Theory of Machines, Chapter six, Balancing of Machines

Chapter 6
Balancing of Machines

6. ~ Introduction
This chapter deals with dynamic forces in machines. Dynamic forces
are associated with accelerating mass, and since virtually all machines
contain accelerating parts, dynamic forces are always present.
Perhaps the simplest example of a dynamic force is the case of a mass
mounted on a rod that is rotating about a fixed pivot with constant
angular velocity. See Fig.(6-1A). We know that in order to maintain a
circular path of motion for the mass, the rod and, in turn, the pivot will
experience force acting radially outward. This force is commonly
referred to as a centrifugal tovce and is a dynamic force because it
re::- :1!::; 1;<)fT) the radial (centripetal)acceleration of the mounted mass.
This type of dynamic force is very prevaient in machines. For example,
a rotating shaft or rotor will exoerience centrifugal force if its center of
Theor- ,'P,1~chines, Chapter sex. Balan, If Machines

mass does not lie exactly on the bearing centerline, as shown in

Fig.(6-1 B). The mass will then rotate about the bearing centerline'
producing a centrifugal force as in Fig.(6-1A). Discrepancies between
center of mass
Centrifugal
force
t
Mass
»: --~
;/ Rod -,

I Constant
\\
angu~r
\ uelocity /

\
'" /1
(8)
Fig.(6-1 )
~
--- ~
(A)

and center of rotation location can occur in actual rotors as the result,
of a number of factors, such as manufacturing inaccuracies, material
inhomogeneity, and bowing or bending of the rotor.
The basis for investigating dynamic force in machines IS Newton's
second law of motion, which states that a particle acted on by forces
whose resultant is not zero will move in such a way that the time rate
of change of its momentum will 8t any instant be proportional to the
resu1id(\t force.This law is expre.rsed mathematically, for the special
case of invariant mass, as
F=ma .............. , ., (6-1)
\Nhere F is the resultant force on the particle, m is the mass of the
particle, and a is the acceleration of the particle. The law, as stated

above for a particle, can be extended to a rigid body in the following

form:
Fe = met G (6-2A)

I._ 47
Theory of Machi nes, Chapter sex, Balancing of Machines

............................... (6-28)

Eq.(6-2A) states that the resultant external force, Fe, on a rigid body is
equal to the product of the mass of the body m, and the acceleration of
the center of the mass aG, W.... '~G designates the location of the
ce. ter ~)f mass. Eq(6-2B), whicn is the analogous statement for
rotational motion, states that the resultant external moment on the
body about the center of mass, TeGis equal to the product of mass
moment of inertia of the body with respect to the center of mass IG, and
the angular acceleration of the body, a.

6.2 Balancing of machinery

up to this point, little mention has been made of the dynamic forces
that are transmitted to the frame of machine. And yet, some of the
more serious problems encou'-' '.~din high speed machinery are the
dir-ct result of these forces. As can be seen from the analyses
presented previously, the forces exerted on the frame by moving
machine members will, in general, be time varying, and they will
therefore impart vibratory motion to the frame. This vibration, and the
accompanying noise, can produce human discomfort,it can alter the
desired machine performance, and it can adversely affect the
structural integrity of the machine foundation. Further more, these
problems are intensified both by increased operating speeds, which,
as was pointed out earlier, lead to greater inertia forces, and by
conditions of resonance or natv;<t.ffrequency vibration.
,A. I-let vnbalanced force acting on the frame of a machine or
mechanism (i.e., the resultant of the forces transmitted at all of the
connections between the machine and frame) is referred to as the

248
Theor ,.nbchines. Chapter sex. Balanc »fMachines

shaking force. Likewise, a resultant unbalanced moment acting on the

frame is catled a shaking moment. Since the shaking force and
shaking moment are unbalanced effects, they will cause the frame to
vibrate, with the magnitude of the vibration dependent on the amount
of unbalance. Clearly, then, an important design objective is the
minimization of machine unbalance.
The process of designing or modifying machinery in order to reduce
unbalance to an acceptable level, and possibly to eliminate it entirely,
is called balancing. Since unt-: . ice is caused in the first place by the
inena rorces associated with moving machine mass, the most common
approach to balancing is the redistribution of mass, accomplished by
the addition of mass to or the removal of mass from various machine
members. However, other techniques, such as those involving springs
and dampers or balancing mechanisms, are also used.
The method of balancing employed depends to a considerable extent
on the type of unbalance present in the machine. The two basic types
are rotating unbalance and reciprocating unbalance, which may
occur separately or in combination. These two types of unbalance are
considered in detail in the follovJln.~sections.

6.3 Balancing of Rigid Rotors

In the introduction to this chapter, the example of dynamic force was
presented was that of centrifugal force associated with a mass
attached to a rotating rod (see Fig.(6-1A)). The same kind of force
occurs in an eccentric rotor (see Fig.(6-1 8)). In both cases, the bearing
mounts on the machine frame experience a net unbalanced shaking
force. This type of unbalance due to rotating mass is referred to as
Tl« "r\ ,',i ~\t.ichincs. Chapter sex. Balancing of Macluncs

rotating unbalance, and since virtually all machines contain rotating

parts, this form of unbalance is very common. It occurs, for washing
machine drums, and window fans.
Before presenting general balancing methods, let us consider the
above example in more detail. Fig.(6-2) shows a rotor consisting of a
disk of mass m attached to a rigid shaft of assumed negligible mass.
we will also assume that the rotor has constant angular velocity w. The
center of mass G of the disk does not coincide with the bearing
center'Ine AB, with the amoun 0 f this eccentricity represented bye.
From c'alernbert's principle, the rotor experiences the centrifugal force
Fe shown, which has a magnitude equal to mew2. Summing forces and
moments on the

