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INTRODUCTION:
Whenmaninventedthewheel,heveryquicklylearntthatifitwasn‟tcompletelyroundandifitdidn
‟trotateevenlyaboutit‟scentralaxis,thenhehadaproblem!
Whattheproblemhehad?
Thewheelwouldvibratecausingdamagetoitselfandit‟ssupportmechanismandinseverecases,i
sunusable.
Amethodhadtobefoundtominimizetheproblem.Themasshadtobeevenlydistributedaboutther
otatingcenterlinesothattheresultantvibrationwasataminimum.
UNBALANCE:
Theconditionwhichexistsinarotorwhenvibratoryforceormotionisimpartedtoitsbearingsasare
sultofcentrifugalforcesiscalledunbalanceortheunevendistributionofmassaboutarotor‟srotati
ngcenterline.
DYNAMICSOFMACHINES
Rotatingcenterline:
Therotatingcenterline beingdefinedas theaxis aboutwhich the rotor wouldrotate
ifnotconstrainedbyitsbearings.(AlsocalledthePrincipleInertiaAxisorPIA).
Geometriccenterline:
Thegeometriccenterlinebeingthephysicalcenterlineoftherotor.
Whenthetwocenterlinesarecoincident,thentherotorwillbeinastateofbalance.Whentheyareap
art,therotorwillbeunbalanced.
Differenttypesofunbalancecan be definedbythe relationshipbetweenthe

twocenterlines.Theseinclude:
StaticUnbalance–wherethePIAisdisplacedparalleltothegeometriccenterline.(Shownabove)
CoupleUnbalance–
wherethePIAintersectsthegeometriccenterlineatthecenterofgravity.(CG)
DynamicUnbalance–wherethePIAandthegeometriccenterlinedonotcoincideortouch.
Themostcommonoftheseisdynamicunbalance.
CausesofUnbalance:
Inthedesignofrotatingpartsofamachineeverycareistakentoeliminateanyoutofbalanceorcoupl
e,buttherewillbealwayssomeresidualunbalanceleftinthefinishedpartbecauseof
1. slightvariationinthedensityofthematerialor
2. inaccuraciesinthecastingor
3. inaccuraciesinmachiningoftheparts.
Whybalancingissoimportant?
1. Alevelofunbalancethatisacceptableatalowspeediscompletelyunacceptableatahigherspe
ed.
2. Asmachinesgetbiggerandgofaster,theeffectoftheunbalanceismuchmoresevere.
3. Theforcecausedbyunbalanceincreasesbythesquareofthespeed.
4. Ifthespeedisdoubled,theforcequadruples;ifthespeedistripledtheforceincreases
DYNAMICSOFMACHINES
byafactorofnine!
Identifyingandcorrectingthemassdistributionandthusminimizingthe
forceandresultantvibrationisveryveryimportant
BALANCING:
Balancingisthetechniqueofcorrectingoreliminatingunwantedinertiaforcesormomentsinrotat
ingorreciprocatingmassesandisachievedby changingthelocationofthemasscenters.
Theobjectivesofbalancinganenginearetoensure:
1. Thatthecentreofgravityofthesystemremainsstationeryduringacompleterevoluti
onofthecrankshaftand
2. Thatthecouplesinvolvedinaccelerationofthedifferentmovingpartsbalan
ceeachother.
Typesofbalancing:
a) StaticBalancing:
i) Staticbalancingisabalanceofforcesduetoactionofgravity.
ii) Abodyissaidtobeinstaticbalancewhenitscentreofgravityisintheaxisofrota
tion.
b) Dynamicbalancing:
i) Dynamicbalanceisabalanceduetotheactionofinertiaforces.
ii) Abodyissaidtobeindynamicbalancewhentheresultantmomentsorcouples,
whichinvolvedintheaccelerationofdifferentmovingpartsisequaltozero.
iii) Theconditionsofdynamicbalancearemet,theconditionsofstaticbalanc
earealsomet.
Inrotororreciprocatingmachinesmanyatimesunbalanceofforcesisproducedduetoinertiaforce
sassociatedwiththemovingmasses.If
thesepartsarenotproperlybalanced,thedynamicforcesaresetupandforcesnotonlyincreaseload
sonbearingsandstressesinthevariouscomponents,butalsounpleasantanddangerousvibrations
.
Balancingisaprocessofdesigningormodifyingmachinerysothattheunbalanceisreducedtoanac
ceptablelevelandifpossibleeliminatedentirely.
BALANCINGOFROTATINGMASSES
Whenamassmovesalongacircularpath,itexperiencesacentripetalaccelerationandaforceisrequ
iredtoproduceit.Anequalandoppositeforcecalledcentrifugalforceactsradiallyoutwardsandis
adisturbingforceontheaxisofrotation.Themagnitudeofthisremainsconstantbutthedirectionch
angeswiththerotationofthemass.
DYNAMICSOFMACHINES
Inarevolvingrotor,thecentrifugalforceremainsbalancedaslongasthecentreofthemassofrotorli
esontheaxisofrotationoftheshaft.Whenthisdoesnothappen,thereisaneccentricityandanunbal
anceforceisproduced.Thistypeofunbalanceiscommoninsteamturbinerotors,enginecrankshaf
ts,rotorsofcompressors,centrifugalpumpsetc.
me2
e
m
Theunbalanceforcesexertedonmachinemembersaretimevarying,impartvibratorymotionand
noise,therearehumandiscomfort,performanceofthemachinedeteriorateanddetrimentaleffect
onthestructuralintegrityofthemachinefoundation.
Balancinginvolvesredistributingthemasswhichmaybecarriedoutbyadditionorremovalofmas
sfromvariousmachinemembers
Balancingofrotatingmassescanbeof
1. Balancingofasinglerotatingmassbyasinglemassrotatinginthesameplane.
2. Balancingofasinglerotatingmassbytwomassesrotatingindifferentplanes.
3. Balancingofseveralmassesrotatinginthesameplane
4. Balancingofseveralmassesrotatingindifferentplanes
STATICBALANCING:
Asystemof rotatingmassesissaidtobeinstaticbalanceif
thecombinedmasscentreofthesystemliesontheaxisofrotation
DYNAMICBALANCING;
Whenseveralmassesrotateindifferentplanes,thecentrifugalforces,inadditiontobeingoutofbal
ance,alsoformcouples.Asystemofrotatingmassesisindynamicbalancewhentheredoesnotexis
tanyresultantcentrifugalforceaswellasresultantcouple.
DYNAMICSOFMACHINES
CASE1.
BALANCINGOF A SINGLE ROTATINGMASSBY A SINGLEMASS
ROTATING INTHE SAME PLANE
Consideradisturbingmassm1whichisattachedtoashaftrotatingatrad/s.Let


