LABORATORY MANUAL

DYNAMICS OF MACHINES

14MT680- Dynamics and Control Lab

Department of Mechatronics
Thiagarajar College of Engineering
MADURAI-15

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 LIST OF EXPERIMENTS

PAGE No.
S. No. NAME OF EXPERIMENTS
FROM TO
GOVERNORS – Determination of sensitivity, effort, etc
1.
for Watt, Porter, Proell, Hartnell governors
CAM – Study of jump phenomenon and drawing profile of
2.
the Cam
MOTORIZED GYROSCOPE – Determination of
3.
Gyroscopic couple verification of Laws
TURN TABLE – Determination of Moment of Inertia of Disc
4.
and Ring
Balancing of Rotating Masses
5.
(Static and Dynamic Balancing)
6. Balancing of Reciprocating Masses

7. Whirling of Shaft – Determination of Critical Speed

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 EX.1 - GOVERNORS

AIM :

To perform the experiment on Watt, Porter, Proell and Hartnell Governors to

determine the sensitivity, effort, etc

UTILITIES USED:

Watt, Porter, Proell and Hartnell Governors.

INTRODUCTION & THEORY :

The function of a governor is to regulate the mean speed of an engine,

when there are variations in the load e.g. when the load on an engine
increases, its speed decreases, therefore it becomes necessary to increase the
supply of working fluid. When the load on the engine decreases, its speed
increases and thus less working fluid is required. The governor automatically
controlsthe supply of working fluid to the engine with the varying load conditions
and keeps the mean speed within certain limits.

TYPES OF GOVERNORS :

Governors are classified as two types

1. Centrifugal governor
2. Inertia governor

The centrifugal governors, may further be classified as follows :

1. Pendulum type (Watt governor )

2. Loaded type

(a ) Dead weight governor (Porter governor and Proell governor)

(b) Spring controlled governors(Hartnell governor, Hartung governor,
Wilson - Hartnell governor and Pickering governor)

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Watt Governor :

The simplest form of a centrifugal governor is a Watt governor. It is

basically a conical pendulum with links attached to a sleeve of negligible mass.
The arms of the governor may be connected to the spindle in the following three
ways :

1. The pivot P, may be on the spindle axis.

2. The pivot P, may be offset from the spindle axis and the arms when produced
intersect at O.
3. The pivot P, may be offset, but the arms crosses the axis at O.

The experiment setup is used to verify the rise of governor with the
theoretical result. It is assumed that the weight of the arms, links and the sleeve
are negligible as compared to the weight of theballs.

A governor is said to be stable when for every speed within the working range
there is a definite Configuration. There is only one radius of rotation of the
governor balls at which thegovernoris in equilibrium. For a stable governor, if the
equilibrium speed increases, the radius of governor balls must also increase.

CALCULATION :

Fc *h = w * r = m.g.r

m w 2 r h = m.g.r or h = g/w2

m= mass of the ball in kg

w = angular velocity of the ball and arm
r = radius of path of rotation of the ball
Fc = centrifugal force acting on the balls in Newton
h = height of the governor in kg

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Porter Governor :

The porter governor is a modification of a Watt’s governor, with central

load attached to the sleeve. The load moves up down the central spindle. This
additional downward force increases the speed of revolution required to enable the
balls to rise to any to any pre-determined level.

OBSERVATION :

• Mass of the ball (m) = -------------kg.

• Weight of the ball (w)=------------Newtons

• Height of the governor (h) = ------- metres

• Minimum equilibrium speed (N1) = ------ r.p.m.

• Minimum equilibrium speed (N2) = ------ r.p.m.

• Frictional force (F) = ------------- Newtons

• Mean equilibrium speed (N) = (N1 + N2)/2 in r.p.m

• Mass of the central load = ---------kg.

• Weight of the central load (W) = --------N

• Angle of inclination of the arm to the vertical (α ) = ------

• Angle of inclination of the link to the vertical (β ) = ------

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CALCULATION :

• N2 = 895/h (For Watt governor)

• N2 = m + M (1+q)/2 x 895 (For Porter governor ),
m h
where,
q = tan β/ tan α

m = mass of each ball in kg

M = mass of the central load in kg
h= height of the governor in kg
N = speed of the balls in rpm

Proell Governor :

The porter governor is known as a Proell governor if the two balls (masses) are
fixed on the upward extensions of the lower links which are in the form of bent
links DFB and EGC
(show in fig.).