Fig.(6-2)
rotor, ""Ie find that the bearing reaction on the shaft is

FA = (-)b me c:
?
and Fs = ~-=-af )
I

me w
'2

I
Which act in the directions shown in the figure. The net force on the
frame will therefore be a force of magnitude Fs, Given by

Fs= (Ia ) rnec.:? + ( b! )me«. 2 a + b me.,;:

= (-1-) ?
- me,''.)J,2
_

.0:50

I
 Theory of Machi nes, Chapter sex. Balancing of Machines

And with a direction that rotates with speed w. Thus, the centrifugal

force is transmitted directly to the frame. Notice that, if the rotational

speed is doubled, this shaking force is quadrupled.

The unbatance described above is fairly easy to detect. For example, if

the shaft were mounted horizontally on knife-edge bearings, the rotor

would always seek the static position with point G below the bearing

centerline due to gravity. Any rotating unbalance that can be detected

in a static test, such as that described above is referred to a static

unbalance. This is somewhat of a misnomer in that we are primarily

concerned with the dynamic effects caused by such an unbalance.

Not only can a static unbalance be detected through a static test, but it

can also be corrected through a static procedure. The bubble balance

-I. •. used for automobile wheels is an example; this device statically

determ.nes the location and af1'\Dunt of unbalance so that corrective

counterweights can be attached in such a way that the combined

center of mass is coincident with the bearing center line (i.e., e=O), and

the resulting shaking force is zero.

-----------Q-------

Fig.(6-3)

Contrasted with the case of Fig.(6-2) is the rotor of Fig.(6-3), with two

disks having masses ml and m2 and eccentricities el and e2 . Suppose

0
that the centers of mass G1 and G2 of the disks are 180 apart, as

251
The --'c\ 0:' rvuchincs, Chapter sex. Balancing of Machines

shown in the figure. Again assuming constant angular velocity wand

negligible shaft mass, the bearing reactions are determined to be
2

FA = (CD ) [rn.e, (e-a) m2e2b]

I
And

The directions of these forces are based on the signs of the above
expressions; if positive, then t\-\e force is oriented as shown in Fig.(6-
3); J negative, then the direction of the force is reversed. These forces
rotate about the bearing centerline with angular speed w. The shaking
force magnitude is

and if rn.e,= m2e2,the shaking force is zero. However, even though the
resultant force on the frame is zero, the individual bearing forces are
nonzero, now having equal magnitudes given by
~
FA = FB= ( mje,{:)-
')
\ [~(
t- a+ b)]
I

But oooosite directions, as sh 4""h In Fig.(6-3). Thus there is. still a

resultant couple, or shaking couple, acting on the frame and tending
to produce rotational vibration of the frame. in general, shaking
couples occur when unbalanced masses are located at multiple axial
positions on a rotor.
The unbalance shown In Fig.(6-3) with m!e1=m2e2 could not be
detected in a static test; for example, the rotor would take random
orientations in the gravity test described earlier. Such an unbalance
can only be detected by means of a dynamic test in which the rotor is
Th'>'>,n (,; :\ :.I('111Iles, Chapter sex. Balancing ,1\ Machines

spinning, and therefore this is referred to as dynamic unbalance.

Also, a static balancing procedure will not correct this form of

unbalance, and a statically balanced rotor may perform very poorly

under actual operating conditions. In such a situation, dynamic

balancing procedures are required, wherein the rotor is driven at an

arbitrary speed and bearing force are measured. From this information,

magnitudes and locations of corrective counterweiqhts are determined.

From the previous discussion, it can be seen that dynamic unbalance

is more apt to be significant in c~~es of rotors having mass described

over relatively large axial distance. For example, static balancing may

be satisfactory for machine components such as automobile wheels or

household window fans, which have short axial lengths, whereas

dynamic balancing must be pertorrsed on equipment such as

•
automotive crankshafts and multistage turbine rotors that have large

axial lengths. In general, both forms of unbalance will be present to

some degree, with static unbalance creating a net shaking force and

dynamic unbalance creating a net shaking couple.

From the preceding discussion, general balancing procedures for

sizing and positioning correct.w rnasses on rotors are based on the

Ioltowrnq criteria:

1- In static balance, the shaking force must be zero.

2- In dynamic balance, the shaking force and the shaking moment

must both be zero

These procedures are illustrated in the foilowing sections.

Theory of Machines, Chapter sex, Balancing of Machines

6.3.1 Static Balancing

Consider the rigid rotor shown in Fig.(6-4A) which is assumed to be

rotating with constant velocity w. Unbalanced masses are depicted as

point masses m at radial distarv -vs r. these may represent a variety of

actual rotating masses, including turbine or propeller blades, eccentric

disks, crankthrows, and so on. In this case, there are three masses,

but there could be any number. It is assumed here that all of these

masses lie in a single transverse plane at the same axial location

along the shaft, or so closely to the same plane that dynamic

unbalance is negligible. It will be shown that this arrangement can be

balanced by a single counterbalance lying in this same plane and

represented by dashed lines in Fig.(6-4A).