Thecentrifugalforceexertedbymassm1 ontheshaftisgivenby,
Fc1m1 2 r1(1)
Thisforceactsradiallyoutwardsandproducesbendingmomentontheshaft.Inordertocounteract
theeffectofthisforceFc1,abalancingmassm2 maybeattachedinthesameplane ofrotation of
thedisturbingmassm1suchthatthecentrifugalforcesdue tothe
twomassesareequalandopposite.
DYNAMICSOFMACHINES
Let,


Thereforethecentrifugalforceduetomassm2 willbe,
 
Equatingequations(1)and(2),weget

 
Theproductm2 r2 canbesplitupinanyconvenientway.Asforaspossibletheradius
ofrotationofmassm2thatisr2 isgenerallymadelargeinordertoreducethebalancingmassm2.
CASE2:
BALANCINGOFA SINGLEROTATINGMASS BY
TWOMASSESROTATINGINDIFFERENTPLANES.
Therearetwopossibilitieswhileattachingtwobalancingmasses:
1. Theplaneofthedisturbingmassmaybeinbetweentheplanesofthetwobalancingmasses
.
2. Theplaneofthedisturbingmassmaybeontheleftorrightsideoftwoplanescontainingth
ebalancingmasses.
Inordertobalanceasinglerotatingmassbytwomassesrotatingindifferentplaneswhichareparall
eltotheplaneofrotationofthedisturbingmassi)thenetdynamicforceactingontheshaftmustbeeq
ualtozero,i.e.thecentreofthemassesofthesystemmustlieontheaxisofrotationandthisisthecond
itionforstaticbalancingii)thenetcoupleduetothe dynamic
forcesactingontheshaftmustbeequaltozero, i.e.the
algebraicsumofthemomentsaboutanypointintheplanemustbezero.Theconditionsi)andii)toge
thergivedynamicbalancing.
DYNAMICSOFMACHINES
CASE2(I):
THEPLANEOFTHEDISTURBINGMASSLIESINBETWEENTHEPLANESOFTHE
TWOBALANCINGMASSES.
ConsiderthedisturbingmassmlyinginaplaneAwhichistobebalancedbytworotatingmassesm1
andm2lyingintwodifferentplanesMandNwhichareparalleltotheplaneAasshown.
Let r,r1andr2betheradiiofrotationofthemassesinplanesA,MandNrespectively.Let
L1,L2andLbethedistancebetweenAandM,AandN,andM andNrespectively.Now,
ThecentrifugalforceexertedbythemassminplaneAwillbe,
 
Similarly,
Thecentrifugalforceexertedbythemassm1 inplaneMwillbe,
 
DYNAMICSOFMACHINES
Andthecentrifugalforceexertedbythemassm2 inplaneNwillbe,
 
Fortheconditionofstaticbalancing,
 
 
 
Now,todeterminethemagnitudeofbalancingforceintheplane„M‟orthedynamicforceatthebear
ing„O‟ofashaft,takemomentsabout„P‟whichisthepointofintersectionoftheplaneNandtheaxis
ofrotation.
Therefore,


  
Similarly,inordertofindthebalancingforceinplane„N‟orthedynamicforceatthebearing„P‟ofas
haft,takemomentsabout„O‟whichisthepointofintersectionoftheplaneMandtheaxisofrotation
.
Therefore,


  
Fordynamicbalancingequations(5)or(6)mustbesatisfiedalongwithequation(4).
DYNAMICSOFMACHINES
CASE2(II):
WHENTHEPLANE
OFTHEDISTURBINGMASSLIESONONEENDOFTHETWOPLANESCONTAINING
THEBALANCINGMASSES.
Forstaticbalancing,
 
 
 
Fordynamicbalancethenetdynamicforceactingontheshaftandthenetcoupleduetodynamicforcesa
ctingontheshaftisequaltozero.
Tofindthebalancingforceintheplane„M‟orthedynamicforceatthebearing„O‟ofashaft,takemomen
tsabout„P‟.i.e.
DYNAMICSOFMACHINES


  
Similarly,tofindthebalancingforceintheplane„N‟,takemomentsabout„O‟,i.e.,


  
CASE3:
BALANCINGOFSEVERALMASSESROTATINGINTHESAMEPLANE
Considerarigidrotorrevolvingwithaconstantangularvelocityrad/s.Anumberofmassessay,fou
raredepictedbypointmassesatdifferentradiiinthesametransverseplane.
DYNAMICSOFMACHINES
Ifm1,m2,m3andm4arethemassesrevolvingatradiir1,r2,r3andr4respectivelyinthesameplane.
ThecentrifugalforcesexertedbyeachofthemassesareFc1,Fc2,Fc3andFc4respectively.Let
Fbethevectorsumoftheseforces.i.e.
  
