ )"*# an )#

($#r#

"s t$# a!!ro0"'at# rad"us,

"s t$# ($##&)as#,

"s t$# st##r ang&#, and

"s t$# ast#r ang&# of t$# st##r"ng a0"s+MHN

/edit03eaning Ho(#%#r, un&"*# ot$#r ($##&#d %#$" &#s, )"*#s 'ust a&so &#an dur"ng a turn to )a&an # t$# r#&#%ant for #s5 gra%"tat"ona&, "n#rt"a&, fr" t"ona&, and ground su!!ort+ T$# ang&# of &#an, , an #as"&y )# a& u&at#d us"ng t$# &a(s of "r u&ar 'ot"on5

($#r# v "s t$# for(ard s!##d, r "s t$# rad"us of t$# turn and g "s t$# a and turn rad"us+M:HN

#&#rat"on of gra%"ty+MI2N T$"s "s "n t$# "d#a&"E#d as#+ A s&"g$t

"n r#as# "n t$# &#an ang&# 'ay )# r#7u"r#d on 'otor y &#s to o'!#nsat# for t$# ("dt$ of 'od#rn t"r#s at t$# sa'# for(ard s!##d

Bor #0a'!&#, a )"*# "n a 10 ' .:: ft/ rad"us st#ady3stat# turn at 10 '9s .:8 *'9$, 22 '!$/ 'ust )# at an ang&# of I2+8Q+ A r"d#r an &#an ("t$ r#s!# t to t$# )"*# "n ord#r to *##! #"t$#r t$# torso or t$# )"*# 'or# or &#ss u!r"g$t "f d#s"r#d+ T$# ang&# t$at 'att#rs "s t$# on# )#t(##n t$# $or"Eonta& !&an# and t$# !&an# d#f"n#d )y t$# t"r# onta ts and t$# &o at"on of t$# #nt#r of 'ass of )"*# and r"d#r+ T$"s &#an of t$# )"*# d# r#as#s t$# a tua& rad"us of t$# turn !ro!ort"ona&&y to t$# os"n# of t$# &#an ang&#+ T$# r#su&t"ng rad"us an )# roug$&y a!!ro0"'at#d .("t$"n 2U of #0a t %a&u#/ )y5

($#r# r "s t$# a!!ro0"'at# rad"us, w "s t$# ($##&)as#, "s t$# &#an ang&#, "s t$# st##r ang&#, and "s t$# ast#r ang&# of t$# st##r"ng a0"s+MHN As a )"*# &#ans, t$# t"r#sL onta t !at $#s 'o%# fart$#r to t$# s"d# aus"ng (#ar+ T$# !ort"ons at #"t$#r #dg# of a 'otor y &# t"r# t$at r#'a"n un(orn )y &#an"ng "nto turns "s so'#t"'#s r#f#rr#d to as $" *#n str"!s+ T$# f"n"t# ("dt$ of t$# t"r#s a&t#rs t$# a tua& &#an ang&# of t$# r#ar fra'# fro' t$# "d#a& &#an ang&# d#s r")#d a)o%#+ T$# a tua& &#an ang&# )#t(##n t$# fra'# and t$# %#rt" a& 'ust "n r#as# ("t$ t"r# ("dt$ and d# r#as# ("t$ #nt#r of 'ass $#"g$t+ B"*#s ("t$ fat t"r#s and &o( #nt#r of 'ass 'ust &#an 'or# t$an )"*#s ("t$ s*"nn"#r t"r#s or $"g$#r #nt#rs of 'ass to n#got"at# t$# sa'# turn at t$# sa'# s!##d+MHN T$# "n r#as# "n &#an ang&# du# to a t"r# t$" *n#ss of 2 t an )# a& u&at#d as

($#r# "s t$# "d#a& &#an ang&#, and h "s t$# $#"g$t of t$# #nt#r of 'ass+MHN Bor #0a'!&#, a 'otor y &# ("t$ a 12 "n $ ("d# r#ar t"r# ("&& $a%# t ; 8 "n $#s+ If t$# o')"n#d )"*# and r"d#r #nt#r of 'ass "s at a $#"g$t of 28 "n $#s, t$#n a 22Q &#an 'ust )# "n r#as#d )y O+2=Q5 a n#ar&y :0U "n r#as#+ If t$# t"r#s ar# on&y 8 "n $#s ("d#, t$#n t$# &#an ang&# "n r#as# "s on&y :+18Q, -ust und#r $a&f+ /edit0)ountersteering Main article: ountersteering

In ord#r to "n"t"at# a turn and t$# n# #ssary &#an "n t$# d"r# t"on of t$at turn, a )"*# 'ust 'o'#ntar"&y st##r "n t$# o!!os"t# d"r# t"on+ T$"s "s oft#n r#f#rr#d to as ount#rst##r"ng+ 6"t$ t$# front ($##& no( at a f"n"t# ang&# to t$# d"r# t"on of 'ot"on, a &at#ra& for # "s d#%#&o!#d at t$# onta t !at $ of t$# t"r#+ T$"s for # r#at#s a tor7u# around t$# &ong"tud"na& .ro&&/ a0"s of t$# )"*#+ T$"s tor7u# aus#s t$# )"*# to ro&& "n t$# o!!os"t# d"r# t"on of t$# turn+ 6$#r# t$#r# "s no #0t#rna& "nf&u#n #, su $ as an o!!ortun# s"d# ("nd to r#at# t$# for # n# #ssary to &#an t$# )"*#, ount#rst##r"ng "s n# #ssary to "n"t"at# a ra!"d turn+MI2N 6$"&# t$# "n"t"a& st##r tor7u# and st##r ang&# ar# )ot$ o!!os"t# t$# d#s"r#d turn d"r# t"on, t$"s 'ay not )# t$# as# to 'a"nta"n a st#ady3stat# turn+ T$# susta"n#d st##r ang&# "s usua&&y "n t$# sa'# d"r# t"on as t$# turn, )ut 'ay r#'a"n o!!os"t# to t$# d"r# t"on of t$# turn, #s!# "a&&y at $"g$ s!##ds+ MIIN T$# susta"n#d st##r tor7u# r#7u"r#d to 'a"nta"n t$at st##r ang&# "s usua&&y o!!os"t# t$# turn d"r# t"on+ MI2N T$# a tua& 'agn"tud# and or"#ntat"on of )ot$ t$# susta"n#d st##r ang&# and susta"n#d st##r tor7u# of a !art" u&ar )"*# "n a !art" u&ar turn d#!#nd on for(ard s!##d, )"*# g#o'#try, t"r# !ro!#rt"#s, and o')"n#d )"*# and r"d#r 'ass d"str")ut"on+ M22N An # "n a turn, t$# rad"us an on&y )# $ang#d ("t$ an a!!ro!r"at# $ang# "n &#an ang&#, and t$"s an )# a o'!&"s$#d )y add"t"ona& ount#rst##r"ng out of t$# turn to "n r#as# &#an and d# r#as# rad"us, t$#n "nto t$# turn to d# r#as# &#an and "n r#as# rad"us+ To #0"t t$# turn, t$# )"*# 'ust aga"n ount#rst##r, 'o'#ntar"&y st##r"ng 'or# "nto t$# turn "n ord#r to d# r#as# t$# rad"us, t$us "n r#as"ng "n#rt"a& for #s, and t$#r#)y d# r#as"ng t$# ang&# of &#an+ MI8N

/edit0Steady-state

turning

An # a turn "s #sta)&"s$#d, t$# tor7u# t$at 'ust )# a!!&"#d to t$# st##r"ng '# $an"s' "n ord#r to 'a"nta"n a onstant rad"us at a onstant for(ard s!##d d#!#nds on t$# for(ard s!##d and t$# g#o'#try and 'ass d"str")ut"on of t$# )"*#+ M11N
M22N