CALCULATION :

N2 = FM x [m +[ M (1+q)]/2 ] x 895 (For porter governor )

BM m h
where,
q = tan β/ tan α

m = mass of each ball in kg

M = mass of the central load in kg
h = height of the governor in kg
N = speed of the balls in rpm

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Hartnell Governor :

A Hartnell governor is a spring loaded governor.It consists of two bell crank levers
pivoted at the points O, to the frame. The frame is attached to the governor
spindle and thereforerotates with it. Each lever carries a ball at the end of the
vertical arm OB and a roller at theend of the horizontal arm OR. A helical spring
in compression provides equal downwardforces on the two rollers through a collar
on the sleeve. The spring force be adjusted byscrewing at nut up or down on the
sleeve.

CALCULATION :

h=( r2- r1)y/x

h = height of the governor
r1 = minimum radius
r2 = maximum radius
•Fc = Fc1+ (Fc2 - Fc1) x (r- r1)
(r2-r1)

= Fc2 - (Fc2 - Fc1) x (r1-r) (when friction is taken)

(r2-r1)

•N2 = Fc x 3600/4π2m.r
Sensitiveness
of the governor = (Max. eq. speed – Min. eq. speed)
Mean eq. speed
= 2 (N2 – N1)
(N1+N2)
Mean eq. speed = (Max eq. speed + Min. eq. speed)/2 = (N1+N2)/2
Range of speed = N2 – N1

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OBSERVATION:

• Mass of the each ball (m) = -------------kg.

• Mass of the sleeve (M)=------------Newtons
• Minimum radius of rotation (r 1) = ------- metres
• Maximum radius of rotation (r 2) = ------- metres
• Angular speed of the governor at minimum radius (ω1) = ------rad./s
• Angular speed of the governor at maximum radius (ω2) = ------rad./s
• Spring force exerted on the sleeve at ω1 (S1) = ---------- Nt.
• Spring force exerted on the sleeve at ω2 (S2) = ---------- Nt.
• Length of the vertical or ball arm of the lever (x) = ----- metres.
• Length of the horizontal or sleeve arm of the lever (y) = ------ metres.
• Distance of fulcrum ‘O’ from the governor axis or the radius of
rotation when the Governoris in mid-position ( r ) = ------- metres.
• Minimum equilibrium speed (N1) = ------ r.p.m.
• Minimum equilibrium speed (N2) = ------ r.p.m.
• Frictional force (F) = ------------- Newtons
• Angle of inclination of the arm to the vertical (α ) = ------
• Angle of inclination of the link to the vertical (β ) = ------

SPECIFICATIONS:

Mass of the small link - 145 gm

Mass of the length link - 192 gm
Mass of the balls - 310 gm
Mass of the sleeve - 450 gm
Mass of the small wings - 70 gm
Mass of the proell arm - 615 gm

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TABULATION:

Name of the Watt Porter Proell Hartnell

S.no governor (Gravity (central (Gravity (Spring loaded)
controlled) loading) controlled with
extended)
Maximum
Equilibrium
Speed in RPM
(N1)
Minimum
Equilibrium
Speed in RPM
(N2)

PRECAUTIONS:

• Take reading carefully.

• Measure the angle very carefully.
• Measure the height of governor carefully.
• Speed of governor measure accurate.

VIVA – QUESTIONS:

• What is the function of a governor ? How does it differ from that of

flywheel ? What is hunt?
• State the different types of governors. What is the difference
between centrifugal and inertia type governors ?
• Explain the term height of the governor. What are the limitations of
a Watt governor ?
• What is the stability of a governor ?
• Define the Sensitiveness of governor.
• Which of the governor is used to drive a gramophone.

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 EX.2 – PYROMATIC CAM PROFILE ANALYSIS

AIM :

To study about cam and follower mechanism which is used to convert rotary
motion into reciprocating or oscillatory motion and draw the cam profile.

INTRODUCTION :

A cam is rotary element, which gives reciprocating or oscillatory motion to another

element known as follower. The cam and follower have a line contact and
constitute a higher pair. The cams are usually rotated at uniform speed by a shaft,
but the follower motion is pre determined and be according to the shape of the
cam.
The cam and follower is one of the simplest as well as one of the
important mechanisms found in modern machinery today.The cams are widely
used for operating the inlet and exhaust valves of internal combustion engines,
automatic attachment of machineries,paper cutting machines, spinning and
weaving textile machineries, feed mechanism of automatic lathes etc.

EXPERIMENTAL SETUP :

In this experimental set up the jump phenomenon will be observed with two
different types of cams and three different types of follower are as follows.

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 Types of followers :

According to the surface in contact,

1. Knife edge follower

When the contacting end of the follower has a Sharp edge, it is called as a knife-
edge follower as shown. The sliding motion takes place between the contacting
surfaces. It is seldom used in practice because the small area of contacting surface
results in excessive wear. In knife-edge follower a considerable side thrust exists
between the follower and the guide.