    
TherotorissaidtobestaticallybalancedifthevectorsumFiszero.IfthevectorsumFisnotzero,i.e.t
herotorisunbalanced,thenintroduceacounterweight(balanceweight)ofmass„m‟atradius„r‟tob
alancetherotorsothat,
     
   
Themagnitudeofeither„m‟or„r‟maybeselectedandtheothercanbecalculated.
Ingeneral, if m i ri isthevectorsumofm1 r1,m 2r2,m 3r3, m 4 r4 etc,then,
  
Theaboveequationcanbesolvedeitheranalyticallyorgraphically.
1. AnalyticalMethod:
Procedure:
Step1:Findoutthecentrifugalforceortheproductofmassanditsradiusofrotation
exertedbyeachofmassesontherotatingshaft,since2 issameforeachmass,
thereforethemagnitudeofthecentrifugalforceforeachmassisproportionaltotheproductofthere
spectivemassanditsradiusofrotation.
Step2:Resolvetheseforcesintotheirhorizontalandverticalcomponentsandfindtheirsums.i.e.,
    


   


DYNAMICSOFMACHINES
Step3:Determinethemagnitudeoftheresultantcentrifugalforce
 
 
Step4:If istheangle,whichresultantforcemakeswiththehorizontal,then
 
Step5:Thebalancingforceisthenequaltotheresultantforce,butinoppositedirection.Step6:Nowf
indoutthemagnitudeofthebalancingmass,suchthat
Where,m=balancingmassandr=itsradiusofrotation
2. GraphicalMethod:
Step1:
Drawthespacediagramwiththepositionsoftheseveralmasses,asshown.
Step2:
Findoutthecentrifugalforcesorproductofthemassandradiusofrotationexertedbyeachmass.
Step3:
Nowdrawthevectordiagramwiththeobtainedcentrifugalforcesorproductofthemassesandradii
ofrotation.Todrawvectordiagramtakeasuitablescale.
Let ab,bc,cd,derepresentstheforcesFc1,Fc2,Fc3andFc4onthevectordiagram.
Draw„ab‟paralleltoforceFc1ofthespacediagram,at„b‟drawalineparalleltoforceFc2.Similarlydr
awlinescd,deparalleltoFc3andFc4respectively.
Step4:
Asperpolygonlawofforces,theclosingside„ae‟representstheresultantforceinmagnitudeanddir
ectionasshowninvectordiagram.
Step5:
Thebalancingforceisthen,equalandoppositetotheresultantforce.Step6:
DYNAMICSOFMACHINES
Determinethemagnitudeofthebalancingmass(m)atagivenradiusofrotation(r),suchthat,
 !
CASE4:
BALANCINGOFSEVERALMASSESROTATINGINDIFFERENTPLANES
Whenseveralmassesrevolveindifferentplanes,theymaybetransferredtoareferenceplaneandth
isreferenceplaneisaplanepassingthroughapointontheaxisofrotationandperpendiculartoit.
Whenarevolvingmassinoneplaneistransferredtoareferenceplane,itseffectistocauseaforceofs
amemagnitudetothecentrifugalforceoftherevolvingmasstoactinthereferenceplanealongwith
acoupleofmagnitudeequaltotheproductoftheforceandthedistancebetweenthetwoplanes.
Inordertohaveacompletebalanceoftheseveralrevolvingmassesindifferentplanes,
1. theforcesinthereferenceplanemustbalance,i.e.,theresultantforcemustbezeroand
2. thecouplesaboutthereferenceplanemustbalancei.e.,theresultantcouplemustbezero.
Amassplacedinthereferenceplanemaysatisfythefirstconditionbutthecouplebalanceissatisfie
donlybytwoforcesofequalmagnitudeindifferentplanes.Thus,ingeneral,twoplanesareneededt
obalanceasystemofrotatingmasses.
DYNAMICSOFMACHINES
Example:
Considerfourmassesm1,m2,m3andm4attachedtotherotoratradiir1,r2,r3andr4respectively.The
massesm1,m2,m3andm4rotateinplanes1,2,3and4respectively.
a)Positionofplanesofmasses
Chooseareferenceplaneat„O‟sothatthedistanceoftheplanes1,2,3and4from„O‟areL1,L2,L3and
L4respectively.Thereferenceplanechosenisplane„L‟.Chooseanotherplane„M‟betweenplane
3and4asshown.
Plane„M‟isatadistanceofLmfromthereferenceplane„L‟.Thedistancesofalltheotherplanestoth
eleftof„L‟maybetakenasnegative(-ve)andtotherightmaybetakenaspositive(+ve).
ThemagnitudeofthebalancingmassesmLandmMinplanesLandMmaybeobtainedbyfollowingt
hestepsgivenbelow.
Step1:
Tabulatethegivendataasshownafterdrawingthesketchesofpositionofplanesofmassesandangu
larpositionofmasses.Theplanesaretabulatedinthesameorderinwhichtheyoccurfromlefttorig
ht.
DYNAMICSOFMACHINES
Centrifugal Distancefro 2
Couple/
Plane Mass(m) Radius(r) force/2 mRef.plane„
(mr
1 2 3 (mr) L‟(L)5
L)6
4
1 m1 r1 m1r1 -L1 -m1r1L1
L mL rL mLrL 0 0
2 m2 r2 m2r2 L2 m2r2L2
3 m3 r3 m3r3 L3 m3r3L3
M mM rM mMrM LM mMrMLM
4 m4 r4 m4r4 L4 m4r4L4
Step2:
Constructthecouplepolygonfirst.(Thecouplepolygoncanbedrawnbytakingaconvenientscale)
Addtheknownvectorsandconsideringeachvectorparalleltotheradiallineofthemassdrawthecoupl
ediagram.Thentheclosingvectorwillbe„mMrMLM‟.
Thevector
d‟o‟onthecouplepolygonrepresentsthebalancedcouple.Sincethebalancedcoup
leCM isproportionaltomMrMLM,therefore,
DYNAMICSOFMACHINES
& "
 " " "
 % # #
% # #