At s!##ds )#&o( t$# a!s"E# s!##d, d#s r")#d )#&o( "n t$# s# t"on on !igenvalues and a&so a&&#d

t$# inversion s!##d, t$# s#&f3sta)"&"ty of t$# )"*# ("&& aus# "t to t#nd to st##r "nto t$# turn, r"g$t"ng "ts#&f and #0"t"ng t$# turn, un&#ss a tor7u# "s a!!&"#d "n t$# o!!os"t# d"r# t"on of t$# turn+ At s!##ds a)o%# t$# a!s"E# s!##d, t$# a!s"E# "nsta)"&"ty ("&& aus# "t to t#nd to st##r out of t$# turn, "n r#as"ng t$# &#an, un&#ss a tor7u# "s a!!&"#d "n t$# d"r# t"on of t$# turn+ At t$# a!s"E# s!##d no "n!ut st##r"ng tor7u# "s n# #ssary to 'a"nta"n t$# st#ady3stat# turn+ /edit0Steering

angle

S#%#ra& #ff# ts "nf&u#n # t$# st##r"ng ang&#, t$# ang&# at ($" $ t$# front ass#')&y "s rotat#d a)out t$# st##r"ng a0"s, n# #ssary to 'a"nta"n a st#ady3stat# turn+ So'# of t$#s# ar# un"7u# to s"ng&#3tra * %#$" &#s, ($"&# ot$#rs ar# a&so #0!#r"#n #d )y auto'o)"&#s+ So'# of t$#s# 'ay )# '#nt"on#d #&s#($#r# "n t$"s art" &#, and t$#y ar# r#!#at#d $#r#, t$oug$ not n# #ssar"&y "n ord#r of "'!ortan #, so t$at t$#y 'ay )# found "n on# !&a #+ B"rst, t$# a tua& *"n#'at" st##r"ng ang&#, t$# ang&# !ro-# t#d onto t$# road !&an# to ($" $ t$# front ass#')&y "s rotat#d "s a fun t"on of t$# st##r"ng ang&# and t$# st##r"ng a0"s ang&#5

($#r#
MHN

"s t$# *"n#'at" st##r"ng ang&#,

"s t$# st##r"ng ang&#, and

"s t$# ast#r ang&# of t$# st##r"ng a0"s+

S# ond, t$# &#an of t$# )"*# d# r#as#s t$# a tua& rad"us of t$# turn !ro!ort"ona&&y to t$# os"n# of t$# &#an ang&#+ T$# r#su&t"ng rad"us an )# roug$&y a!!ro0"'at#d .("t$"n 2U of #0a t %a&u#/ )y5

($#r# and

"s t$# a!!ro0"'at# rad"us,

"s t$# ($##&)as#,

MHN

"s t$# &#an ang&#,

"s t$# st##r"ng ang&#,

"s t$# ast#r ang&# of t$# st##r"ng a0"s+

T$"rd, )# aus# t$# front and r#ar t"r#s an $a%# d"ff#r#nt s&"! ang&#s du# to (#"g$t d"str")ut"on, t"r# !ro!#rt"#s, #t +, )"*#s an #0!#r"#n # und#rst##r or o%#rst##r+ 6$#n und#rst##r"ng, t$# st##r"ng ang&# 'ust )# gr#at#r, and ($#n o%#rst##r"ng, t$# st##r"ng ang&# 'ust )# &#ss t$an "t (ou&d )# "f t$# s&"! ang&#s (#r# #7ua& to 'a"nta"n a g"%#n turn rad"us+MHN So'# aut$ors #%#n us# t$# t#r' counter"steering to r#f#r to t$# n##d on so'# )"*#s und#r so'# ond"t"ons to st##r "n t$# o!!os"t# d"r# t"on of t$# turn .n#gat"%# st##r"ng ang&#/ to 'a"nta"n ontro& "n r#s!ons# to s"gn"f" ant r#ar ($##& s&"!!ag#+ MHN Bourt$, a')#r t$rust ontr")ut#s to t$# #ntr"!#ta& for # n# #ssary to aus# t$# )"*# to d#%"at# fro' a stra"g$t !at$, a&ong ("t$ orn#r"ng for # du# to t$# s&"! ang&#, and an )# t$# &arg#st ontr")utor+ M:HN Ca')#r t$rust ontr")ut#s to t$# a)"&"ty of )"*#s to n#got"at# a turn ("t$ t$# sa'# rad"us as auto'o)"&#s )ut ("t$ a s'a&&#r st##r"ng ang&#+M:HN 6$#n a )"*# "s st##r#d and &#an#d "n t$# sa'# d"r# t"on, t$# a')#r ang&# of t$# front t"r# "s gr#at#r t$an t$at of t$# r#ar and so an g#n#rat# 'or# a')#r t$rust, a&& #&s# )#"ng #7ua&+ MHN /edit0*o

hands
o'!&"s$#d )y s$"ft"ng t$# r"d#r,s (#"g$t+ If t$# r"d#r &#ans to t$# r"g$t

6$"&# ount#rst##r"ng "s usua&&y "n"t"at#d )y a!!&y"ng tor7u# d"r# t&y to t$# $and&#)ars, on &"g$t#r %#$" &#s su $ as )" y &#s, "t an a&so )# a r#&at"%# to t$# )"*#, t$# )"*# &#ans to t$# &#ft to ons#r%# angu&ar 'o'#ntu', and t$# o')"n#d #nt#r of 'ass r#'a"ns n#ar&y "n t$# sa'# %#rt" a& !&an#+ T$"s &#ft(ard &#an of t$# )"*#, a&&#d counter lean )y so'# aut$ors,M:HN ("&& aus# "t to st##r to t$# &#ft and "n"t"at# a r"g$t3$and turn as "f t$# r"d#r $ad ount#rst##r#d to t$# &#ft )y a!!&y"ng a tor7u# d"r# t&y to t$# $and&#)ars+ MI2N Not# t$at t$"s t# $n"7u# 'ay )# o'!&" at#d )y add"t"ona& fa tors su $ as $#ads#t fr" t"on and st"ff ontro& a)&#s+ In fa t t$# o')"n#d #nt#r of 'ass do#s 'o%# s&"g$t&y to t$# &#ft ($#n t$# r"d#r &#ans to t$# r"g$t r#&at"%# to t$# )"*#, and t$# )"*# &#ans to t$# &#ft "n r#s!ons#+ T$# a t"on, "n s!a #, (ou&d $a%# t$# t"r#s 'o%# r"g$t, )ut t$"s "s !r#%#nt#d )y fr" t"on )#t(##n t$# t"r#s and t$# ground, and t$us !us$#s t$# o')"n#d #nt#r of 'ass &#ft+ T$"s "s a s'a&& #ff# t, $o(#%#r, as #%"d#n #d )y t$# d"ff" u&ty 'ost !#o!&# $a%# "n )a&an "ng a )"*# )y t$"s '#t$od a&on#+

/edit0Gyroscopic

effects

As '#nt"on#d a)o%# "n t$# s# t"on on )a&an #, on# #ff# t of turn"ng t$# front ($##& "s a ro&& 'o'#nt aus#d )y gyros o!" !r# #ss"on+ T$# 'agn"tud# of t$"s 'o'#nt "s !ro!ort"ona& to t$# 'o'#nt of "n#rt"a of t$# front ($##&, "ts s!"n rat# .for(ard 'ot"on/, t$# rat# t$at t$# r"d#r turns t$# front ($##& )y a!!&y"ng a tor7u# to t$# $and&#)ars, and t$# os"n# of t$# ang&# )#t(##n t$# st##r"ng a0"s and t$# %#rt" a&+ MHN Bor a sa'!&# 'otor y &# 'o%"ng at 22 '9s .20 '!$/ t$at $as a front ($##& ("t$ a 'o'#nt of "n#rt"a of 0+8 *gV'2, turn"ng t$# front ($##& on# d#gr## "n $a&f a s# ond g#n#rat#s a ro&& 'o'#nt of :+2 NV'+ In o'!ar"son, t$# &at#ra& for # on t$# front t"r# as "t tra *s out fro' und#r t$# 'otor y &# r#a $#s a 'a0"'u' of 20 N+ T$"s, a t"ng on t$# 0+8 ' .2 ft/ $#"g$t of t$# #nt#r of 'ass, g#n#rat#s a ro&& 'o'#nt of :0 NV'+ 6$"&# t$# 'o'#nt fro' gyros o!" for #s "s on&y 12U of t$"s, "t an !&ay a s"gn"f" ant !art )# aus# "t )#g"ns to a t as soon as t$# r"d#r a!!&"#s t$# tor7u#, "nst#ad of )u"&d"ng u! 'or# s&o(&y as t$# ($##& out3tra *s+ T$"s an )# #s!# "a&&y $#&!fu& "n 'otor y &# ra "ng+ /edit0Two-wheel