Knife edge Follower

2. Flat Foot Follower or Mushroom Follower

According to the motion of the follower,

A. Reciprocating or Translational Follower

When the follower reciprocates as the cam rotates uniformly, it is known as
Reciprocating or translational follower.

OFFSETTED HOLE

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B. Oscillating Follower
When the uniform rotary motion of the cam is converted into predetermined
oscillatory motion of the follower, it is called as oscillating or rotating follower.

Oscillating Follower

C. Roller Follower

When the contacting end of the follower is a roller, it is called as a roller follower,
as shown. Since the rolling motion takes place between the contacting surfaces,
Therefore the rate of wear greatly reduced. In roller follower also the side thrust
exists between the follower and the guide. The rollers are extensively used where
more space is available such as in stationary gas and oil engines and aircraft
engine.

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Mushroom Follower
Roller Follower
When contacting end of the follower is a perfectly flat face, it is called as a flat-
faced follower, as shown. It may be noted that the side thrust between the follower
and the guide is much reduced in case of flat-faced followers. The only side thrust
is due to friction between contact surfaces of the follower and the cam. The relative
motion between these surfaces is largely of sliding nature but offsetting the axis of
the follower as shown in fig may reduce wear.so that when the cam rotates,the
follower also rotates about its own axis.The flat faced followers are generally used
space is limited such as in cams which operate the valves of automobile engines.

MUSHROOM FOLLOWER

PROCEDURE :

1.Fix the symmetric type of cam.

2. Note down the base circle diameter and nose circle diameter.
3.Check the follower readings with respect to the cam rotation manually.
4.Note the readings in protractor scale as well as in the steel rule.
5.plot the graph.
6.Change another type of cam.Note down the readings.
7.Find out the maximum lift of each cam.
8.Draw the cam profile.

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TABULATION :

Sl no Type of Rising angle Return angle Dwell angle Lift in

follower mm
Cam A
Cam B

Technical Specification:
Base circle diameter symmetrical cam = 48MM
Base circle diameter offset cam = 40 MM
Nose diameter = 7 mm.
Total angle of cam action = 120 degrees.
Lift =10mm.

RESULT:

The cam and follower mechanism was studied and verified with using different
type of follower and hence cam profile diagram was plotted.

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 EX.3 - MOTORIZED GYROSCOPE

AIM :

To determine gyroscopic couple on Motorized Gyroscope.

APPARATUS USED :

Four wheeler & two wheeler vehicle.

INTRODUCTION :
When a body moves along a curved path with a uniform linear velocity, a force in the
direction of centripetal acceleration (known as centripetal force) has to be applied externally
over the body, so that it moves along the required curved path. This external force applied is
known as active force. When a body, itself, is moving with uniform linear velocity along a
circular path, it is subjected to the centrifugal force radially outwards. This centrifugal force
is called reactive force.

The change in angular momentum is known as active gyroscopic couple(I.ω.ωp). When the
axis of spin itself moves with angular velocity ωp, the disc is subjected to reactive couple
whose magnitude is same (i.e. I.ω.ωp ) but opposite in direction to that of active couple.

OBSERVATION :

• Mass of the vehicle (m) = ------------ kg.

• Weight of the vehicle (W) = --------- Newtons.
• Radius of the wheels (rw ) = ----------- metres.
• Radius of curvature ( R ) = ----------- meters.
• Distance of centre of gravity, vertically above the road surface(h) = ----------- metres,
• Width of track (x) = --------------------metres,
•
• Mass moment of inertia of one of the wheels( Iw ) = -------kg-m2
• Angular velocity of the wheels or velocity of spin(ωw) =------rad/sec
• Mass moment of inertia of the rotating parts of the engine(IE)=---- kg-m2
• Angular velocity of the rotating parts of the engine (ωE) = ------------rad/sec
• Gear ratio = ωE /ωw
• Linear velocity of the vehicle (ν) = rw ωw
Angle of heal (θ) = -------- rad.