"
" "
FromthisthevalueofmMintheplaneMcanbedeterminedandtheangleofinclination
 ofthismassmaybemeasuredfromfigure(b).
Step3:
Nowdrawtheforcepolygon(Theforcepolygoncanbedrawnbytakingaconvenientscale)byaddi
ngtheknownvectorsalongwith„mMrM‟.Theclosingvectorwillbe„mLrL‟. This represents the
balancedforce. Sincethebalanced force is proportionalto „mLrL‟
,
 %
%

Fromthis the balancing massmL canbeobtained in plane„L‟and the

angleofinclinationofthismasswiththehorizontalmaybemeasuredfromfigure(b).
Problems andsolutions
Problem1.
FourmassesA,B,CandDareattachedtoashaftandrevolveinthesameplane.Themassesare12kg,
10kg,18kgand15kgrespectivelyandtheirradiiofrotationsare40mm, 50mm,
60mmand30mm.The angularpositionof themassesB,CandDare
600,1350and2700frommassA.Findthemagnitudeandpositionofthebalancingmassataradiusof
100mm.
Solution:Given
:
Centrifugalforce/2
Mass(m) Radius(r)
(mr) Angle()
kg m
kg-m
mA=12kg(ref
rA=0.04m mArA=0.48kg-m A 00
erencemass)
mB=10kg rB=0.05m mBrB=0.50kg-m B 60 0
mC=18kg rC=0.06m mCrC=1.08kg-m C 1350
mD=15kg rD=0.03m mDrD=0.45kg-m D 2700
Todeterminethebalancingmass„m‟ataradiusofr=0.1m.
Theproblemcanbesolvedbyeitheranalyticalorgraphicalmethod.
DYNAMICSOFMACHINES
AnalyticalMethod:
Step1:
Drawthespacediagramorangularpositionofthemasses.Sincealltheangularpositionofthemasse
saregivenwithrespecttomassA,taketheangularpositionofmassA
as A 0 .
0
Tabulatethegivendataasshown.Sincethemagnitudeofthecentrifugalforcesareproportionaltot
heproductofthemassanditsradius,theproduct„mr‟canbecalculatedandtabulated.
Step2:
Resolvethecentrifugalforceshorizontallyandverticallyandfindtheirsum.Resolvin
gmArA,mBrB,mCrCandmDrDhorizontallyandtakingtheirsumgives,
 -- -  ,,, &&& +++


*   *  )

 *  )  '( 
ResolvingmArA,mBrB,mCrCandmDrDverticallyandtakingtheirsumgives,
DYNAMICSOFMACHINES
 -- -  ,, , &&& ++ +

*   * )

   )     ))'( 
Step3:
Determinethemagnitudeoftheresultantcentrifugalforce
 
 
   ))  )*'(
Step4:
Thebalancingforceisthenequaltotheresultantforce,butinoppositedirection.Nowfindoutthema
gnitudeofthebalancingmass,suchthat
)*'(
)*
   )*'(-
Step5:
Determinethepositionofthebalancingmass„m‟.
If istheangle,whichresultantforcemakeswiththehorizontal,then
))
     .)
*) .
Remember ALL STUDENTS TAKE COPY i.e. in first quadrant all angles
(sin, cos andtan) arepositive,insecondquadrantonly sin ispositive,in
thirdquadrantonlytan ispositiveandinfourthquadrantonlycos ispositive.
Sincenumeratorispositiveanddenominatorisnegative,theresultantforcemakeswiththehorizon
tal,anangle(measuredinthecounterclockwisedirection)
92.60
DYNAMICSOFMACHINES
Thebalancingforceisthenequaltotheresultantforce,butinoppositedirection.
Thebalancingmass„m‟liesoppositetotheradialdirectionoftheresultantforceandthe
angleof inclinationwith the  M 87.40 anglemeasuredin the
horizontalis,clockwisedirection.
GraphicalMethod:
Step1:
Drawthespacediagramorangularpositionofthemassestaking
theactualangles(SinceallangularpositionofthemassesaregivenwithrespecttomassA,takethea
ngular
positionofmassAas A 00).
DYNAMICSOFMACHINES
Step2:
ngtheknownvectorsasfollows.
Drawaline„ab‟paralleltoforceFCA(ortheproductmArAtoaproperscale)ofthespacediagram.At„
b‟drawaline„bc‟paralleltoFCB(ortheproductmBrB).Similarlydrawlines„cd‟,„de‟paralleltoFCC(
ortheproductmCrC)andFCD(ortheproductmDrD)respectively.Theclosingside„ae‟representsthe
resultantforce„R‟inmagnitudeanddirectionasshownonthevectordiagram.
Step3:

  )*'(-
angleof inclinationwith the  M 87.40 anglemeasuredin the
horizontalis,clockwisedirection.
DYNAMICSOFMACHINES
Problem2:
ThefourmassesA,B, Cand Dare100kg, 150kg,120kgand 130kg attached
toashaftandrevolve inthe sameplane. The correspondingradiiof rotationsare 22.5cm,
17.5cm,25cmand30cmandtheanglesmeasuredfromAare450,1200and2550.Findthepositiona
ndmagnitudeofthebalancingmass,iftheradiusofrotationis60cm.
Solution:Analytical
Method:Given:
Centrifugalforce/2
Mass(m) Radius(r)
(mr) Angle()
kg m
kg-m
mA=100kg(ref
rA=0.225m mArA=22.5kg-m A 00
erencemass)
mB=150kg rB=0.175m mBrB=26.25kg-m B 450
mC=120kg rC=0.250m mCrC=30kg-m C 120 0
mD=130kg rD=0.300m mDrD=39kg-m D 2550
m=? r=0.60  ?
Step1:
Drawthespacediagramorangularpositionofthemasses.Sincealltheangularpositionofthemass
esaregivenwithrespecttomassA,taketheangularpositionofmassA
as A 0 .
0
DYNAMICSOFMACHINES
Step2:
Resolvethecentrifugalforceshorizontallyandverticallyandfindtheirsum.ResolvingmArA
,mBrB,mCrCandmDrDhorizontallyandtakingtheirsumgives,
n
i i i A A A B B B C C C D D D
mrcos  mrcos  mrcos  mrcos