steering

B# aus# of t$#or#t" a& )#n#f"ts, su $ as a t"g$t#r turn"ng rad"us at &o( s!##d, att#'!ts $a%# )##n 'ad# to onstru t 'otor y &#s ("t$ t(o3($##& st##r"ng+ An# (or*"ng !rototy!# )y Ian Drysda&# "n Austra&"a "s r#!ort#d to W(or* %#ry (#&&+WMIONMI=N Issu#s "n t$# d#s"gn "n &ud# ($#t$#r to !ro%"d# a t"%# ontro& of t$# r#ar ($##& or &#t "t s("ng fr##&y+ In t$# as# of a t"%# ontro&, t$# ontro& a&gor"t$' n##ds to d# "d# )#t(##n st##r"ng ("t$ or "n t$# o!!os"t# d"r# t"on of t$# front ($##&, ($#n, and $o( 'u $+ An# "'!&#'#ntat"on of t(o3($##& st##r"ng, t$# S"d#(ays )"*#, &#ts t$# r"d#r ontro& t$# st##r"ng of )ot$ ($##&s d"r# t&y+ Anot$#r, t$# S("ng B"*#, $ad t$# s# ond st##r"ng a0"s "n front of t$# s#at so t$at "t ou&d a&so )# ontro&&#d )y t$# $and&#)ars+ M"&ton 6+ Ray'ond )u"&t a &ong &o( t(o3($##& st##r"ng )" y &#, a&&#d WX32W, ("t$ %ar"ous st##r"ng '# $an"s's to ontro& t$# t(o ($##&s "nd#!#nd#nt&y+ St##r"ng 'ot"ons "n &ud#d W)a&an #W, "n ($" $ )ot$ ($##&s 'o%# tog#t$#r to st##r t$# t"r# onta ts und#r t$# #nt#r of 'ass1 and Wtru# "r &#W, "n ($" $ t$# ($##&s st##r #7ua&&y "n o!!os"t# d"r# t"ons and t$us st##r"ng t$# )" y &# ("t$out su)stant"a&&y $ang"ng t$# &at#ra& !os"t"on of t$# t"r# onta ts r#&at"%# to t$# #nt#r of 'ass+ X32 (as a&so a)&# to go W ra)("s#W ("t$ t$# ($##&s !ara&&#& )ut out of &"n# ("t$ t$# fra'#, for "nstan # ("t$ t$# front ($##& n#ar t$# road(ay #nt#r &"n# and r#ar ($##& n#ar t$# ur)+ WBa&an #W st##r"ng a&&o(#d #asy )a&an "ng d#s!"t# &ong ($##&)as# and &o( #nt#r of 'ass, )ut no s#&f3)a&an "ng .Wno $andsW/ onf"gurat"on (as d"s o%#r#d+ Tru# "r &#, as #0!# t#d, (as #ss#nt"a&&y "'!oss")&# to )a&an #, as st##r"ng do#s not orr# t for '"sa&"gn'#nt of t$# t"r# !at $ and #nt#r of 'ass+ Cra)("s# y &"ng at ang&#s t#st#d u! to a)out I2Q d"d not s$o( a t#nd#n y to fa&& o%#r, #%#n und#r )ra*"ng+Mcitation neededN X32 "s '#nt"on#d "n !ass"ng "n 6$"tt and 6"&sonLs #icycling $cience 2nd #d"t"on+M28N /edit04ear-wheel

steering

B# aus# of t$# t$#or#t" a& )#n#f"ts, #s!# "a&&y a s"'!&"f"#d front3($##& dr"%# '# $an"s', att#'!ts $a%# )##n 'ad# to onstru t a r"da)&# r#ar3($##& st##r"ng )"*#+ T$# B#nd"0 Co'!any )u"&t a r#ar3($##& st##r"ng )" y &#, and t$# 4+S+ D#!art'#nt of Trans!ortat"on o''"ss"on#d t$# onstru t"on of a r#ar3($##& st##r"ng 'otor y &#5 )ot$ !ro%#d to )# unr"da)&#+ Ra"n)o( Tra"n#rs, In + "n A&ton, I&&"no"s, off#r#d 4SY2,000 to t$# f"rst !#rson W($o an su #ssfu&&y r"d# t$# r#ar3st##r#d )" y &#, R#ar St##r#d B" y &# IW+ MIHN An# #ssfu&&y r"d"ng a r#ar3($##& st##r"ng )" y &# "s t$at of G+ H+ Ga"t#r'an do u'#nt#d #0a'!&# of so'#on# su turn"ng &#ft, a
M20N

at Massa $us#tts Inst"tut# of T# $no&ogy, on a s!# "a&&y d#s"gn#d r# u')#nt )"*#+ M28N T$# d"ff" u&ty "s t$at o'!&"s$#d )y turn"ng t$# r#ar ($##& to t$# r"g$t, "n"t"a&&y 'o%#s t$# #nt#r of 'ass to t$# r"g$t, and %" # %#rsa+ T$"s o'!&" at#s t$# tas* of o'!#nsat"ng for &#ans "ndu #d )y t$# #n%"ron'#nt+ E0a'"nat"on of t$# #"g#n%a&u#s for )" y &#s ("t$ o''on g#o'#tr"#s and 'ass d"str")ut"ons s$o(s t$at ($#n 'o%"ng "n r#%#rs#, so as to $a%# r#ar3($##& st##r"ng, t$#y ar# "n$#r#nt&y unsta)&#+ At$#r, !ur!os#3 )u"&t d#s"gns $a%# )##n !u)&"s$#d, $o(#%#r, t$at do not suff#r t$"s !ro)&#'+ M1NM21N

/edit0)enter

steering

B&#%o)"*# ("t$ #nt#r st##r"ng

B#t(##n t$# #0tr#'#s of )" y &#s ("t$ &ass" a& front3($##& st##r"ng and t$os# ("t$ str" t&y r#ar3($##& st##r"ng "s a &ass of )"*#s ("t$ a !"%ot !o"nt so'#($#r# )#t(##n t$# t(o r#f#rr#d to as #nt#r3st##r"ng, s"'"&ar to art" u&at#d st##r"ng+ An #ar&y "'!&#'#ntat"on of t$# on #!t (as t$# @$anto' )" y &# "n t$# #ar&y 1=O0s !ro'ot#d as a saf#r a&t#rnat"%# to t$# !#nny3fart$"ng+M22N T$"s d#s"gn a&&o(s for s"'!&# front3($##& dr"%# and urr#nt "'!&#'#ntat"ons a!!#ar to )# 7u"t# sta)&#, #%#n r"da)&# no3$ands, as 'any !$otogra!$s "&&ustrat#+M2:NM2IN T$#s# d#s"gns, su $ as t$# @yt$on Go(ra #r, usua&&y $a%# %#ry &a0 $#ad ang&#s .I0Q to 82Q/ and !os"t"%# or #%#n n#gat"%# tra"&+ T$# )u"&d#r of a )"*# ("t$ n#gat"%# tra"& stat#s t$at st##r"ng t$# )"*# fro' stra"g$t a$#ad for #s t$# s#at .and t$us t$# r"d#r/ to r"s# s&"g$t&y and t$"s offs#ts t$# d#sta)"&"E"ng #ff# t of t$# n#gat"%# tra"&+M22N /edit0Tiller