Each of the original masses in Fig.(6-4A) produces centrifugal force

acting radially outward from thp 'lvis of rotation with a magnitude equal

to rn,l vf..Ll~ n=1,2,3 The vector sum of these forces will be transmitted

through the support bearings to frame, resulting in a shaking force Fs

given by

-
x
-1'---+--1
..-d ,71

(A) (8)
Fig(6-4)

154
Theory of Machines. Chapter sex, Balanc -, ofMachines

If this vector sum is zero, then the rotor is balanced. In general, this
will be the case, and we therefore introduce the counterweight of mass
me shown in Fig.(6-4A) at radial distance re. The magnitude and
location that the resultant inertia force must now be zero; that is
................ (6-3)

The quantity 0:/ can be factored from Eq.(6-3), yielding the following
relationship for static balance:
........................... (6-4A)
This equation indicates that tt,,.., I ombined center of mass must lie on
the axis of the rotation. In general, for N initial masses, the balancing
condition is
x
"'m
L n rnee+m.r =0 ............................. (6-48)
~ ..
Since all the vectors- in Eq.(6-4A) lie in a plane that is parallel to the yz
plane in the Fig.(6-4A), this equation is a two-dimensional vector
equation, and it therefore can be satisfied by the two parameters, that
is magnitude and direction, associated with the single counterweight
me.The solution can be performed either graphically or mathematically.
Fig.(6-4B) shows a graphical cr")iution where m1r1,m2r2and m3r3 are
drewn ,(1 sequence to a suitable scale. The vector that closes this loop,
and therefore satisfies Eq.(6-4A), is mere. The direction of this vector
identifies the angular orientation of the counterweight relative to the
other masses, and the magnitude of the vector is the required
correction amount mere. Note that, because oniy the proper vaiue of
the product is required, either me or rc can be selected arbitrarily. For
exam ,ole.. if mass me is chosen. then the solution above determines
.

vector iocation rc of this counterweight.

55
Theory of Machines. Chapter sex, Balancing of Machines

Eq.(6-4A) can also be solved mathematically by dividing it into y and z

components, as follows:

m.r, cas 81+ m2r2cas 82+ m3r3 cas 83+ merecas 8e =0

m1r1sin 81 + m2r2 sin 82 + m3r3 sin A, + mere sin 8e =0

Where e represents instantaneous angular orientation with respect to

the y-axis; see Fig.(6-4A). Solving for mere and 8e we have

mere = [( rn-r, cas 81+ m2r2 cos 82+ m3r3cos 83 )2

+ (rn.r, sin 8, + m2r2 sin 82 + m3r3sin 83 )2f'2 (6-5)

= Arctan ( ] (6-6)
I
I
Note that the signs of the numerator and denominator of the arctan

function in Eq.(6-6) will identify the prop~rq8~rant for angle 8e.

Rotors are often balanced throl'1fl the removal of mass, as by drilling

holes, rather than by adding counterweights. This is accomplished in

the above procedure by specifying negative correction mass.

Therefore, the rotor in Fig.(6-4A) is also balanced by removing mass of

amount -me at position -re

Example
The rotor of Fig.(6-4A) has the following properties:

m 1 = 3 kg r, = 80 mm ~t== f;3qo

m2 = 2 kg r2 = 80 mm . :82= .150°
r, ..• .

m3 = 2 kg reI = 60 mm 83=_225°

Determine the counterweight amount and location required for static

balance

256
Theory of Machines, Chapter sex, Balancing of Machines

SOLUTION

Substituting the values given into Eq.(6-5), we have

mere = [( 240 cos600 + 160 cos1500+ 120 cos 225° )2

+ (240 sin600 + 160 sin1500+ 120 sin 2250)2f'2

=[(103.4)2 + (203)2 ]112= 227.8 kg.mm

This product will result, for example, from a counterweight mass of

2.85. kg at a radial distance of 80 mm. The angular position of the

counterweight is calculated from Fq.(6-6)

-203
= Arctan =297°
+103.4

Where the angle is determined to be in the fourth quadrant from the

signs of the numerator and denominator in the argument of the arctan

function. The graphical solution of this example has been carried out to

scale in Fig~(.6-4B).

6.3.2 Dynamic Balancing

Fig.(6-5A) shows a rotor with eccentric masses located at multiple axial

locations. As a result, the rotor .. periences both static unbalance and

dynamic unbalance. As in the preceding section, the case of three

initial masses will be presented here, in addition, the results will be

generalized to any number of masses. The angular velocity CD is

assumed to be constant.

We will examine the possibility of completely balancing this rotor

through the addition of two counter masses, mC1 and mC2, placed in

transverse planes at arbitrarily selected axial locations, P and Q. For

257
Theory of Machines. Chapter sex, Balancing of Machines

static balance, the sum of all the inertia forces must be zero; this
condition yields the following equations which are similar to Eqs.(6-4A)
and (6-48)
.......... (6-7 A)
and for the general case of N original masses,

'Lmnrn + mc/C! + n1c2rc2 =0 ...................... (6-78)

n=!
However, a shaking couple will still exist if the inertia forces produce a
net couple. Therefore, the condition for dynamic balance is the sum of
the moments of the inertia forces about any arbitrary point must be
zero. For convenience in determining the required counterbalances,
we will take moments about point P, the axial location of counterweight
1, thereby eliminating this unknown counterweight from the moment
equation. The axial distances of all other masses relative to point Pare
designated by symbol s in Fig.f~ r,A)

52 .1
I
I
m1
i z
i 4
51-i
!
i
x PI
I
I

Fig.(6-5A)
The sum of inertia force moments about point P is
(s.: x m1·~/r1) + (s2i x m2Cc/r2)+(5~ i'< m3·:,}r3)+(Sc2[x mC2,:,}rC2) =0

Factorinq terms, this equation can be rearranged as follows:

258
Theory of Machines. Chapter sex, Balan", of Machines

........ (6-8)

Where vectors; r1h,r3 and rC2 do not have i(uint vector) components.