i1
m rcos
22.5xcos0  26.25xcos45  30xcos1200 39xcos2550
0 0
22.518.56(15)(10.1)15.97kgm (1)
ResolvingmArA,mBrB,mCrCandmDrDverticallyandtakingtheirsumgives,
n
i i i A A A B B B C C C D D D
mrsin  mrsin  mrsin  mrsin

i1
mrsin
22.5xsin0  26.25xsin45  30xsin1200 39xsin
0 0
2550
018.5625.98(37.67)6.87kgm (2)
Step3:
Determinethemagnitudeoftheresultantcentrifugalforce
2 2
mrcos  m rsin
n n
R
i i
i1 i i i i
i1
 15.97 6.87
2 2
17.39kgm
Step4:
Thebalancingforceisthenequaltotheresultantforce,butinoppositedirection.Nowfindoutthem
agnitudeofthebalancingmass,suchthat
Rmr17.39kgm
R 17.39
Therefore, m  28.98kgAns
r 0.60
Step5:
Determinethepositionofthebalancingmass„m‟.
If istheangle,whichresultantforcemakeswiththehorizontal,then
DYNAMICSOFMACHINES
n

mi ri sin i 6.87
tan  i1n mrcos  15.97  0.4302
i i ii1
and 23.280
angleofinclinationwiththehorizontalis,counter  203.28
0
anglemeasuredinthe
clockwisedirection.
GraphicalMethod:
Step1:
DYNAMICSOFMACHINES
Step2:
Drawthespace diagramorangularpositionofthe massestaking

theactualangles(SinceallangularpositionofthemassesaregivenwithrespecttomassA,takethea
ngular
positionofmassAas A 0 ).
0
Step3:
ngtheknownvectorsasfollows.
Drawaline„ab‟paralleltoforceFCA(ortheproductmArAtoaproperscale)ofthespacediagram.At„
b‟drawaline„bc‟paralleltoFCB(ortheproductmBrB).Similarlydrawlines„cd‟,„de‟paralleltoFCC(
ortheproductmCrC)andFCD(ortheproductmDrD)respectively.Theclosingside„ae‟representsthe
resultantforce„R‟inmagnitudeanddirectionasshownonthevectordiagram.
Step4:

   .'(-
angleofinclinationwiththehorizontalis,cloc  2030 anglemeasuredinthecounter
kwisedirection.
DYNAMICSOFMACHINES
Problem3:
Arotorhasthefollowingproperties.
Axialdistancef
Mass magnitude Radius Angle
romfirstmass
1 9kg 100mm A 00 -

2 7kg 120mm B 60 0 160mm
3 8kg 140mm C 1350 320mm
4 6kg 120mm D 2700 560mm
Iftheshaftisbalancedbytwocountermasseslocatedat100mmradiiandrevolvinginplanesmidwa
yof planes1and2,and midwayof3 and4,determinethemagnitude
ofthemassesandtheirrespectiveangularpositions.
Solution:
AnalyticalMethod:
Centrifugal Distancef
Couple/ 2 Angle
Mass(m) Radius(r) force/2 romRef.p
Plane
kg m (mr) lane„M‟m
(mr 
1 L)kg-m2
2 3 kg- 5
6 7
m4
1 9.0 0.10 m1r1 =0.9 -0.08 -0.072 00
M mM=? 0.10 mMrM=0.1 mM 0 0 M?
2 7.0 0.12 m2r2=0.84 0.08 0.0672 600
3 8.0 0.14 m3r3=1.12 0.24 0.2688 1350
N mN=? 0.10 mNrN=0.1mN 0.36 mNrNlN=0.036mN N?
4 6.0 0.12 m4r4=0.72 0.48 0.3456 2700
Fordynamicbalancingtheconditionsrequiredare,
 " " 3 3  11111111112 / !
! ! 3 33 1111111111111122 0! / !
DYNAMICSOFMACHINES
Step1:
Resolvethecouplesintotheirhorizontalandverticalcomponentsandfindtheirsums.Sumofth
ehorizontalcomponentsgives,
!  ! 
33 33
5/ 4(
 ) ) **
 ) 3 3 
3 3 *
Sumoftheverticalcomponentsgives,
3 33 3
!  ! 
5/ 4(
 )  )  **
 )  3 3
3 3  .) 
Squaringandadding(1)and(2),weget
DYNAMICSOFMACHINES
!*  .) 
3 33
3  *
*
3  .'( -
Dividing(2)by(1),weget
.)
3  3  )
*
Step2:
Resolvetheforcesintotheirhorizontalandverticalcomponentsandfindtheirsums.Sumoftheh
orizontalcomponentsgives,
 "" "  3 3 3 5/ 4(

.  *    ) )
 ""   .
" )
"" " .
 "" "  3 3 3 5/ 4(

.  *   ) )
 ""  .
" )
"" " .*
""    .  .*

" *
*
"   *'( -
  .* -
"  "
 .
DYNAMICSOFMACHINES
VTUEDUSATPROGRAMME-17
GraphicalSolution:
DYNAMICSOFMACHINES
Problem4:
Thesystemhasthefollowingdata.
m11.2kg r1 1.135m@113.40
m11.8kg r2 0.822m@48.80
m12.4kg r3 1.04m@251.40
ThedistancesofplanesinmetresfromplaneAare:
! * ! ) ! . !, .)
Findthemass-
radiusproductsandtheirangularlocationsneededtodynamicallybalancethesystemusingthecor
rectionplanesAandB.
Solution: AnalyticalMethod
Couple/ 2 Angle
Mass(m) Radius(r) force/2 romRef.p
Plane
kg m (mr) lane„A‟m
(mr 
1 L)kg-m2
2 3 kg- 5
6 7
m4
A mA rA mArA =? 0 0  A?
1 1.2 1.135 1.362 0.854 1.163148 113.40
2 1.8 0.822 1.4796 1.701 2.5168 48.80
3 2.4 1.04 2.496 2.396 5.9804 251.40
B mB rB mBrB=? 3.097 3.097mBrB B?
DYNAMICSOFMACHINES
Step1:
Resolvethecouplesintotheirhorizontalandverticalcomponentsandfindtheirsums.Sumofth
!  ! 
,, ,,
5/ 4(
* * ** .*
.) ,, , 
)
,, ,
 