effect

T"&&#r #ff# t "s t$# #0!r#ss"on us#d to d#s r")# $o( $and&#)ars t$at #0t#nd far )#$"nd t$# st##r"ng a0"s .$#ad tu)#/ a t &"*# a t"&&#r on a )oat, "n t$at on# 'o%#s t$# )ars to t$# r"g$t "n ord#r to turn t$# front ($##& to t$# &#ft, and %" # %#rsa+ T$"s s"tuat"on "s o''on&y found on ru"s#r )" y &#s, so'# r# u')#nts, and #%#n so'# ru"s#r 'otor y &#s+ It an )# trou)&#so'# ($#n "t &"'"ts t$# a)"&"ty to st##r )# aus# of "nt#rf#r#n # or t$# &"'"ts of ar' r#a $+ M28N /edit0Tires T"r#s $a%# a &arg# "nf&u#n # o%#r )"*# $and&"ng, #s!# "a&&y on 'otor y &#s+ MHNM:HN T"r#s "nf&u#n # )"*# dyna'" s "n t(o d"st"n t (ays5 f"n"t# ro(n rad"us and for # g#n#rat"on+ In r#as# t$# ro(n rad"us of t$# front t"r# $as )##n s$o(n to d# r#as# t$# s"E# or #&"'"nat# s#&f sta)"&"ty+ In r#as"ng t$# ro(n rad"us of t$# r#ar t"r# $as t$# o!!os"t# #ff# t, )ut to a &#ss#r d#gr##+ M10N T"r#s g#n#rat# t$# &at#ra& for #s n# #ssary for st##r"ng and )a&an # t$roug$ a o')"nat"on of orn#r"ng for # and a')#r t$rust+ T"r# "nf&at"on !r#ssur#s $a%# a&so )##n found to )# "'!ortant %ar"a)&#s "n t$# )#$a%"or of a 'otor y &# at $"g$ s!##ds+ M2ON B# aus# t$# front and r#ar t"r#s an $a%# d"ff#r#nt s&"! ang&#s du# to (#"g$t d"str")ut"on, t"r# !ro!#rt"#s, #t +, )"*#s an #0!#r"#n # und#rst##r or o%#rst##r+ Af t$# t(o, und#rst##r, "n ($" $ t$# front ($##& s&"d#s 'or# t$an t$# r#ar ($##&, "s 'or# dang#rous s"n # front ($##& st##r"ng "s r"t" a& for 'a"nta"n"ng )a&an #+MHN A&so, )# aus# r#a& t"r#s $a%# a f"n"t# onta t !at $ ("t$ t$# road surfa # t$at an g#n#rat# a s ru) tor7u#, and ($#n "n a turn, an #0!#r"#n # so'# s"d# s&"!!"ng as t$#y ro&&, t$#y an g#n#rat# tor7u#s a)out an a0"s nor'a& to t$# !&an# of t$# onta t !at $+

B"*# t"r# onta t !at $ dur"ng a r"g$t3$and turn

An# tor7u# g#n#rat#d )y a t"r#, a&&#d t$# s#&f a&"gn"ng tor7u#, "s aus#d )y asy''#tr"#s "n t$# s"d#3s&"! a&ong t$# &#ngt$ of t$# onta t !at $+ T$# r#su&tant for # of t$"s s"d#3s&"! o urs )#$"nd t$# g#o'#tr" #nt#r of t$# onta t !at $, a d"stan # d#s r")#d as t$#!n#u'at" tra"&, and so r#at#s a tor7u# on t$# t"r#+ S"n # t$# d"r# t"on of t$# s"d#3s&"! "s to(ards t$# outs"d# of t$# turn, t$# for # on t$# t"r# "s to(ards t$# #nt#r of t$# turn+ T$#r#for#, t$"s tor7u# t#nds to turn t$# front ($##& "n t$# d"r# t"on of t$# s"d#3s&"!, a(ay fro' t$# d"r# t"on of t$# turn, and t$#r#for# t#nds to increase t$# rad"us of t$# turn+ Anot$#r tor7u# "s !rodu #d )y t$# f"n"t# ("dt$ of t$# onta t !at $ and t$# &#an of t$# t"r# "n a turn+ T$# !ort"on of t$# onta t !at $ to(ards t$# outs"d# of t$# turn "s a tua&&y 'o%"ng r#ar(ard, ("t$ r#s!# t to t$# ($##&Ls $u), fast#r t$an t$# r#st of t$# onta t !at $, )# aus# of "ts gr#at#r rad"us fro' t$# $u)+ By t$# sa'# r#ason"ng, t$# "nn#r !ort"on "s 'o%"ng r#ar(ard 'or# s&o(&y+ So t$# out#r and "nn#r !ort"ons of t$# onta t !at $ s&"! on t$# !a%#'#nt "n o!!os"t# d"r# t"ons, g#n#rat"ng a tor7u# t$at t#nds to turn t$# front ($##& "n t$# d"r# t"on of t$# turn, and t$#r#for# t#nds to decrease t$# turn rad"us+ T$# o')"nat"on of t$#s# t(o o!!os"t# tor7u#s r#at#s a r#su&t"ng ya( tor7u# on t$# front ($##&, and "ts d"r# t"on "s a fun t"on of t$# s"d#3s&"! ang&# of t$# t"r#, t$# ang&# )#t(##n t$# a tua& !at$ of t$# t"r# and t$# d"r# t"on "t "s !o"nt"ng, and t$# a')#r ang&# of t$# t"r# .t$# ang&# t$at t$# t"r# &#ans fro' t$# %#rt" a&/+ MHN T$# r#su&t of t$"s tor7u# "s oft#n t$# su!!r#ss"on of t$# "n%#rs"on s!##d !r#d" t#d )y r"g"d ($##& 'od#&s d#s r")#d a)o%# "n t$# s# t"on on st#ady3stat# turn"ng+M11N /edit0High

side

Main article: %ighsider A highsider, highside, or high side "s a ty!# of )"*# 'ot"on ($" $ "s aus#d )y a r#ar ($##& ga"n"ng tra t"on ($#n "t "s not fa "ng "n t$# d"r# t"on of tra%#&, usua&&y aft#r s&"!!"ng s"d#(ays "n a ur%#+ MHN T$"s an o ur und#r $#a%y )ra*"ng, a #&#rat"on, a %ary"ng road surfa #, or sus!#ns"on a t"%at"on, #s!# "a&&y du# to "nt#ra t"on ("t$ t$# dr"%# tra"n+M2=N It an ta*# t$# for' of a s"ng&# s&"!3t$#n3f&"! or a s#r"#s of %"o&#nt os "&&at"ons+M:HN /edit05aneu

erability and handling

B"*# 'an#u%#ra)"&"ty and $and&"ng "s d"ff" u&t to 7uant"fy for s#%#ra& r#asons+ T$# g#o'#try of a )"*#, #s!# "a&&y t$# st##r"ng a0"s ang&# 'a*#s *"n#'at" ana&ys"s o'!&" at#d+M2N4nd#r 'any ond"t"ons, )"*#s ar# "n$#r#nt&y unsta)&# and 'ust a&(ays )# und#r r"d#r ontro&+ B"na&&y, t$# r"d#rLs s*"&& $as a &arg# "nf&u#n # on t$# )"*#Ls !#rfor'an # "n any 'an#u%#r+ MHN B"*# d#s"gns t#nd to ons"st of a trad#3off )#t(##n 'an#u%#ra)"&"ty and sta)"&"ty+

/edit04ider

control inputs

Jra!$s s$o("ng t$# &#an and st##r ang&# r#s!ons# of an ot$#r("s# un ontro&&#d )"*#, tra%#&"ng at a for(ard s!##d "n "ts sta)&# rang# .8 '9s/, to a st##r tor7u# t$at )#g"ns as an "'!u&s# and t$#n r#'a"ns onstant+ Tor7u# to r"g$t aus#s "n"t"a& st##r to r"g$t, &#an to &#ft, and #%#ntua&&y a st#ady3stat# st##r, &#an, and turn to &#ft+

T$# !r"'ary ontro& "n!ut t$at t$# r"d#r an 'a*# "s to a!!&y a tor7u# d"r# t&y to t$# st##r"ng '# $an"s' %"a t$# $and&#)ars+ B# aus# of t$# )"*#Ls o(n dyna'" s, du# to st##r"ng g#o'#try and gyros o!" #ff# ts, d"r# t !os"t"on ontro& o%#r st##r"ng ang&# $as )##n found to )# !ro)&#'at" + M=N A s# ondary ontro& "n!ut t$at t$# r"d#r an 'a*# "s to &#an t$# u!!#r torso r#&at"%# to t$# )"*#+ As '#nt"on#d a)o%#, t$# #ff# t"%#n#ss of r"d#r &#an %ar"#s "n%#rs#&y ("t$ t$# 'ass of t$# )"*#+ An $#a%y )"*#s, su $ as 'otor y &#s, r"d#r &#an 'ost&y a&t#rs t$# ground &#aran # r#7u"r#'#nts "n a turn, "'!ro%#s t$# %"#( of t$# road, and "'!ro%#s t$# )"*# syst#' dyna'" s "n a %#ry &o(3fr#7u#n y !ass"%# 'ann#r+ M=N /edit06ifferences

fro( auto(obiles

T$# n##d to *##! a )"*# u!r"g$t to a%o"d "n-ury to t$# r"d#r and da'ag# to t$# %#$" &# #%#n &"'"ts t$# ty!# of 'an#u%#ra)"&"ty t#st"ng t$at "s o''on&y !#rfor'#d+ Bor #0a'!&#, ($"&# auto'o)"&# #nt$us"ast !u)&" at"ons oft#n !#rfor' and 7uot# s*"d!ad r#su&ts, 'otor y &# !u)&" at"ons do not+ T$# n##d to Ws#t u!W for a turn,