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CALCULATION :

For 4-wheel drive:

• Gyroscopic couple due to 4 wheels, Cw = 4 Iw ωw ωp

Where, (ωp = ν/R)
• Gyroscopic couple due to the rotating parts of the engine,
CE = IE ωE ωp = Iw.G. ωw. ωp
• Net Gyroscopic couple, C = C w ± CE

For 2-wheel drive:

• Gyroscopic couple, C1 = ν (2 Iw± IE..G) cosθ /R. rw

OBSERVATION :

Plane Mass Radius ® Cent. Force ÷ Distance Couple ÷ ω2

S.no (m) kg. m ω2 from (m.r.l) kg- m2
(m.r) kg-m plane
x(l) m

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PRECAUTIONS :

• When rotating parts of the engine rotate in opposite directions, then negative
sign is used.
• When CE ›Cw, then C will be negative. Thus the reaction will be
Vertically downwards on the outer wheels and vertically upwards on
the inner wheels
• The gyroscopic couple will act over the vehicle outwards i.e. in the
Anti clockwise direction when seen from the front of the vehicle. The
tendency of this couple is to over turn the vehicle in outward direction.

RESULT :

• Gyroscopic couple of four wheel drive is = --------------N-m.

• Gyroscopic couple of two wheel drive is = --------------N-m.

VIVA – QUESTIONS :

• Write a short note on gyroscope.

• What do you understand by gyroscopic couple ? Derive a formula
for its magnitude.
• Explain the application of gyroscopic principles to aircrafts.
• Discuss the effect of the gyroscopic couple on a two wheeled
vehicle when taking a turn.
• When the pitching of a ship is upward, the effect of gyroscopic
couple acting on it will be to move the ship towards port side
or to move the ship towards star-board.

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 EX.4 - VIBRATING TABLE

AIM :

To determine transmissibility of forced vibrations and to analyze all types of

vibrations with its frequency and amplitude.

DESCRIPTION :

VIBRATIONS :

When elastic bodies such as a spring, a beam and a shaft are displaced from the
equilibrium position by the application of external forces, and when released ,they
execute a vibrating Motion.

This is due to the reason that when a body is displaced , the internal forces in the
form of elastic or strain energy are present in the body. At release, these forces
bring the body to its original position.

TIME PERIOD :

It is the time interval after which the motion is repeated itself.The period of
vibration is usually expressed in seconds.

CYCLE :

It is the motion completed during one time period.

FREQUENCY :

It is the number of cycles described in one second.

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TYPES :

1. FREE / NATURAL VIBRATION

2. FORCED VIBRATION
3. DAMPED VIBRATION

1. FREE/NATURAL VIBRATION :

When no external force acts on a body ,after giving it an initial displacement

then the body is said to be under free or natural vibrations. The frequency of

this free vibrations is called as Free/Natural Frequency.

2. FORCED VIBRATIONS :

When the body vibrates under the influence of external force, then the body is

said to be under forced vibration.

3. DAMPED VIBRATION :

When there is reduction in amplitude over every cycle of vibration, the motion

is said to be damped vibration. This is due to the fact that a certain amount of

energy possessed by the vibrating system is always dissipated in overcoming

frictional resistances to the motion.

TO STUDY THE NATURAL FREQUENCY OF SPRING MASS SYSTEM :

TRANSVERSE VIBRATION :

When the particles of the shaft or disc move approximately perpendicular to the axis
of the shaft as shown in the fig 1, then the vibrations are known as Transverse
Vibrations.

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TECHNICAL SPECIFICATIONS :

Mass of the Beam = 1 Kg.

Total Length of the beam(L)= m

Mass of the exciter(m)=1930 Kg

Radius of the exciter disc=75

TO STUDY FORCED DAMPED VIBRATIONS OF SPRING MASS

SYSTEM:

PROCEDURE:

 Attach the vibrating recorder at suitable positions with the penholder slightly
pressing the paper.
 Attach the damper unit to stud.
 Start the exciter motor and set at required speed and start the recorder motor.
 Now vibrations are recorded over the vibration recorder. Increase the speed
and note the vibrations.
 At the resonance speed, the amplitude of the vibrations may be recorded as
merged over one another.
 Hold the system and cross the speed little more than the resonance speed.
 Analyze the recorded frequency and amplitude for both damped and
undamped forced vibrations.
NATURE OF THE GRAPH WITH DAMPER :

Transmissibility:

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 Transmissibility is defined as the ratio of

F TR/F

Max.Force transmitted /max impressed force.

This can be calculated by mounting the system on springs and providing dashpots
mechanism, which is commonly known as damper.

F TR= S *X max

(F TR = Stiffness of elastic support * max amplitude of vibration)

F= m W2 r

M = mass of total beam

W = (2 N)/60

r = radius of Exciter disc

PRECAUTIONS & MAINTENANCE

INSTRUCTIONS:

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 1. Never run the apparatus if power supply is less than 1880 volts & above than
230 volts.
2. Increase the speed constant.