.)
!  ,, ,,! 
5/ 4(
* * ** .*
.),, , 
) .
,, , 
.)
) ) .
,,

.) 
.)
 . )'(
) .
,  ))
, -
)
Step2:
DYNAMICSOFMACHINES
 - - -
 ,, 
,
5/ 4(
). ** .
 - - -  . ) ) )
- - - 
 - - - ,, , 
5/ 4(
). **  .
  - - -  . ) ) )
- - -  *) 
- -     *) 
 **)'(
*)  * -
-  -
Problem5:
Ashaftcarries fourmassesA, B, C andDofmagnitude200 kg,300 kg,400kgand
200kgrespectivelyandrevolvingatradii80mm,70mm,60mmand80mminplanesmeasuredfro
mAat300mm,400mmand700mm.TheanglesbetweenthecranksmeasuredanticlockwiseareAt
oB450,BtoC700andCtoD1200.ThebalancingmassesaretobeplacedinplanesXandY.Thedistan
cebetweentheplanesAandXis100mm,betweenXandYis400mmandbetweenYandDis200m
m.Ifthebalancingmassesrevolveataradiusof100mm,findtheirmagnitudesandangularposition
s.
DYNAMICSOFMACHINES
Graphicalsolution:
Let,mXbethebalancingmassplacedinplaneX
andmYbethebalancingmassplacedinplaneYwhicharetobedetermined.
Step1:
Drawthepositionoftheplanesasshowninfigure(a).
LetXbethereferenceplane(R.P.).Thedistancesoftheplanestotheright
oftheplaneXaretakenaspositive(+ve)andthedistancesofplanestotheleftofXplanearetakenasn
egative(-ve).Thedatamaybetabulatedasshown
Sincethemagnitudeofthecentrifugalforcesareproportionaltotheproductofthemassanditsradi
us,theproduct„mr‟canbe calculatedandtabulated.Similarlythe
magnitudeofthecouplesareproportionaltotheproductofthemass,itsradiusandtheaxialdistance
fromthereferenceplane,theproduct„mrl‟canbecalculatedandtabulatedasshown.
DYNAMICSOFMACHINES
Couple/ 2 Angle
Mass Radius(r) force/2 romRef.p
Plane
(m)kg m (mr) lane„X‟m
(mr 
1 L)kg-m2
2 3 kg- 5
6 7
m4
A 200 0.08 mArA =16 -0.10 -1.60 -
X mX=? 0.10 mXrX=0.1mX 0 0 X?
B 300 0.07 mBrB=21 0.20 4.20 AtoB450
C 400 0.06 mCrC=24 0.30 7.20 BtoC700
Y mY=? 0.10 mYrY=0.1mY 0.40 mYrYlY=0.04mY Y?
D 200 0.08 mDrD=16 0.60 9.60 CtoD1200
Step2:
AssumingthemassAashorizontaldrawthesketchofangularpositionofmassesasshowninfigure(b
).
Step3:
Drawthecouplepolygontosomesuitablescalebytakingthevaluesof„mrl‟(columnno.6)ofthetabl
easshowninfigure(c).
Drawlineo‟a‟paralleltotheradiallineofmassmA.Ata‟dra
wlinea‟b‟paralleltoradiallineofmassmB.
Similarly,drawlinesb‟c‟,c‟d‟paralleltoradiallinesofmassesmCandmD
respectively.Now,joind‟too‟whichgivesthebalancedcouple.
DYNAMICSOFMACHINES
6 % ##)'(
Weget,
6  * '( -
Step4:
TofindtheangularpositionofthemassmYdrawalineomYinfigure(b)paralleltod‟o‟ofthecouplep
olygon.
Bymeasurementweget6 intheclockwisedirectionfrommA.
Step5:
Nowdrawtheforcepolygonbyconsideringthevaluesof„mr‟(columnno.4)ofthetableasshowni
nfigure(d).
Followthesimilarprocedureofstep3.Theclosingsideoftheforcepolygoni.e.„eo‟representstheb
alancedforce.
7 7 % '(
7  '( -
Step6:
TheangularpositionofmXisdeterminedbydrawingalineomXparalleltotheline„eo‟oftheforcepo
lygoninfigure(b).Fromfigure(b)weget,
7
,measuredclockwisefrommA.Ans
Problem6:
A,B,CandDarefourmassescarriedbyarotatingshaftatradii100mm,125mm,200mmand150m
mrespectively.Theplanesinwhichthemassesrevolvearespaced600mmapartandthemassofB,
CandDare10kg,5kgand4kgrespectively.FindtherequiredmassAandrelativeangularsettingsof
thefourmassessothattheshaftshallbeincompletebalance.
Solution:
GraphicalMethod:
Step1:
Let,mAbethebalancingmassplacedinplaneAwhichistobedeterminedalongwiththerelativeang
ularsettingsofthefourmasses.
LetAbethereferenceplane(R.P.).Assumeth
emassBashorizontal
Draw thesketchofangular position of massmB(line omB) asshownin
figure(b).Thed
atamaybetabulatedasshown.
DYNAMICSOFMACHINES
Distancef
Centrifugalforce/2( Couple/ 2 Angle
Mass Radius(r) romRef.p
Plane
(m)kg m
mr)
lane„A‟m
(mr 
1 kg- L)kg-m2
2 3 5
m4 6 7
A(
mA=? 0.1 mArA =0.1mA 0 0  A?
R.P.)
B 10 0.125 mBrB=1.25 0.6 0.75  B0
C 5 0.2 mCrC=1.0 1.2 1.2 C?
D 4 0.15 mDrD=0.6 1.8 1.08 D?
Step2:
TodeterminetheangularsettingsofmassCandDthecouplepolygonistobedrawnfirstasshownin
fig(c).Takeaconvenientscale
Drawalineo‟b‟equalto0.75kg-
m2paralleltothelineomB.Atpointo‟andb‟drawvectorso‟c‟andb‟c‟equalto1.2kg-
m2and1.08kg-m2respectively.Thesevectorsintersectatpointc‟.
Fortheconstructionofforcepolygontherearefouroptions.
AnyoneoptioncanbeusedandrelativetothattheangularsettingsofmassCandDaredeter
mined.
DYNAMICSOFMACHINES
Step3:
Nowinfigure(b),drawlinesomCandomDparalleltoo‟c‟andb‟c‟respectively.Fromme
asurementweget,
+  &  -
Step4:
InordertofindmAanditsangularsettingdrawtheforcepolygonasshowninfigure(d).
ClosingsideoftheforcepolygonodrepresentstheproductmArA.i.e.
DYNAMICSOFMACHINES
- -  )'(1
)
- )'( -
-
Step5:
NowdrawlineomAparalleltoodoftheforcepolygon.Bymeasurement,weget,
-
 -
Problem7:
AshaftcarriesthreemassesA,BandC.PlanesBandCare60cmand120cmfromA.A,BandCare50
kg,40kgand60kgrespectivelyataradiusof2.5cm.TheangularpositionofmassBandmassCwith
Aare900and2100respectively.Findtheunbalancedforceandcouple.Alsofindthepositionandm
agnitudeofbalancingmassrequiredat10cmradiusinplanesLandMmidwaybetweenAandB,an
dBandC.
Solution:
Case(i):
Distancef
Plane
(m)kg m
mr)
lane„A‟m
(mr 
1 kg- L)kg-m2
2 3 5
m4 6 7
A(
50 0.025 mArA =1.25 0 0 A 00
R.P.)
B 40 0.025 mBrB=1.00 0.6 0.6 90
B
0
C 60 0.025 mCrC=1.50 1.2 1.8 210