&#an t$# )"*# to t$# a!!ro!r"at# ang&#, '#ans t$at t$# r"d#r 'ust s## furt$#r a$#ad t$an "s n# #ssary for a ty!" a& ar at t$# sa'# s!##d, and t$"s n##d "n r#as#s 'or# t$an "n !ro!ort"on to t$# s!##d+ M=N /edit04ating

sche(es

S#%#ra& s $#'#s $a%# )##n d#%"s#d to rat# t$# $and&"ng of )"*#s, !art" u&ar&y 'otor y &#s+ MHN

T$# roll inde$ "s t$# rat"o )#t(##n st##r"ng tor7u# and ro&& or &#an ang&#+

T$# acceleration inde$ "s t$# rat"o )#t(##n st##r"ng tor7u# and &at#ra& or #ntr"!#ta& a

#&#rat"on+

T$# steering ratio "s t$# rat"o )#t(##n t$# t$#or#t" a& turn"ng rad"us )as#d on "d#a& t"r# )#$a%"or and t$# a tua& turn"ng rad"us+MHNVa&u#s &#ss t$an on#, ($#r# t$# front ($##& s"d# s&"! "s gr#at#r t$an t$# r#ar ($##& s"d# s&"!, ar# d#s r")#d as und#r3st##r"ng1 #7ua& to on# as n#utra& st##r"ng1 and gr#at#r t$an on# as o%#r3st##r"ng+ Va&u#s &#ss t$an E#ro, "n ($" $ t$# front ($##& 'ust )# turn#d o!!os"t# t$# d"r# t"on of t$# ur%# du# to 'u $ gr#at#r r#ar ($##& s"d# s&"! t$an front ($##& $a%# )##n d#s r")#d as ount#r3st##r"ng+ R"d#rs t#nd to !r#f#r n#utra& or s&"g$t o%#r3st##r"ng+ MHN Car dr"%#rs t#nd to !r#f#r und#r3st##r"ng+

T$# 7och inde$ "s t$# rat"o )#t(##n !#a* st##r"ng tor7u# and t$# !rodu t of !#a* &#an rat# and for(ard s!##d+ Garg#, tour"ng 'otor y &#s t#nd to $a%# a $"g$ Ko $ "nd#0, s!ort 'otor y &#s t#nd to $a%# a '#d"u' Ko $ "nd#0, and s oot#rs t#nd to $a%# a &o( Ko $ "nd#0+ MHN It "s #as"#r to 'an#u%#r &"g$t s oot#rs t$an $#a%y 'otor y &#s+

/edit03ateral

(otion theory

A&t$oug$ "ts #7uat"ons of 'ot"on an )# &"n#ar"E#d, a )"*# "s a non&"n#ar syst#'+ T$# %ar"a)&#.s/ to )# so&%#d for annot )# (r"tt#n as a &"n#ar su' of "nd#!#nd#nt o'!on#nts, "+#+ "ts )#$a%"or "s not #0!r#ss")&# as a su' of t$# )#$a%"ors of "ts d#s r"!tors+ M2N J#n#ra&&y, non&"n#ar syst#'s ar# d"ff" u&t to so&%# and ar# 'u $ &#ss und#rstanda)&# t$an &"n#ar syst#'s+ In t$# "d#a&"E#d as#, "n ($" $ fr" t"on and any f&#0"ng "s "gnor#d, a )"*# "s a ons#r%at"%# syst#'+ Da'!"ng, $o(#%#r, an st"&& )# d#'onstrat#d5 und#r t$# r"g$t "r u'stan #s, s"d#3to3s"d# os "&&at"ons ("&& d# r#as# ("t$ t"'#+ En#rgy add#d ("t$ a s"d#(ays -o&t to a )"*# runn"ng stra"g$t and u!r"g$t .d#'onstrat"ngs#&f3sta)"&"ty/ "s on%#rt#d "nto "n r#as#d for(ard s!##d, not &ost, as t$# os "&&at"ons d"# out+ A )"*# "s a non$o&ono'" syst#' )# aus# "ts out o'# "s !at$3d#!#nd#nt+ In ord#r to *no( "ts #0a t onf"gurat"on, #s!# "a&&y &o at"on, "t "s n# #ssary to *no( not on&y t$# onf"gurat"on of "ts !arts, )ut a&so t$#"r $"stor"#s5 $o( t$#y $a%# 'o%#d o%#r t"'#+ T$"s o'!&" at#s 'at$#'at" a& ana&ys"s+ MI2N B"na&&y, "n t$# &anguag# of ontro& t$#ory, a )"*# #0$")"ts non3'"n"'u' !$as# )#$a%"or+M2HN It turns "n t$# d"r# t"on o!!os"t# of $o( "t "s "n"t"a&&y st##r#d, as d#s r")#d a)o%# "n t$# s# t"on on ount#rst##r"ng

/edit06egrees

of freedo(

Jra!$s of )"*# st##r ang&# and &#an ang&# %s turn rad"us+

T$# nu')#r of d#gr##s of fr##do' of a )"*# d#!#nds on t$# !art" u&ar 'od#& )#"ng us#d+ T$# s"'!&#st 'od#& t$at a!tur#s t$# *#y dyna'" f#atur#s, four r"g"d )od"#s ("t$ *n"f# #dg# ($##&s ro&&"ng on a f&at s'oot$ surfa #, $as O d#gr##s of fr##do' . onf"gurat"on %ar"a)&#s r#7u"r#d to o'!&#t#&y d#s r")# t$# &o at"on and or"#ntat"on of a&& I )od"#s/5 M2N 1+ & oord"nat# of r#ar ($##& onta t !o"nt y oord"nat# of r#ar ($##& onta t !o"nt or"#ntat"on ang&# of r#ar fra'# .ya(/ rotat"on ang&# of r#ar ($##& rotat"on ang&# of front ($##& &#an ang&# of r#ar fra'# .ro&&/ st##r"ng ang&# )#t(##n r#ar fra'# and front #nd

0 2
I+ 2+

?
O+

Add"ng o'!&#0"ty to t$# 'od#&, su $ as sus!#ns"on, t"r# o'!&"an #, fra'# f&#0, or r"d#r 'o%#'#nt, adds d#gr##s of fr##do'+ 6$"&# t$# r#ar fra'# do#s !"t $ ("t$ &#an"ng and st##r"ng, t$# !"t $ ang&# "s o'!&#t#&y onstra"n#d )y t$# r#7u"r#'#nt for )ot$ ($##&s to r#'a"n on t$# ground, and so an )# a& u&at#d g#o'#tr" a&&y fro' t$# ot$#r s#%#n %ar"a)&#s+ If t$# &o at"on of t$# )"*# and t$# rotat"on of t$# ($##&s ar# "gnor#d, t$# f"rst f"%# d#gr##s of fr##do' an a&so )# "gnor#d, and t$# )"*# an )# d#s r")#d )y -ust t(o %ar"a)&#s5 &#an ang&# and st##r ang&#+

