Each of the identical wheels has a mass of 4 kg and a radius of gyration kz = 120 mm and...

Each of the identical wheels has a mass of 4 kg and a radius of gyration kz = 120 mm and is mounted on a horizontal shaft AB secured to the vertical shaft at O. In case (a), the horizontal shaft is fixed to a collar at O which is free to rotate about the vertical y-axis. In case (b), the shaft is secured by a yoke hinged about the x-axis to the collar. If the wheel has a large angular velocity p = 3600 rev/min about its z-axis in the position shown, determine any precession which occurs and the bending moment MA in the shaft at A for each case. Neglect the small mass of the shaft and fitting at O.