C
0
AnalyticalMethod
Step1:
Determinationofunbalancedcouple
Resolvethecouplesintotheirhorizontalandverticalcomponentsandfindtheirsums.Sumoftheh
%"' $%%"&% % "##$
%"'$%%"&%%%"
DYNAMICSOFMACHINES
*  )"##$ )%"

 "#&&(
Step2:
Determinationofunbalancedforce
Resolvetheforcesintotheirhorizontalandverticalcomponentsandfindtheirsums.Sumoft
hehorizontalcomponentsgives,
"# %%"% $%% "# %%

 "#%   "$$%"%+$
"# %%"% $%% "# %%

%"% %",#%"# +
 )%"%+$ %"#
%"#+& (
Graphicalsolution:
DYNAMICSOFMACHINES
b’’
` b
1.50
c
1.8 0.6
o’’ 1.00
o’’ Unbalancedforce
1.25
c’’ Unbalancedcouple o a
Forcepolygon
Couplepolygon
Case(ii):
TodeterminethemagnitudeanddirectionsofmassesmMandmL.
Let,mLbethebalancingmassplacedinplaneLandmMbethebalancingmassplacedinplaneMwhi
charetobedetermined.
Thedatamaybetabulatedasshown.
DYNAMICSOFMACHINES
Couple/ 2 Angle
Mass Radius(r) force/2 romRef.p
Plane
(m)kg m (mr) lane‘L’m
(mrL)kg 
1 -m2
2 3 kg- 5
6 7
m4
A 50 0.025 mArA=1.25 -0.3 -0.375 A 00
L(
mL=? 0.10 0.1mL 0 0 L?
R.P.)
B 40 0.025 mBrB=1.00 0.3 0.3 90
B
0
M mM=? 0.10 0.1mM 0.6 0.06mM M?

C 60 0.025 mCrC=1.50 0.9 1.35 210
C
0
AnalyticalMethod:
Step1:
Resolvethecouplesintotheirhorizontalandverticalcomponentsandfindtheirsums.Sumoftheh
 
... . %
-
)%",# %%%" $%% %"%' . .
 "# % %%
"" )%",# %%"%'. .   "'$ %
%"%' . . "#++
"#++ #",+ 


. .
%"%'

 
... . %
-
)%",# %%%" $%%%"%' . .  "# %%%
"" %%"%"%'. . %"',#%
%"%' . .%",#
%",#
. .
 '"# 
%"%'
DYNAMICSOFMACHINES
. .  . . #",+  '"#  ,%"'
"" 
. ,% "' .  '"#( /
'"#
.
 "'#%
/
#",+ .
Step2:
 1 1 1
 .. . %
-
"# %%%" 1 1
"% $%%  "'+$ "'#% "#% % %
"#%"1 1 % "#,+  "$$%0
%" 1   "##%
1
  "##
    #"#
1 1
%"
 1 1 1  .. . %

-
"# %%%" 1 1
"% $%%  "'+$ "'#% "#%% %
%%"1 1  %"'#%",#%
0
%" 1 1%"&,#%
%"&,#
 &",#+
1 1
%"
1 1  1 1  )#"#  )&",#  ,+"$
"" 1  ,+"$ 1  '", ( /
DYNAMICSOFMACHINES
&",#
1
 $" %
/
)#"# 1
ThebalancingmassmL isatanangle19.110 +1800