Longitudinal dynamics

A )" y &"st !#rfor'"ng a ($##&"#+

B"*#s 'ay #0!#r"#n # a %ar"#ty of &ong"tud"na& for #s and 'ot"ons+ An 'ost )"*#s, ($#n t$# front ($##& "s turn#d to on# s"d# or t$# ot$#r, t$# #nt"r# r#ar fra'# !"t $#s for(ard s&"g$t&y, d#!#nd"ng on t$# st##r"ng a0"s ang&# and t$# a'ount of tra"&+MHNMI1N An )"*#s ("t$ sus!#ns"ons, #"t$#r front, r#ar, or )ot$, tri( "s us#d to d#s r")# t$# g#o'#tr" onf"gurat"on of t$# )"*#, #s!# "a&&y "n r#s!ons# to for #s of )ra*"ng, a #&#rat"ng, turn"ng, dr"%# tra"n, and a#rodyna'" drag+MHN T$# &oad )orn# )y t$# t(o ($##&s %ar"#s not on&y ("t$ #nt#r of 'ass &o at"on, ($" $ "n turn %ar"#s ("t$ t$# a'ount and &o at"on of !ass#ng#rs and &uggag#, )ut a&so ("t$ a #&#rat"on and d# #&#rat"on+ T$"s !$#no'#non "s *no(n as &oad transf#rMHN or (#"g$t transf#r,M:HNM2=N d#!#nd"ng on t$# aut$or, and !ro%"d#s $a&&#ng#s and o!!ortun"t"#s to )ot$ r"d#rs and d#s"gn#rs+ Bor #0a'!&#, 'otor y &# ra #rs an us# "t to "n r#as# t$# fr" t"on a%a"&a)&# to t$# front t"r# ($#n orn#r"ng, and att#'!ts to r#du # front sus!#ns"on o'!r#ss"on dur"ng $#a%y )ra*"ng $as s!a(n#d s#%#ra& 'otor y &# for* d#s"gns+ T$# n#t a#rodyna'" drag for #s 'ay )# ons"d#r#d to a t at a s"ng&# !o"nt, a&&#d t$# #nt#r of !r#ssur#+M:HN At $"g$ s!##ds, t$"s ("&& r#at# a n#t 'o'#nt a)out t$# r#ar dr"%"ng ($##& and r#su&t "n a n#t transf#r of &oad fro' t$# front ($##& to t$# r#ar ($##&+M:HN A&so, d#!#nd"ng on t$# s$a!# of t$# )"*# and t$# s$a!# of any fa"r"ng t$at '"g$t )# "nsta&&#d, a#rodyna'" &"ft 'ay )# !r#s#nt t$at #"t$#r "n r#as#s or furt$#r r#du #s t$# &oad on t$# front ($##&+M:HN /edit0Stability T$oug$ &ong"tud"na&&y sta)&# ($#n stat"onary, a )"*# 'ay )# o'# &ong"tud"na&&y unsta)&# und#r suff" "#nt a #&#rat"on or d# #&#rat"on, and Eu&#rLs s# ond &a( an )# us#d to ana&yE# t$# ground r#a t"on for #s and a #nt#r of 'ass at $#"g$t and at a d"stan # "n front of t$# r#ar ($##& $u), and for g#n#rat#d+MO0N Bor #0a'!&#, t$# nor'a& .%#rt" a&/ ground r#a t"on for #s at t$# ($##&s for a )"*# ("t$ a ($##&)as# s"'!&" "ty, ("t$ )ot$ ($##&s &o *#d, an )# #0!r#ss#d as5 MHN

for t$# r#ar ($##& and front ($##&+ T$# fr" t"ona& .$or"Eonta&/ for #s ar# s"'!&y for t$# r#ar ($##& and ($#r# a "s t$# o#ff" "#nt of fr" t"on, #&#rat"on of gra%"ty+ T$#r#for#, "f for t$# front ($##&, "s t$# tota& 'ass of t$# )"*# and r"d#r, and "s t$#

for t$#

($" $ o urs "f t$# #nt#r of 'ass "s any($#r# a)o%# or "n front of a &"n# #0t#nd"ng )a * fro' t$# front ($##& onta t !at $ and "n &"n#d at t$# ang&#

a)o%# t$# $or"Eonta&,M:HN t$#n t$# nor'a& for # of t$# r#ar ($##& ("&& )# E#ro .at ($" $ !o"nt t$# #7uat"on no &ong#r a!!&"#s/ and t$# )"*# ("&& )#g"n to f&"! or &oo! for(ard o%#r t$# front ($##&+ An t$# ot$#r $and, "f t$# #nt#r of 'ass $#"g$t "s )#$"nd or )#&o( t$# &"n#, as "s tru#, for #0a'!&# on 'ost tand#' )" y &#s or &ong3($##&3)as# r# u')#nt )" y &#s, t$#n, #%#n "f t$# o#ff" "#nt of fr" t"on "s 1+0, "t "s "'!oss")&# for t$# front ($##& to g#n#rat# #noug$ )ra*"ng for # to f&"! t$# )"*#+ It ("&& s*"d "nst#ad, un&#ss "t $"ts so'# f"0#d o)sta &#, su $ as a ur)+ S"'"&ar&y, !o(#rfu& 'otor y &#s an g#n#rat# #noug$ tor7u# at t$# r#ar ($##& to &"ft t$# front ($##& off t$# ground "n a 'an#u%#r a&&#d a ($##&"#+ A &"n# s"'"&ar to t$# on# d#s r")#d a)o%# to ana&yE# )ra*"ng !#rfor'an # an )# dra(n fro' t$# r#ar ($##& onta t !at $ to !r#d" t "f a ($##&"# "s !oss")&# g"%#n t$# a%a"&a)&# fr" t"on, t$# #nt#r of 'ass &o at"on, and suff" "#nt !o(#r+M:HN T$"s an a&so $a!!#n on )" y &#s, a&t$oug$ t$#r# "s 'u $ &#ss !o(#r a%a"&a)&#, "f t$# #nt#r of 'ass "s )a * or u! far #noug$ or t$# r"d#r &ur $#s )a * ($#n a!!&y"ng !o(#r to t$# !#da&s+MO1N Af ours#, t$# ang&# of t$# t#rra"n an "nf&u#n # a&& of t$# a& u&at"ons a)o%#+ A&& #&s# r#'a"n"ng #7ua&, t$# r"s* of !"t $"ng o%#r t$# front #nd "s r#du #d ($#n r"d"ng u! $"&& and "n r#as#d ($#n r"d"ng do(n $"&&+ T$# !oss")"&"ty of !#rfor'"ng a ($##&"# "n r#as#s ($#n r"d"ng u! $"&&,MO1N and "s a 'a-or fa tor "n 'otor y &# $"&& &"')"ng o'!#t"t"ons+

/edit0.raking

according to ground conditions

6"t$ no )ra*"ng, on a )" y &# m "s usua&&y a!!ro0"'at#&y o%#r t$# )otto' )ra *#t

6$#n )ra*"ng, t$# r"d#r "n 'ot"on "s s##*"ng to $ang# t$# s!##d of t$# o')"n#d 'ass m of r"d#r !&us )"*#+ T$"s "s a n#gat"%# a a #&#rat"on a "n t$# &"n# of tra%#&+ F;ma, t$# #&#rat"on a aus#s an "n#rt"a& for(ard for # F on 'ass m+ T$# )ra*"ng a "s fro' an "n"t"a& #&#rat"on t$# s$ort#r t$# t"'# n##d#d to $ang# s!##d+ T$# sto!!"ng #&#rat"on a "s at t$# $"g$#st !oss")&# %a&u# o'!at")&#

s!##d u to a f"na& s!##d v, o%#r a &#ngt$ of t"'# t+ T$# #7uat"on u 3 v ; at "'!&"#s t$at t$# gr#at#r t$# a d"stan # s "s a&so s$ort#st ($#n a

("t$ road ond"t"ons5 t$# #7uat"on s ; ut < 192 at2 'a*#s s &o( ($#n a "s $"g$ and t "s &o(+ Ho( 'u $ )ra*"ng for # to a!!&y to #a $ ($##& d#!#nds )ot$ on ground ond"t"ons and on t$# )a&an # of (#"g$t on t$# ($##&s at #a $ "nstant "n t"'#+ T$# tota& )ra*"ng for # annot #0 ##d t$# gra%"ty for # on t$# r"d#r and )"*# t"'#s t$# o#ff" "#nt of fr" t"on ' of t$# t"r# on t$# ground+ mg' Z; Ff < Fr+ A s*"d o urs "f t$# rat"o of #"t$#r Ff o%#r Nf or Fr o%#r Nr "s gr#at#r t$an ', ("t$ a r#ar ($##& s*"d $a%"ng &#ss of a n#gat"%# "'!a t on &at#ra& sta)"&"ty+ 6$#n )ra*"ng, t$# "n#rt"a& for # ma "n t$# &"n# of tra%#&, not )#"ng o3&"n#ar ("t$ f, t#nds to rotat# m a)out f+ T$"s t#nd#n y to rotat#, an o%#rturn"ng 'o'#nt, "s r#s"st#d )y a 'o'#nt fro' mg+