3. Do not run the journal & bearing without lubricant oil.

4. Use clean lubricant oil.

5. Do not drained lubricant oil maintain some level.

6. Always keep apparatus free from dust.

TABULATION :

RESULT :

Thus determined the transmissibility of the forced vibrations and all types of
vibrations with its frequency and amplitude analyzed.

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 EX. 5 – ROTATING MASSES

AIM :

To perform the experiment for static and dynamic balancing of rotating masses.

APPARATUS USED :

Static and dynamic Balancing Machine.

STATIC BALANCING :
INTRODUCTION :
A system of rotating masses is said to be in static balance if the combined mass
centre of the system lies on the axis of rotation. Whenever a certain mass is
attached to a rotating shaft, it exerts some centrifugal force, whose effect is to
bend the shaft and to produce vibrations in it. In order to prevent the effect of
centrifugal force, another mass is attached to the opposite side of the shaft.
The process of providing the second mass in order to counteract the effect of the
centrifugal force of the first mass, is called balancing of rotating masses.

The following cases are important from the subject point of view :

1. Balancing of a single rotating mass by a single mass rotating in the same plane.
2. Balancing of a single rotating mass by two masses rotating in different planes.
3. Balancing of different masses rotating in the same plane.
4. Balancing of different masses rotating in different planes.

PROCEDURE :

Remove the belt, the value of weight for each block is determined by clamping
each block in turn on the shaft and with the cord and container system suspended
over the protractor disc, the number of steel balls, which are of equal weight are
placed into one of the containers to exactly balance the blocks
on the shaft. When the block becomes horizontal, the number of balls N will give
the value of wt. for the block.

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For finding out Wr during static balancing proceed as follow:

1. Remove the belt.

2. Screw the combined hook to the pulley with groove. This pulley is diff. than the
belt pulley.
3. Attached the cord end of the pans to above combined hook.
4. Attached the block no.-1 to the shaft at any convenient position and in vertical
downward direction.
5. Put steel balls in one of the pans till the blocks starts moving up. (upto
horizontal position).
6. Number of balls give the Wr value of block-1. repeat this for 2-3 times and find
the average no. of balls.
7. Repeat the procedure for other blocks.

The balancing masses and angular positions may be determined graphically as

given below :-

1. First of all, draw the couple polygon from the data which are calculated in
table to some suitable scale. The vector distance represents the balanced
couple. The angular position of the balancing mass is obtained by drawing,
parallel to vector distance. By measurement will be find the angle.
2. Then draw the force polygon from the data, which are calculated in table to
some suitable scale. The vector distance represents the balanced force.
The angular position of the mass is obtained by drawing, parallel to
vector distance. By measurement will be find the angle in the
clockwise direction from mass.

PRECAUTIONS :

1. Couple should be represented by a vector drawn perpendicular to the plane

of the couple.
2. Angular position measure carefully in clockwise direction.
3. Vector diagram should be represent with suitable scale.

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DYNAMIC BALANCING :

THEORY :

When several messes rotates in different planes, the centrifugal force, in addition
to being out of balance, also forms couples. A system of rotating masses is in
dynamic balance when there does not exit any resultant centrifugal force as well as
resultant couple.

CONSTRUCTION OF THE DYNAMIC BALANCING MACHINE :

In the construction of the dynamic balancing machine, the following basic features
of design should be considered.

The apparatus basically consists of a steel shaft mounted in the ball

bearing in stiff rectangular mainframe. Sets of four equal masses of slotted plates
are mounted in the shaft and can be clamped in any position of the shaft for linear
displacement. Different weights of any range according to the calculation can be
fixed in the plate and it is designed to detach the weight from the plates easily.

The shaft is driven by a 230 volts single phase 50 cycles electric motor that is fixed
over the one side of the rectangular mainframe. While other side is compensated
with weight. For dynamic balancing the rectangular frame is hanging over in the
support frame by two short links such that the main frame and supporting frame in
same plane.

A circular protractor is fixed in one side of the shaft , which used to find the exact
longitudinal and angular position of weight over the shaft.

HOW TO USE :

The order of the basic operation involved with respect to dynamic balancing
machine as follows :
o Check all the plates moving freely over the shaft. Then fix the belt by
connecting the pulleys of shaft and motor.

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 o An unknown value of mass such as length, mass and angle is
calculated using force and couple polygon.
o Then weight should be fixed in the plates and its angles to be adjusted
with help of circular protractor and its length .
o should be corrected with help of circular protractor and its length
should be corrected with help of vernier callipers.
o Now stitch on the motor.
o By changing the speed of the motor, check the vibration free running.