The only way Eq.(6-8) can be satisfied is if the second factor in the

cross product is zero. Factoring out 0/, which appears in each term,

leads to the following condition for dynamic balance:

.................... (6-9A)

Which, when extended to the general case, yields

/\.

L
n=!
nln5nrr. + nlc:5c2rc2 =a ............................... (6-9B)

Th-rs, Eqs.(6-7) and (6-9) are the requirements for complete rotor

balancing and must be solved simultaneously for the necessary

counterbalances. These are two dimensional vector equations in two

unknown vectors, mC1,rC1,and mC2rC2.

(8) (C)

Fig.(6-SB,C)

The graphical solution is shown in Fig.(6-SB,C) for the case of three

vectors, which are completely known, to in appropriate scale. The

vector that closes this polygon is mC2sc2rc2.The direction of this vector

specifies the required angular orientation of the counterweight in the

transverse plane at point Q, and the magnitude of the vector divided by

the known distance SC2 is the required correction mC2rC2. The

"'59
Theory of Machi nes, Chapter sex, Balancing of Machines

counterweight in the plane at point P can now be determined from

Eq.(6-7 A), since vector mC2rC2is now known. See Fig.(6-5C). The

vector that closes this polygon is mC1rCl, which identifies the direction

and magnitude of this counterbalance.

The mathematical solution parallels the graphical approach. First,

Eq.(6-9A) is divided into component form:

... (6-jO)
! .;t,., .....• -
tm.r.s, sin 81 + m1rZs: sin 82 + n13f3S3 sin 6lJ2]2

8c2 =arctan( .... (6-11)

Next, Eq.(6-7 A) is solved for mC1rC1and 8C1.where computed values for

mC2rC2and 8C2 from the above expressions are substituted:

[(m1r1cos 81+m2r2cos 82+m3r3cos 83+mc2rc2cos8c2)2

mc1rc1=
+ ( m-r.sm. 8 1+m2r2sin
. 82+m3r3Sln
. 83+mc2rc2Slnc2
. 8 )2]112 (6-12)

-m.r.sin 81-m2r2sin 8rm3f3 sin 83-me2rc2sin8c2

ee1=arctan( ___________ ---;- ) .(6-13)
-m1r1COS81-m2r2cos 82-m3r3cos 83-me2re2COs8e2

The signs of the numerator and denominator in the arctan functions of

Eqs.(6-'1I) and (6-13) identify t' . correct quadrants of angles 8C2 and

260
Theory of Machines. Chapter sex. Balancing of Machines

Example
The rotor of Fig..(6-5A) has the r. "lowing properties:
o
m 1 = 3 kg r1 = 80 mm 81= 60
m2 = 2 kg r2 = 80 mm 82= 1500
rn, = 2 kg r3 = 60 mm 83= 2250
The total axial length is 1000 min between bearings. Counterweights
are to be 'placed in planes that are1 00 mm from each bearing. The axial
distances in Fig. (6-5A) are then .~
S1 =20 mm s2=500mm s3=J6&,m sC2=800mm
V
Determine the counterweight amounts and locations in planes P and Q
required for complete balance.
~
SOLUTION .'
From Eq.(6-10)
1
__ [(104.679)2 + (22.172)2]112=133.8 kg.mm
800

< .

Once combination that will produce this product is mC2= 2.23 kg and
rC2=60 mm. The angle computed from Eq.(6-11)
-22.172
8c2 =arctan ( ) = 348°
-104.679

Now, mC1and 8C1can be computed from Eqs.(6-12) and (6-13)

(e.g., 2.96 kg at 60 mm) and

-175.3
8Ci=arctan ( )=261.1°
-27.4 !1'

261
Theory of Machi nes, Chapter sex. Balancing of Machines

The negative numerator and denominator indicate that this angle is in

the third quadrant. The qraphical solution of this example is shown to
scale in Fig.(6-SB,C).
A couple of observation follows from the previous discussion. First, the
question arises as to whether a rotor can be completely balanced by
means of a single counter baiance.Vve saw earlier that a single
counterweight will suffice for the case of static unbalance alone. In
general, however, a rotor cannot be completely balanced by one
counterweight, because there are four scalar conditions, Eqs.(6-7B)
and (6-9B), to be satisfied but only three design parameters, these
being the axial location of the counterweight, the angular orientation
ee, and the correction magnitude mere. Once special case where a
single counterbalance will work is the situation where all the initial
masses lie in a single plane containing the shaft axis (i.e., all the
angular orientations are either equal or differ by 180°) and an initial
static unbalance exists. In this Cdse, Eqs.(6-7B) and (6-98) will reduce
to two scalar equations for the unknown counterweight.
We saw that, because two counterweights represent a total of six
design parameters, two values can be selected arbitrarily, those
having been the axial locations P and Q in Fig.(6-SA).Two different
parameters could have been selected. However, an advantage of
choosing the axial locations is that the counterweights can be placed
near bearing supports in order to minimize the bending moment and
resulting shaft deflection that will produce. This leads to a second
observation. We see that Eqs. (6-4), (6-7) and (6-9) are independent
of shaft speed CD. This that the rotor will be balanced at any speed for
which the initial assumptions, particularly that dealing with rotor
rigidity, are valid. For a range of speeds, depending on the rotor

262
 Theory of Machines, Chapter sex, Balanci ng of Machines

material and size, deflections will be negligible and rigid-rotor

balancing IS satisfactory. HI »sevet, as speeds are increased,'
eventually shaft flexibility will become significant. There is a wide
range of such applications where balancing techniques similar to those
described above, but which also account for elastic deflection, must be
used. Since deflections will vary with speed, the balancing
arrangement will then be speed dependent and therefore must be
designed for the specific operating speed.