In &"g$t )ra*"ng, Nr "s st"&& s"gn"f" ant so Fr an ontr")ut# to(ards )ra*"ng+ Nrd# r#as#s as ma "n r#as#s

Ta*"ng 'o'#nts a)out t$# front ($##& onta t !o"nt at an "nstan # "n t"'#5

6$#n t$#r# "s no )ra*"ng, 'ass m "s ty!" a&&y a)o%# t$# )otto' )ra *#t, a)out 29: of t$# (ay )a * )#t(##n t$# front and r#ar ($##&s, ("t$ Nr t$us gr#at#r t$an Nf+ In onstant &"g$t )ra*"ng, ($#t$#r )# aus# an #'#rg#n y sto! "s not r#7u"r#d or )# aus# !oor ground ond"t"ons !r#%#nt $#a%y )ra*"ng, 'u $ (#"g$t st"&& r#sts on t$# r#ar ($##&, '#an"ng t$at Nr "s st"&& &arg# and Fr an ontr")ut# to(ards a+

As )ra*"ng a "n r#as#s, Nr and Fr )# aus# t$# 'o'#nt mah "n r#as#s ("t$ a+ At 'a0"'u' onstant a, &o *("s# and ant"3 &o *("s# 'o'#nts ar# #7ua&, at ($" $ !o"nt Nr ; 0+ Any gr#at#r Ff "n"t"at#s a sto!!"#+

At 'a0"'u' )ra*"ng, Nr ; 0

At$#r fa tors5

Do(n$"&& "t "s 'u $ #as"#r to to!!&# o%#r t$# front ($##& )# aus# t$# "n &"n# 'o%#s t$# &"n# of mg &os#r to f+ To try to r#du # t$"s t#nd#n y t$# r"d#r an stand )a * on t$# !#da&s to try to *##! m as far )a * as !oss")&#+

6$#n )ra*"ng "s "n r#as"ng t$# #nt#r of 'ass m t#nds to to 'o%# for(ard r#&at"%# to t$# front ($##&, t$# r"d#r an 'o%# for(ard r#&at"%# to t$# )"*#, and, "f t$# )"*# $as sus!#ns"on on t$# front ($##&, t$# front for*s o'!r#ss und#r &oad, $ang"ng t$# )"*# g#o'#try+ T$"s a&& !uts #0tra &oad on t$# front ($##&+

At t$# #nd of a )ra*# 'an#u%#r, as t$# r"d#r o'#s to a $a&t, t$# sus!#ns"on d# o'!r#ss#s and !us$#s t$# r"d#r )a *+

Va&u#s for ' %ary gr#at&y d#!#nd"ng on a nu')#r of fa tors5

T$# 'at#r"a& t$at t$# ground or road surfa # "s 'ad# of+ 6$#t$#r t$# ground "s (#t or dry+ T$# s'oot$n#ss or roug$n#ss of t$# ground+ T$# f"r'n#ss or &oos#n#ss of t$# ground+ T$# s!##d of t$# %#$" &#, ("t$ fr" t"on r#du "ng a)o%# :0 '!$ .20*!$/+ 6$#t$#r fr" t"on "s ro&&"ng or s&"d"ng, ("t$ s&"d"ng fr" t"on at &#ast 10U )#&o( !#a* ro&&"ng fr" t"on+MO2N

/edit0.raking

A 'otor y &"st !#rfor'"ng a sto!!"#+

Most of t$# )ra*"ng for # of standard u!r"g$t )"*#s o'#s fro' t$# front ($##&+ As t$# ana&ys"s a)o%# s$o(s, "f t$# )ra*#s t$#'s#&%#s ar# strong #noug$, t$# r#ar ($##& "s #asy to s*"d, ($"&# t$# front ($##& oft#n an g#n#rat# #noug$ sto!!"ng for # to f&"! t$# r"d#r and )"*# o%#r t$# front ($##&+ T$"s "s a&&#d a stoppie "f t$# r#ar ($##& "s &"ft#d )ut t$# )"*# do#s not f&"!, or an endo .a))r#%"at#d for' ofend"over"end/ "f t$# )"*# f&"!s+ An &ong or &o( )"*#s,

$o(#%#r, su $ as ru"s#r 'otor y &#s and r# u')#nt )" y &#s, t$# front t"r# ("&& s*"d "nst#ad, !oss")&y aus"ng a &oss of )a&an #+ In t$# as# of a front sus!#ns"on, #s!# "a&&y t#&#s o!"ng for* tu)#s, t$# "n r#as# "n do(n(ard for # on t$# front ($##& dur"ng )ra*"ng 'ay aus# t$# sus!#ns"on to o'!r#ss and t$# front #nd to &o(#r+ T$"s "s *no(n as bra(e diving+ A r"d"ng t# $n"7u# t$at ta*#s ad%antag# of $o( )ra*"ng "n r#as#s t$# do(n(ard for # on t$# front ($##& "s *no(n as trail bra(ing+ /edit02ront wheel braking T$# &"'"t"ng fa tors on t$# 'a0"'u' d# #&#rat"on "n front ($##& )ra*"ng ar#5

t$# 'a0"'u', &"'"t"ng %a&u# of stat" fr" t"on )#t(##n t$# t"r# and t$# ground, oft#n )#t(##n 0+2 and 0+= for ru))#r on dry as!$a&t,MO:N t$# *"n#t" fr" t"on )#t(##n t$# )ra*# !ads and t$# r"' or d"s*, and !"t $"ng or &oo!"ng .of )"*# and r"d#r/ o%#r t$# front ($##&+

Bor an u!r"g$t )" y &# on dry as!$a&t ("t$ #0 #&&#nt )ra*#s, !"t $"ng ("&& !ro)a)&y )# t$# &"'"t"ng fa tor+ T$# o')"n#d #nt#r of 'ass of a ty!" a& u!r"g$t )" y &# and r"d#r ("&& )# a)out 80 ' .2I "n/ )a * fro' t$# front ($##& onta t !at $ and 120 ' .IO "n/ a)o%#, a&&o("ng a 'a0"'u' d# #&#rat"on of 0+2 g .2 '9s2 or 18 ft9s2/+M28N If t$# r"d#r 'odu&at#s t$# )ra*#s !ro!#r&y, $o(#%#r, !"t $"ng an )# a%o"d#d+ If t$# r"d#r 'o%#s $"s (#"g$t )a * and do(n, #%#n &arg#r d# #&#rat"ons ar# !oss")&#+ Bront )ra*#s on 'any "n#0!#ns"%# )"*#s ar# not strong #noug$ so, on t$# road, t$#y ar# t$# &"'"t"ng fa tor+ C$#a! ant"&#%#r )ra*#s, #s!# "a&&y ("t$ W!o(#r 'odu&atorsW, and Ra&#"g$3 sty&# s"d#3!u&& )ra*#s s#%#r#&y r#str" t t$# sto!!"ng for #+ In (#t ond"t"ons t$#y ar# #%#n &#ss #ff# t"%#+ Bront ($##& s&"d#s ar# 'or# o''on off3road+ Mud, (at#r, and &oos# ston#s r#du # t$# fr" t"on )#t(##n t$# t"r# and tra"&, a&t$oug$ *no))y t"r#s an '"t"gat# t$"s #ff# t )y gra))"ng t$# surfa # "rr#gu&ar"t"#s+ Bront ($##& s&"d#s ar# a&so o''on on orn#rs, ($#t$#r on road or off+ C#ntr"!#ta& a /edit04ear-wheel braking T$# r#ar )ra*# of an u!r"g$t )" y &# an on&y !rodu # a)out 0+1 g .1 '9s2/ d# #&#rat"on at )#st,M28N )# aus# of t$# d# r#as# "n nor'a& for # at t$# r#ar ($##& as d#s r")#d a)o%#+ A&& )"*#s ("t$ on&y r#ar )ra*"ng ar# su)-# t to t$"s &"'"tat"on5 for #0a'!&#, )"*#s ("t$ on&y a oast#r )ra*#, and f"0#d3g#ar )"*#s ("t$ no ot$#r )ra*"ng '# $an"s'+ T$#r# ar#, $o(#%#r, s"tuat"ons t$at 'ay (arrant r#ar ($##& )ra*"ngMOIN #&#rat"on adds to t$# for #s on t$# t"r#3ground onta t, and ($#n t$# fr" t"on for # "s #0 ##d#d t$# ($##& s&"d#s+