WARNINGS :

 Check out all the nuts, bolts and allen keys are stiff to the mainframe,
because it causes uneven load to the shaft. Result excess vibration may
cause.
 Don’t remove the belt frequently it may not drive the shaft efficiently.
 Always keep the shaft clean; otherwise rust may form over the shaft and it
becomes difficult to position the plates.
 Before doing the experiment check out whether the weights are fixed
properly. Improper load will give excess vibration and noise.

FORMULAE REQUIRED :

Centrifugal force = mass * radius

Couple = mass * radius * length

Mass in kilogram (Kg)

Radius in metre (m)

Length in metre (m)

PROCEDURE :

1. First either of the two pivots say , left is locked so that the readings of the
amount and the angle of location of the correction in the right hand plane can be

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taken. These readings will be independent of any unbalance in the locked plane as
it will have no moment about the fixed pivot.
2. A trial mass at a known radius is then attached to the right hand plane
and the amplitude of oscillation of the cradle is noted.
3. The procedure is repeated at various angular positions with the same trial mass.
4. A graph is then plotted of amplitude Vs angular positions of the trial mass to
know the optimum angular position for which amplitude is minimum. Then at
this position, the magnitude of the trial mass is varied and the exact amount is
found by trial and error which reduces the unbalance to almost zero.
5. After obtaining the unbalance in one plane, the cradle is locked in the right
and pivot and released in the left hand pivot. The above procedure is repeated to
obtain the exact balancing mass required in that plane.
6. Usually, a large number of test runs are required to determine the exact
balance masses in this type of machine. However, by adopting the following
procedure, the balance masses can be obtained by making only four test runs .

First make a test run without attaching any trial mass and note down the
amplitude of the cradle vibrations. Then attach a trial mass m at some angular
position and note down the amplitude of the cradle vibrations by moving the
rotor at the same speed. Next detach the trial mass and again attach it at90°
angular position relative to the first position at the same radial distance. Note down
the amplitude by rotating the rotor at the same speed. Take the last reading in the
same manner by fixing the trial mass 180.

FORCE POLYGON :

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PROCEDURE :

Here assume angle between 2nd and 3 rd plane is 25֩

Then draw force polygon diagram is using 4 centrifugal force vectors.

Find angle among all the planes.

COUPLE POLYGON :

PROCEDURE :

Cc is known value because of distance 50mm assumed, Cc vector could be drawn

horizontally

Cd, Ca values are not known. But directions are known. They can be drawn
parallel to the force polygon vector…. Then they are measured from couple
polygon.

OBSERVATION :

. No. Trial Mass Amplitude

1. 0 X1

2. m at 0° X2

3. m at 90° X3
4. m at 180° X4

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CALCULATION & CONSTRUCTION :
Draw a triangle OBE by taking OE = 2 X1, OB = X2and BE = X4. Mark
the mid-point A on OE. Join AB. Now,
OB = OA + AB
Where,
OB = Effect of unbalance mass + Effect of the trial mass at 0°
OA = Effect of unbalanced mass
Thus, AB represents the effect of the attached mass at 0°.
The proof is as follows:

Extend BA to D such that AD = AB. Join OD and DE. Now when the mass m is
attached at 180° at the same radial distance and speed, the effect must be equal
and opposite to the effect at 0° i.e. if AB represents the effect of the attached mass
at 0°, AD represents the effect of the attached mass at180°.
Since, OD = OA +AD

OD must represent the combined effect of unbalance mass and the effect of the
trial mass at 180° (X4).
Now, as the diagonals of the quadrilateral OBED bisect each other at A, it is a
parallelogram which means BE is parallel and equal to OD. Thus, BE also
represents the combined effect of unbalance mass and the effect of the trial mass at
180° or X4 which is true as it is made in the construction.

Now as OA represents the unbalance, the correction has to be equal and opposite
of it or AO. Thus, the correction mass is given by
mc = m.
OA/AB at an angle θ from the second reading at 0°.

For the correction of the unbalance, the mass mc has to be put in the proper
direction relative to AB which may be found by considering the reading X3.
Draw a circle with A as centre and AB as the radius. As the trial mass as well as
the speed of the test run at 90° is the same, the magnitude must equal to AB or
AD and AC or AC´ must represent the effect of the trial mass. If OC represents
X3, then angle is opposite to the direction of angle measurement. If OC´
represents X3, then angle measurement is in taken in the same direction.

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PRECAUTIONS :
1. Measure the amplitude carefully.
2. Draw the triangle and parallelogram in correct scale.
3. Vector diagram should be represent with suitable scale.
RESULT :

Determined the balancing of the rotating masses and values tabulated for the
balanced system.