6.4 Dynamic Analysis of The Slider Crank Mechanism

Dynamic forces are a very important consideration in the design of
slider crank mechanisms for use in machines such as internal
,
•... -"...
combustion engines and reciprocating compressors. FOllowing such a
process, a kinematics analysis is first performed from which
expressions are developed for the inertia force and inertia torque for
each of the moving members. These quantities may be then converted
to equivalent offset inertia forces for graphical analysis or they may be
retained in the form of forces and torque for analytical solution.
Fig.(6-6A) is a schematic diagram of a slider crank mechanism,
showing the crank 1, the connecting rod 2, and piston 3, all of which
are assumed to be rigid. The center of mass locations are designated
by letter G, and the members h;tve masses rn, and moments of inertia
!c. ;='1 2, 3. The following analysis will consider the relationships of

the inertia forces and torque to the bearing reactions and the drive
torque on the crank, at an arbitrary mechanism position given by crank
angle Friction will be neglected.

263
 Theory of Machines. Chapter sex. Balancing of Machines

Fig. (6-6A)
•

Fig.(6-6B)

Fig.(6-6B) shows free-body diagrams of the three moving members of

the linkage. Applying the dynamic equilibrium conditions, to each

member yields the following set of equations. For the piston (moment

equation not included):

F23x+ (-m3aG3) = 0 ........................ (6-14A)

F03y + F23y=0 ................ (6-14B)

For the connecting rod (moments about point B):

F12x+ F32x + (-m2aG2x)= 0 ... (6-14C)

F12y+F32y + (-m2aG2y)= 0 ... (6-140)

F32x(sin 8 +F32y [ cos 8+( -m2aG2x)tGsin 8

+( -m2aG2y)(Gcos 8+(- IG2Cl.2)

=0 ....... (6-14E)

264
Theory of Machines. Chapter sex. Balancing of Machines

For the crank (moments about point 01):

=0
F01<+ F21x + (-m1aG1X) . (6-14F)
Fo., + F2:y + (-m1aG1y)= 0 (6-14G)
T1- h1xrsin cp + F21yrcoscp + (-m1aG1x)rGsin
cp
+(-m1aG1Y)
rGcoscp + (-IG1a1)= 0 ... (6-14H)

Where T1 is the input torque on the crank. This set of equations

embodies both the dynamic force analysis approaches described in
section (6.1). However, its form is best suited for the case of known
mechanism motion.
Instead of the totally general analysis procedure described above, it is
possible in certain cases to make use of some simplifying
approximations particular to tho slider crank linkage, which are often
used in the design of this mechanism for applications such as engines
and compressors. These approximations deal with the mass
distribution of the connecting rod and the acceleration of the piston.
These approximations are the topics of the following sections and will
also be useful in a later section of this chapter on balancing of
reciprocating masses.

6.4.1 Equivalent inertia

The slider crank mechanism of Fig.( 6-6A) is reproduced in Fig.(6-7 A).
The crank and piston perform rr.tational motion and rectilinear motion,
respectively, which are relatively simple motions to analyze. The
connecting rod exhibits a more complex motion, except for the special
points B, the crankpin, and C, the wrist cin. These points coincide with
ooints on the crank and oiston, and therefore, point B nas a circular
path and point C follows a straight-line path

265
Theory of Machines, Chapter sex, Balancing of Machines

Because of the simplified kinematics point Band C, will examine the

possibility of representing the mass distribution of the original

connecting rod by an equivalent body consisting of two point masses,

mB and me at points Band C, connected by a massies rigid rod. See

Fig.(6-7B). The two members are equivalent for dynamic analysis

purposes if the following three rnnditions are satisfied:

Fig.(6-7A)

Qc
Original connecting rod
Fig.(6-7B) C

1- The centers of mass must be at the same location, point G2.

2-The total masses must be equal.

3-The moments of inertia with respect to the center of mass must be

equal.

With reference to Fig.(6-7B), these conditions can be expressed

mathematically as follows:

mB + me = m2
mBtg2+met/ = IG2

Since there are only two adjustable quantities (ma and me) in these

equations, all three conditions will not be satisfied, in general.

Therefore, the point mass representation is an approximation of the

2()6
Theory of Machines. Chapter sex, Balancing of Machines

original connecting rod. Using the first two equations to set values for
masses ms and me we have
I I
m = ( e 'ym, = (.-£.)m ..(6-15A)
B IB + Ie " I 2

me =( IB). m2 IB
= (-)m ............................ (6-158)
2
I B + Ie I
The accuracy of the approximation employing these point masses will
depend on how closely the third condition above is satisfied. There are
many actual geometries for which this approximation is quite
satisfactory.

6.4.2 Approximate Dynamic Analysis

In this section, we will make use of th~ point mass approximation of the
previous section to derive equations for the dynamic analysis of the
slider crank mechanism. Fig ..(6-BA) shows the mechanism and
includes pertinent information. Note that the center of mass location for
the crank is positioned at fixed point 01 for this analysis. As a result,
the associated inertia force will be zero. The more general analysis of
Eqs.(6-14A) to(6-14H) can be applied when the center of mass is
iocated elsewhere.