S&"!!#ry surfa #s or )u'!y surfa #s+ 4nd#r front ($##& )ra*"ng, t$# &o(#r o#ff" "#nt of fr" t"on 'ay aus# t$# front ($##& to s*"d ($" $ oft#n r#su&ts "n a &oss of )a&an #+ MOIN Bront f&at t"r#+ Bra*"ng a ($##& ("t$ a f&at t"r# an aus# t$# t"r# to o'# off t$# r"' ($" $ gr#at&y r#du #s fr" t"on and, "n t$# as# of a front ($##&, r#su&t "n a &oss of )a&an #+ MOIN

Bront )ra*# fa"&ur#+MOIN

/edit0.raking techni8ue E0!#rt o!"n"on %ar"#s fro' Wus# )ot$ &#%#rs #7ua&&y at f"rstW MO2N to Wt$# fast#st t$at you an sto! any )"*# of nor'a& ($##&)as# "s to a!!&y t$# front )ra*# so $ard t$at t$# r#ar ($##& "s -ust a)out to &"ft off t$# ground,WMOIN d#!#nd"ng on road ond"t"ons, r"d#r s*"&& &#%#&, and d#s"r#d fra t"on of 'a0"'u' !oss")&# d# #&#rat"on+ [edit]Suspension

Mounta"n )"*# r#ar sus!#ns"on

Main article: #icycle suspension Main article: $uspension )motorcycle* B"*#s 'ay $a%# on&y front, on&y r#ar, fu&& sus!#ns"on or no sus!#ns"on t$at o!#rat# !r"'ar"&y "n t$# #ntra& !&an# of sy''#try1 t$oug$ ("t$ so'# ons"d#rat"on g"%#n to &at#ra& o'!&"an #+M:HN T$# goa&s of a )"*# sus!#ns"on ar# to r#du # %")rat"on #0!#r"#n #d )y t$# r"d#r, 'a"nta"n ($##& onta t ("t$ t$# ground, and 'a"nta"n %#$" &# tr"'+ MHN T$# !r"'ary sus!#ns"on !ara'#t#rs ar# st"ffn#ss, da'!"ng, s!rung and uns!rung 'ass, and t"r# $ara t#r"st" s+M:HN B#s"d#s "rr#gu&ar"t"#s "n t$# t#rra"n, )ra*#, a #&#rat"on, and dr"%#3 tra"n for #s an a&so a t"%at# t$# sus!#ns"on as d#s r")#d a)o%#+ E0a'!&#s "n &ud# )o) and !#da& f##d)a * on )" y &#s, t$# s$aft #ff# t on 'otor y &#s, and s7uat and )ra*# d"%# on )ot$+ [edit]Vibration T$# study of %")rat"on "n )"*#s "n &ud#s "ts aus#s, su $ as #ng"n# )a&an #,MO8N ($##& )a&an #, ground surfa #, and a#rodyna'" s1 "ts trans'"ss"on and a)sor!t"on1 and "ts #ff# ts on t$# )"*#, t$# r"d#r, and saf#ty+MOON An "'!ortant fa tor "n any %")rat"on ana&ys"s "s a o'!ar"son of t$# natura& fr#7u#n "#s of t$# syst#' ("t$ t$# !oss")&# dr"%"ng fr#7u#n "#s of t$# %")rat"on sour #s+MO=N A &os# 'at $ '#ans '# $an" a& r#sonan # t$at an r#su&t "n &arg# a'!&"tud#s+ A $a&&#ng# "n %")rat"on da'!"ng "s to r#at# o'!&"an # "n #rta"n d"r# t"ons .%#rt" a&&y/ ("t$out sa r"f" "ng fra'# r"g"d"ty n##d#d for !o(#r trans'"ss"on and $and&"ng .tors"ona&&y/+
MOHN

Anot$#r "ssu# ("t$ %")rat"on for t$# )"*# "s t$# !oss")"&"ty of fa"&ur# du# to 'at#r"a&

fat"gu#M=0N Eff# ts of %")rat"on on r"d#rs "n &ud# d"s o'fort, &oss of #ff" "#n y, Hand3Ar'

V")rat"on Syndro'#, a s# ondary for' RaynaudLs d"s#as#, and ($o&# )ody %")rat"on+ V")rat"ng "nstru'#nts 'ay )# "na urat# or d"ff" u&t to r#ad+M=0N /edit0"n

bicycles

T$# !r"'ary aus# of %")rat"ons "n a !ro!#r&y fun t"on"ng )" y &# "s t$# surfa # o%#r ($" $ "t ro&&s+ In add"t"on to !n#u'at" t"r#s and trad"t"ona& )" y &# sus!#ns"ons, a %ar"#ty of t# $n"7u#s $a%# )##n d#%#&o!#d to da'! %")rat"ons )#for# t$#y r#a $ t$# r"d#r+ T$#s# "n &ud# 'at#r"a&s, su $ as ar)on f")#r, #"t$#r "n t$# ($o&# fra'# or -ust *#y o'!on#nts su $ as t$# front for*, s#at!ost, or $and&#)ars1 tu)# s$a!#s, su $ as ur%#d s#at stays1
M=1N

and s!# "a& "ns#rts, su $ as [#rtE )y S!# "a&"E#d,M=2NM=:N and BuEE*"&&s )y Bontrag#r+

/edit0"n

(otorcycles

In add"t"on to t$# road surfa #, %")rat"ons "n a 'otor y &# an )# aus#d )y t$# #ng"n# and ($##&s, "f un)a&an #d+ Manufa tur#rs #'!&oy a %ar"#ty of t# $no&og"#s to r#du # or da'! t$#s# %")rat"ons, su $ as #ng"n# )a&an # s$afts, ru))#r #ng"n# 'ounts,M=IN and t"r# (#"g$ts+
M=2N

T$# !ro)&#'s t$at %")rat"on aus#s $a%# a&so s!a(n#d an "ndustry of aft#r3'ar*#t !arts

and syst#'s d#s"gn#d to r#du # "t+ Add3ons "n &ud# $and&#)ar (#"g$ts,M=8N "so&at#d foot !#gs, and #ng"n# ount#r(#"g$ts+ At $"g$ s!##ds, 'otor y &#s and t$#"r r"d#rs 'ay a&so #0!#r"#n # a#rodyna'" f&utt#r or )uff#t"ng+M=ON T$"s an )# a)at#d )y $ang"ng t$# a"r f&o( o%#r *#y !arts, su $ as t$# ("nds$"#&d+M==N [edit]Experimentation A %ar"#ty of #0!#r"'#nts $a%# )##n !#rfor'#d "n ord#r to %#r"fy or d"s!ro%# %ar"ous $y!ot$#s#s a)out )"*# dyna'" s+

Da%"d Pon#s )u"&t s#%#ra& )"*#s "n a s#ar $ for an unr"da)&# onf"gurat"on+ M8N R" $ard K&#"n )u"&t s#%#ra& )"*#s to onf"r' Pon#sLs f"nd"ngs+ M2N R" $ard K&#"n a&so )u"&t a WTor7u# 6r#n $ B"*#W and a WRo *#t B"*#W to "n%#st"gat# st##r"ng tor7u#s and t$#"r #ff# ts+M2N

K#"t$ Cod# )u"&t a 'otor y &# ("t$ f"0#d $and&#)ars to "n%#st"gat# t$# #ff# ts of r"d#r 'ot"on and !os"t"on on st##r"ng+M=HN

S $(a) and Koo"-'an $a%# !#rfor'#d '#asur#'#nts ("t$ an "nstru'#nt#d )"*#+ MH0N Hu))ard and Moor# $a%# !#rfor'#d '#asur#'#nts ("t$ an "nstru'#nt#d )"*#+ MH1N