VIVA-QUESTIONS :
• Why is balancing of rotating parts necessary for high speed engines ?
• Explain the terms ‘static balancing’ and ‘dynamic balancing’.
State the necessary conditions to
achieve them.
• Discuss how a single revolving mass is balanced by two masses
revolving in different planes.
• How the different masses rotating in different planes are balanced ?
• Explain the method of balancing of different masses revolving in the
same plane.

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 EX.6 – RECIPROCATING MASSES

AIM :

To experiment the balancing of the reciprocating masses employed in variable

speed motor, Cylinder, piston, proximity switch with RPM, meter, variac and
weights.
INSTRUMENT USED :

VIBRATION TABLE

DESCRIPTION :

The setup consists of the following,

1. Base : 75*40*6 channel.

2. Motor : Variable Speed Motor 0 – 6000 RPM, mounted with flange.
3. Cylinder : Single Cylinder with connecting rod, piston in bearings,
crank is coupled directly with Motor with Love – joy coupling.
4. Weights : Weights are added on piston on a bolt either axially or
eccentrically to simulate unbalance. Provision is made to add weight
on crank in the opposite direction.
5. Controls : The Control consists of a variac and an RPM meter.
6. Crank weights are flat with drilled holes 20 - 50 gms.

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PROCEDURE :

1. Initially remove all the weights and bolts from the system.
2. Start the mpotor, give different speeds. Observe vibration on the
system, note down the speed.
3. Repeat it for different speeds. Note the values.
4. Add some weights on the piston top, either eccentric or co- axial.
Start the motor, fix at earlier tested speed.
5. If the vibrations are observed, One of the following has to be done to
remove the unbalance
(i) Either remove some of the weights from the piston, run at
tested speed and observe.
(ii) Add weights in opposite direction of crank, run and observe
vibrations at tested speed.
(iii) Combination of both of the above.

FORMULA :
β = M1 + M2(in Newton)
Take down the grams weightage, convert into kilograms and multiply by 9.81for
Newton.

SPECIFICATIONS :
M1 = 20 gms
M2 = 40 gms
Angular velocity of the crank,
ω = 2πN/60 rad/s.

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 Where, N is in rpm

TABULATION :

S.No Crank Speed N Mass M Angular Velocity ω

(rpm) (gm) (rad/s)

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 Ex .7 - WHIRLING OF SHAFT
AIM :

To find out the critical speed experimentally and compare the Whirling Speed
of a shaft with theoretical values.

REQUIREMENT :

Whirling of shaft Apparatus, tachometer, and shafts of different diameters.

INTRODUCTION :

In a rotating shaft at which instability occurs is called whirling or critical speed.

When the shaft reaches critical speed it will have maximum deflection. It is
applicable in power transmitting equipments like turbine, propeller shafts, etc.

The mid span disk has a centre of masses that due to unbalance is at a point G a
distance e from the geometrical center this distance is known as the eccentricity.
The experiment will infer that by changing the diameter of the shaft its critical
speed and its deflection over its length will change. If the shaft dia. is increasing
then its speed at which instability occur will also increase. Similarly if the
distance between the centre distance is decreasing then its deflection will
decrease.

CONSTRUCTION :

In actual practice, a rotating shaft carries different mountings and accessories in

the form of gears, pulleys etc. when the gears or pulleys are put on the shaft, the
center of gravity of the pulley or gear does not coincide with the center line of
the bearings or with the axis of the shaft, when the shaft is stationary. This
means that the center of gravity of the pulley or gear is at a certain distance
from the axis of rotation and due to this, the shaft is subjected to centrifugal
force.

This force will bend the shaft, which will further increase the distance of center
of gravity of the pulley or gear from the axis of rotation. The bending of shaft
not only depends upon the value of eccentricity (distance between center of
gravity of the pulley and axis of rotation) but also depends upon the speed at
which the shaft rotates.

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The speed, at which the shaft runs so that the additional deflection of the shaft
from the axis of rotation becomes infinite, is known as critical or whirling
speed.

DESCRIPTION:

The apparatus consists of a DC motor as the driving unit, which drives the shaft
supported in fixing ends. Fixing ends can slide and adjust according to the
requirement on the guiding pipes. Motor is connected to the shaft through
flexible coupling. The shafts of different diameters can be replaced easily with
the help of fixing ends. A dimmer stat is provided to increase or decrease the
rpm of the motor. The whole arrangement is fixed on M.S. frame. Guards are
provided to protect the user from accident.

