Calculating Yaw Rate & Angle of Rotating Body w/ Offset C.o.M.

[tuoni]

Is it possible to calculate the yaw rate (rad/s) or yaw angle (rad) of a rotating body where centre of mass does not coincide with the rotational axis?

E.g. a tyre rim of radius r, spinning at angular velocity ω, and with its centre of mass rx off-centre relative to the rotational axis. The faster you spin it, the faster it would "wobble."

Can this be calculated?

EDIT:

I've tried searching for this but so far I have found nothing...maybe this isn't the terminology commonly used?

 

[Valerie Park]

Yes, it is possible to calculate the yaw rate or yaw angle of a rotating body where the center of mass does not coincide with the rotational axis. The equations for calculating the yaw rate are as follows: Yaw rate (rad/s): ωyaw = (rx/r)ωYaw angle (rad): θyaw = (rx/r)θWhere ω is the angular velocity, rx is the distance between the center of mass and the rotational axis, r is the radius of the body, and θ is the angular displacement.