=199.110measuredincounterclockwisedirection.
GraphicalMethod:
0.3
1.35 0.375
0.06m M
COUPLEPOLYGON
0.1mM
1.5
1.0
0.1mL
1.25
FORCEPOLYGON
DYNAMICSOFMACHINES
Problem8:
FourmassesA,B,C andDare completelybalanced.MassesC

andDmakeanglesof900and2100respectivelywithBinthesamesense.TheplanescontainingBan
dCare300mmapart.MassesA,B,CandDcanbeassumedtobeconcentratedatradiiof360mm,480
mm,240mm and 300mm respectively. Themasses B, C andDare 15kg,
25kgand20kgrespectively.Determinei)massAanditsangularpositionii)positionofplanesAan
dD.
Solution:
AnalyticalMethod
Step1:
Drawthespacediagramorangularpositionofthemasses.Sincetheangularpositionofthemasses
CandDare givenwithrespect tomassB, take the angularpositionofmassB
asB 0 .
0
Tabulatethegivendataasshown.
Distancef
Plane
(m)kg m
mr)
lane„A‟m
(mr 
1 kg- L)kg-m2
2 3 5
m4 6 7
A(
mA=? 0.36 mArA =0.36mA 0 0  A?
R.P.)
B 15 0.48 mBrB=7.2 lB=? 7.2lB  B0
C 25 0.24 mCrC=6.0 lC=? 6.0lC 90
C
0
D 20 0.30 mDrD=6.0 lD=? 6.0lD D 2100
DYNAMICSOFMACHINES
DYNAMICSOFMACHINES
Step2:
MassmAbethebalancingmassplacedinplaneAwhichistobedeterminedalongwithitsangularpo
sition.
Refercolumn4ofthetable.SincemAistobedetermined(whichistheonlyunknown)
,resolvetheforcesintotheirhorizontalandverticalcomponentsandfindtheirsums.Sumofth
mrcos mA rA cos A  mB rB cos B  mC rC cos C  mD rD cos 0

D
Onsubstitutionweget
0.36mA cos A  7.2cos0 0 6.0cos90 0 6.0cos210 0 0
Therefore
0.36m A cos A
-2.004(1)
 / / /
 3 3 3
 * * *
 2 2 2 %
-
%"' / /
," % % '"% $%%'"% %% %
0
%"' / / )"%
%"' ) "%%+  "%

/ "%'
"%'
/
  %"%( /
%"'
 "%
/
 4(  #'"'%
)"%%+
0 / (/ '"'% /
DYNAMICSOFMACHINES
Step3:
Resolvethecouplesintotheirhorizontalandverticalcomponentsandfindtheirsums.Sumoft
hehorizontalcomponentsgives,
mrlcos m rA l A cos

A A  mBBr l B cos B mCCr l C cos C  m D rD l D cos D
0
Onsubstitutionweget
07.2l B cos006.0l C
cos9006.0l D
cos21000
7.2l B 5.1962lD0-----------(3)
mrlsinmA rA lAsinA  mB rB lBsinB  mCrC lCsinC  mD rD lDsinD 0

Onsubstitutionweget
07.2lB sin006.0l C sin9006.0l D
sin21000
006.0l C3l D 0-----------(4)
Butfromfigurewehave, lC lB0.3

Onsubstituting thisinequation(4),weget
6.0(l B 0.3)3l D 0
i.e.6.0l B 3lD 1.8----------(5)
Thus wehavetwoequations(3)and(5),andtwounknownsl B ,lD

7.2l B 5.1962l D 0-----------(3)
6.0l B 3l D 1.8----------(5)
Onsolvingtheequations,we get
l D 1.353m and lB0.976m
Asperthepositionofplanesofmassesassumedthedistancesshownarepositive(+ve)fromtherefe
renceplaneA.ButthecalculatedvaluesofdistanceslBandlDarenegative.Thecorrectedpositions
ofplanesofmassesisshownbelow.
DYNAMICSOFMACHINES
References:
1. TheoryofMachinesbyS.S.Rattan, ThirdEdition,
TataMcGrawHillEducationPrivateLimited.
2. KinematicsandDynamicsofMachinerybyR.L.Norton,FirstEditioninSIunits,TataMcGraw
HillEducationPrivateLimited.
3. PrimeronDynamicBalancing“Causes,CorrectionsandConsequences”By
JimLyonsInternationalSalesManagerIRDBalancingDiv.EntekIRDInternational
DYNAMICSOFMACHINES

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INTRODUCTION:

Differenttypesofunbalancecan be definedbythe relationshipbetweenthe

   

  

Fromthis the balancing massmL canbeobtained in plane„L‟and the

 -- -  ,,, &&& +++

*   *  )

*   * )

   ))  )*'(

mrcos  mrcos  mrcos  mrcos

mrsin  mrsin  mrsin  mrsin

Drawthespace diagramorangularpositionofthe massestaking

1 9kg 100mm A 00 -

 " " 3 3  11111111112 / !

 "" "  3 3 3 5/ 4(

 "" "  3 3 3 5/ 4(

""    .  .*

! * ! ) ! . !, .)

C 60 0.025 mCrC=1.50 1.2 1.8 210

%"' $%%"&% % "##$

*  )"##$ )%"

"# %%"% $%% "# %%

"# %%"% $%% "# %%

M mM=? 0.10 0.1mM 0.6 0.06mM M?

"#++ #",+ 

. .  . . #",+  '"#  ,%"'

 1 1 1  .. . %

1 1  1 1  )#"#  )&",#  ,+"$

"" 1  ,+"$ 1  '", ( /

ThebalancingmassmL isatanangle19.110 +1800

FourmassesA,B,C andDare completelybalanced.MassesC

D 20 0.30 mDrD=6.0 lD=? 6.0lD D 2100

mrcos mA rA cos A  mB rB cos B  mC rC cos C  mD rD cos 0

%"' ) "%%+  "%

mrlcos m rA l A cos

mrlsinmA rA lAsinA  mB rB lBsinB  mCrC lCsinC  mD rD lDsinD 0

Butfromfigurewehave, lC lB0.3

Thus wehavetwoequations(3)and(5),andtwounknownsl B ,lD

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