HOW TO USE :

• The order of basic procedure involved with respect to the whirling of

shaft as follows
• Check all the shaft has no bends over its length. Fix appropriate bush in
the rectangular block.
• Then fix the shaft to the chuck in one end and support the same shaft with
bush in other end
• Now switch on the supply
• Adjusting the rectangular the motor speed can be varied.
• Then according to the calculation the critical speed through which
maximum deflection is to be finding out

WARNING :

• Check whether motor is properly located in the channel. So that power is

transmitted properly in the shaft.
• Check whether the shaft is rigidly clamped with the chuck.
• If the clamp is not fixed properly, the shaft will be ejected out and it may
cause severe damage to the user.
• The rectangular bed is to be properly mounted. Otherwise it will create
severe vibration and noise.

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PROCEDURE :

• Fix the shaft to tube tested in the fixed ends.

• Supply the main power to the motor through dimmer stat.
• Gradually increase the speed of motor until the first mode of vibration is
not arrived.
1. Study the first mode of vibration and note down the corresponding speed
of the shaft with the help of hand tachometer.
2. Gradually increase the speed of motor again, until the second mode of
vibration is not arrived.
3. Study the second mode of vibration and note down the corresponding
speed of the shaft with the help of hand tachometer.
4. Reduce the speed gradually and when shaft stop rotating, cut off the main
power supply.
5. Repeat the experiment for the shafts of different diameters.

CALCULATION :

Static deflection of shaft due to mass of the shaft,

4
δs= WL meter
38EI

Moment of inertia of the shaft,

I = (п/64) x D4 m4

Weight of the shaft,

W = Area x Length x Density

Area of the shaft, A= (п/4) x D2 m2

Where,

W = weight of the shaft in N,

L = Length of the shaft between the ends in m.

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E = Young’s Modulus(2.1*10power 11) N/m2.

ρ = Density of the material (8000Kg/m3.

Experimental Speed = (2πN/60) in rad/s.

Theoretical Speed = √g/δ

SPECIFICATIONS :

Mass of the 4 mm shaft = 150 gm

Mass of the 6 mm shaft = 250 gm

Mass of the 8 mm shaft = 450 gm

TABULATION :

S.No Diameter of Distance Theoretical Actual Deflection

the shaft (d) between Critical Critical
mm chuck and Speed(Ncr) Speed in
free end (l) in rpm rpm
mm

1.

2.

Frequency of transverse vibration,

fn = 0.5616 Hz

√ {δs/1.27}

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Theoretical speed = √g/δ

Critical or Whirling speed of the shaft (in r.p.s) is equal to the frequency of
transverse vibration in Hz.

Nc (rps) = fn (Hz)

Nc (rpm) = 60 × fn

OBSERVATION & CALCULATION:

When both the ends are fixed:

S. No. Actual whirling speed, Theoretical Whirling speed,

Na Nt

When both the ends are supported

S. No. Actual whirling speed, Theoretical Whirling speed,

Na Nt

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When one end is fix and other end is supported:

S. No. Actual whirling speed, Theoretical Whirling speed,

Na Nt

PRECAUTIONS :

1. If the revolutions of an unloaded shaft are gradually increased, it will be

found that a certain speed will be reached at which violent instability will
occur, the shaft.
2. Deflecting in a single bow and whirling round like a skipping rope. If this
speed is maintained the deflection will become so large that the shaft will
be fractured.
3. It is advisable to increase the speed of shaft rapidly and pass through the
critical speeds first rather than observing the 1 st critical speed which
increases the speed of rotation slowly. In this process, there is a
possibility that the amplitude of vibration will increase suddenly bringing
the failure of the shaft.
4. It is destructive test of shaft and it is observed that the elastic behavior of
the shaft material changes a little after testing it for a few times and it is
advisable to use fresh shaft afterwards.
5. Fix the apparatus firmly on the suitable foundation.
6. Do not run the motor at low voltage i.e. less than 180 volts.
7. Always keep apparatus free from dust.

RESULT:

Actual and Theoretical whirling speed of the shaft compared.

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 Dynamics Lab experiments

a. Determine the sensitivity and effort of the given governors.

Make yourself to measure all dimensions of the governor.

b. Analyse the jump phenomenon of a knife edge cam and follower

mechanism and draw the profile of the Cam.

c. State and verify gyroscopic principle using gyroscopic equipment.

d. To conduct experiment on balancing of the reciprocating masses

employed in IC engine mechanism and draw the necessary graphs.

e. To find out the critical speed experimentally for 4mm and 6mm shaft and
compare the Whirling Speed of a shaft with theoretical values and also
draw the necessary graph.

f. To perform the experiment on dynamic balancing of 4 rotating mass in

different planes.

g. Conduct experiment to determine Moment of Inertia of Disc and Ring

******

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