Fig.(6-BA)

267
 c F32s

t F2233yy

~
'. nl u
- 3 C

0, Fo" Fi9.(6_8B)@:C :,F"'-' ---1"_

iFo
Fig.(6-8B) contains free body diagrams of the three moving links,

including inertia forces and torques. The piston does not experience

an inertia torque because its angular acceleration is zero. The two

inertia forces shown for the equivalent connecting rod represent the

combined inertia force and inertia torque ofthe actual connecting rod. ...
Bearing forces are shown in the figure in terms of x and y components.

Expressing the inertia forces in component form, we have

-mB aB = -m9aBx i - msasyj ................... (6-16)

............... (6-17A)

....................... (6-17B)

Where the acceleration aB and ac will, in general, be functions of the

crank angular position, velocity, and acceleration, and the linkage

dimensions. Summing forces on the piston in the x and y directions, we

have

F03+ F23y 0 =
From the first of these equations,

....................... (6-18)

Write a moment equation for link 2 about point B, we obtain

(F23x- mcacx)tsin 8 + F32ytees 8 =0

268
Theory of Machines. Chapter sex. Balancing of Machines

are all zero. This yields the following eight necessary conditions for
complete shaking force balance:
.\"

LCOS(lfIn -BJcosBn =0 ............. (6-53A)

11-1

.'

Lsin(lfIn -Bn)cosB,; =0 ...... '" .... (6-538)

n-1

;\'

L COS(lfI n - BJsin Bn =0 ............. (6-53C)

n-1

IV

Lsin(lfIn - B,,)sin en = 0 ............. (6-530)

n-1

.V

L cos(2l;/n - 2BJ cosBn =0 ............. (6-53E)

n-1

.\'

Lsin(2l;/n - 2BJcosB" =0 .............. (6-53F)

v
}cos(2l;/ n - 2BJ sin B,; =0 ............. (6-53G)
IJ-l

.\'

L sin(2l;/n - 2BJ sin Bn =0 .............. (6-53H)

r.-1

The first four of these conditions account for the primary parts of the
shaking forces, and if these are all satisfied, then the primary shaking
forces are balanced. The last four conditions represent the secondary
parts, and if satisfied, then the secondary shaking forces are
balanced. Note that the eight conditions are in terms of the cylinder
orientations en and the angular crank spacing 4Jn, and it follows that
some arrangements of these parameters may produce force balancing
while other arrangements will not. Further, some arrangements may
result in only primary force balancing or only secondary force

281
Theory of Machines, Chapter sex. Balancing of Machines

balancing. Of these two possibilities, primary balancing is preferred

because this represents cancellation of larger parts of the shaking
forces.
In most multicylinders machines, the slider crank mechanisms must-be
spaced axially along the crankshaft in order to avoid interference
during operation. This axial spacing is represented in Fig.(6-12) by
distances s., n=1, 2, ... N, measured from that cylinder designated as
number 1 (therefore, S1 = 0). Since the individual shaking forces will
not, in general, lie in a single transverse plane, they will produce a net
shaking moment, as well as a net shaking force, which will tend to
cause an end over end rotational vibration of the crankshaft.
A set of conditions for shaking moment balance can be established

by imposing the requirement that the sum of shaking force 'moments

about any arbitrary axial location must be zero. Taking moments about
the axial location of cylinder 1,
,.

:t 5/ x (}~" caseJ
n-l
+ F", sin e)~) = 0 ..' (6-54)

or, upon factoring

N

1 x L (snFsn casen] + s"Fsn sin enk) = 0

n-l

In order for this equation to be satisfied, the individual j and k

components of the second factor in the cross product must be
identically zero; that is,
.\'

LSnf:n case" =0 for all t .............. (6-55A)

n--:

and
.\'

LSI1Fsll sin en =0 for all t .............. (6-558)

n-1

282
Theory of Machines, Chapter sex, Balancing of Machines

These equations are similar to Eqs.(6-51A) and (6-518) lead to the

followin.g similar set condition for shaking moment balance:
.,.
I> n cOS(!f/n - f),J COSf)1l = 0 ............. (6-56A)
1/··1

.V

LSn
}1- !
sin(w" -f)n)cosf)11 =0 ............. (6-568)

L s , cos(Wn - f),Jsin f)n =0 ............ (6-56C)

11-1

:V

L Sn sine W n - f) n ) sin f) n =0 ............. (6-560)

11-1

.V

;SII cos(2If/" - 2f)n)cosf)n = 0 ............ (6-56E)

It-I

,\.

LSn sin(2If/n - 2f)n)cosf)n = 0 .............. (6-56F)

,,··1

.\"

"" s. cos(2u;
L J, ,J 11
- 2f) n ) sin f) n =0 ............. (6-56G)
n .!

-:
I>" sin(21j 1n- 2f)n) sin f)n =0 .............. (6-56H)

The first four conditions guarantee primary shaking moment balance,

while the last four conditions yield secondary shaking moment
balance. These equations account for the axial configuration of the
cylinders as well as for their angular orientation and the angular crank
spacing. Eqs.(6-53) and (6-56) can be used to investigate the
balancing of any piston engine or compressor.
Theorv of Machines, Chapter sex. Balancing of Machines

In.Line Engines
Consider an engine for which all the cylinders lie in a single plane and
on one side of the crank axis. Suppose that these locations are given
by 81=82=... 8n=..8N=TT/2.Further, assume that the cylinders are equally
spaced axially with a spacing s: then, sn=(n-1)s, where the cylinders
are numbered consecutively from one end of the crankshaft to the
other end. Substituting this information, we see that Eqs.(6-53) and (6-
56) reduce to the following conditions:
iV .\'

L sinl/f n =0 ··L(n -1) sint« n =0

n-I n-l
N X
LCOSl/fn =o············.·····L(n-l)coSl/fn =0
n-! 11-1

y x
L sin 211/ n = 0 ········L (n -1) sin 2J.j/n = 0
11-1 n-l
N N
Lcos2lj/n =O .. ·.·:.····.·······L(n-l)cos2J.j/n =0
n-l n-!·· # •

Fig.(6-13) shows a two cylinder, in line arrangement with 1800 cranks:

that is, N=2, 411 =0, and lj.J2=n.Substituting into the above equations,
we have,
The primary force
2

L sinl/f11 = sine 0) + sin J[ =0

n-l
2

L C09//" = cos(O) + cos = 0 J[

11-1

The secondary force

2
Y sin 2V. " = sine 0) + sin
~. "
2J[ =0
.1-1

284
Theory of Machines. Chapter sex. Balancing of Machines

J COS211/" = cos(O) + cos Zzr = ].

n-:

The primary moment

,

L (n -1)sinlf/n = (O)sin(O) + (l)sin J[ = 0

n-.

-
L (n - 1)cOSlf/ = (0) cos(O) -+-( 1)cos Jr = -1
n
n='.

t Fsecondary

y x
~:

Fig.(6-13)

The secondary moment

,

L (n -l)sin 2l;/1l = (O)sin(O) ~ (l)sin 2J[ =0

n-:

-
L (n - 1)cos 2lf/1l = (0) cos(O) - (1) COS 2J[ =1
n-:

Thus, the primary parts of the shaking forces are always equal and

opposite and, therefore, cancel, but because they are offset axially,

they form a nonzero couple. This is shown in Fig.(6-13). On the other

285
Theory of vlachines, Chapter sex. Balancing of Machines

hand, the secondary parts of the shaking forces are always equal with
the same sense, and they therefore combine to produce a net force
and also cause a net moment. From Eq.(6-50), the net shaking force is

n-l

, J[ 1 r J[ J[
?

= { mrCtr cos(cut - -) + mrru - (- )cos[2(cut - -)] + mrcu- cos(cut + -)

, 2 I 2 2
" .r J[ -}
+ mroi' (-) cos[2(cut + - )]k
I 2
, r -
= - Zmrto - (-) cos Zcatk
I
With a maximum magnitude of 2mrw2(rll). Although this shaking force
is nonzero, it nevertheless represents a significant improvement
compared to a single-cylinder engine when considering typical (r/l) '.•:.
ratios. However, as noted, a shaking couple has been introduced.

Opposed Engines

y x

I
s---j

Fig.(6-14A)

286
Theory of Machines. Chapter sex. Balancing of Machines

In an opposed engine, all the cylinders lie in the same plane with half
on each side of the crank axis. Selecting 81= =8N12=TT/2 and
8N/2+1= .... 8N=3TT/2, half of Eqs.(6-53) and (6-56) are automatically
satisfied; these are Eqs.(6-53) and (6-56). This is due to the fact that
there will be no y direction forces or z direction moments in the general
force and moment equations. As an example, consider the two-cylinder
opposed engine of Fiq.(6-14A) with 1800 cranks, where N=2, 81 =TT/2,
82= 3TT/2, 4J1=0, 4J2=TT, S1 =0, and S2=S. Substituting into Eqs.(6-53)
and (6-56), we have

The primary force

, ~
~L.. SIn
. (Ij/ e )SIn
.Bn - n n = . ( it . . Jr . ( Jr). sr: 0
SIn - - ) SIn- + SIn - - SIn - =
n-I 2 2 2 2

±
n-i
cos(lj/n - BJsin Bn = cos(- Jr)sin Jr + COS(_ Jr )sin 3Jr
2 2 2 2
=0

The secondary force

- ~
!sin(2Ij/n -2B,JsinBn = sin(-Jr) sin : + sin(-Jr) sin ~; =0
11··1 --

- ~
!cos(2I,t1n -2B,JsinBn = COS(-Jr) sin Jr -t-cos(-Jr)sin ~; =0
I;-i 2_

The primary moment

is"
,,-1
sin(lj/n - B,,)sin en = (0) + ssin( - J[ )
2
sin 3; =
-
S

~
L.... S n cos(1j/ n - B n ) sin B, = (0) + s cost - J[J ) sin 3Jr
I. J = 0
n-l - -

The secondary moment

:tSnsin(2Ij/n -2B,,)sinBn = (0)+ ssin(-Jr) sin 3; =0

n-I

287
 Theory of Machines, Chapter sex. Balancing of Machines

) ~
:ISn cos(2l;Vn - 2BJsin B n = (0) + scos(-J[)sin .)J[ =s
"-I 2
The net shaking force is zero because both
parts of the individual shaking forces
cancel. This is an improvement over the
s = a
two-cylinders, in line engine of Fig.(6-13).
But there will be a significant shaking
couple (both primary and secondary) due
to the staggering of the crank throws.
Clearly, the smaller the spacing s is, the
better will be the design from the point of
Fig.(6-14B)
view of balancing. One method of reducing

. ...
.s to zero and thereby eliminating the shaking couple is to use double
..::'
~, ....
conneding rods for one of the cylinders, as shown in Fig.(6-14B)

V-Engines
Due to its compact form, this engine type is very common in
automotive and other applications. Consider, for example, the V-8
engine of Fig.(6-1SA) consisting of two banks of four cylinders with an
angle of 90° between banks. The four-throw crankshaft has 90° cranks,
with an axial spacing s between cranks. The following quantities are
determined from the Figure:

288
Theory of Machines. Chapter sex. Balancing of Machines

3J[
1jI, = IjI =-
. 6 2
.J[
1j13=1jI~=2
1j17=IjIS=l[

51 = 5] = 0 55' -5
- 6 -
-Ie'-,'

5,=5,=5
o ~

7. 8 I : ! :
f--
!
S --"'--
!
S -~
,
S ---
i

Fig.(6-1SA)

The force balance conditions as evaluated from Eqs,(6-S3) are

8 1 1 1 1 III 1 '
'" cos(w
~n
- 8 ) cos
n
e r.
= - +-
2 2
+- - - - - +- - - - -
2 2 2 2 2 2
=0

8, ! 1111111 l'
~sm(ljIn - BJeos8n = -- +- +- + - - - -- + - -- =0
n-I 2 2 2 2 2 2 2 2

8 . 11111111
'" cos(w
L.. ,11
- 8n ) SID G,) = -J - -I -'--I + -I - -I - -I - -I + -/ =0
11--! - - - ~ .•....• .•.....• - -

8 . . I 1 1 1 1 1 1 1
'"
L.. sm(111.
v:
- 8 n ) sm 8,
I. I,
= - - - -I
')
+ -I - -I - -/ + -I + -I + -J =0
n-l - - - - - -

L cos(21j1 n - 28 n) cos 8 n = 0 + 0 + 0 + 0 -T- 0 + 0 + 0 + 0 = 0

n-1

~, 11111111
'"
L.. sin] .~r.
Jlf/ - 28 n ) cos 8 n = - --=- - - t: + - r: + - t: + - h + - t: -
/
- r: - - h =0
11-; \i 2 v2 ...j 2 -v 2 \i 2 -v 2 ...j 2 -v 2

8
L cos(2IjI n - 28 J sin 8 = 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 = 0
n
n-l

289
Theory of Machines, Chapter sex, Balancing of Machines

s. . 11] 11111
Lsm(2lft -28 )smB =--=+-+---+-----+-==0
n-I .n n n -h 12 12 12 12 12 12 -J2'
Thus, the engine is completely forcing balance. In fact, this
configuration is force- balanced for any angle between cylinder banks,
because each bank of four cylinders is force-balanced independently.
Examining the shaking moment conditions leads to the following
results:
8 5 5 3s 35 ....
'" S COS{I!J' -8 )cos8 = 0+0+----5+S---- = -.:J5
~ n \'t' n n n 2 2 2 2

8 . 5 S 03s 3s
'5 sm(1If- 8 ) cos8 = 0 + 0 + - + - - 5 - 5 + - - - = -5
~ n 'f'n n n 2 2 2 2
n-l

8 • S 5 35 35
'5 COS{1If
-8 )sm8 =0+0+-+--5-5--+-=-5
~ n \'t' n n n 2 2 2 2

3 ....
L .(
8

5 sm I!/ -
8 ) sm
. 8 = 0 + 0 + -S - -S - 5 + 5 + - 5 + -.)5 = ....
.)5
·n "n n 2? ? 2
n-I ~-

n - 28Jcos8n = 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 = 0
L 5n COS(2lft
n-J

8 . S 5 25 25 35 35
L5 sm(2lft -?8 )cosB =O+O+-+-+-..J------=O
n-J n n - 11 n12 12 12' 12 12 12
s
L5 n n - 28J sin 8n = 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 = 0
COS(2liJ
n-I

:L>
n-I
8.

n
. 5 5
sm(2lft -28 )smB =0+0+---+- ----+-=0
n n
25
n
0

12 12 12 12 12 12
0 25 35 35

There is a primary shaking couple but no secondary shaking couple;

hence, the engine arrangement, by itself, dose not yield complete force
and moment balance. However, the shaking couple has a special 0

nature that facilitates total balancing by means of a relatively

straightforward modification. To understand this, consider the shaking

290
Theory of Machines, Chapter sex, Balancing of Machines

moment expression of Eq.(6-54), where M, refers to the shaking

moment
S 8
A1.) = ""
~
5
n
T x(F sn cosB}--:n +F sn sine II
k) = ""(-F
~ sn
5
n
sinB}--: +F sn 5 n cosB n k)
Ii

n-J n-J

8
= mrr» 2 L[ =s: cos(cvt + If! n - BJsin BnJ + Sn cos(CiJ{ + 1,1I n - BJcosBJ]
n-J

Where the secondary parts of the shaking force have been

disregarded since they will cancel. Rearranging this expression and
substituting the results obtained earlier, we have
8
M., = mrscv 2 )(3 2 r.-J
sin tot + cosot) } + (sin tot - 3 cos CiJt) k]

l~

me
>, 11, 2 ~"wt
\
71.6° st, \
\
3.~ I •
Y

Fig(6-158)
The magnitude of this moment is mrsw\i1 0, which is constant for all
values of time t, and the direction of the moment is perpendicular to
the crank axis and rotates with speed w, where at any instant the angle
of the moment vector with respect to the y-direction is (wt-71.6o).This
is exactly the same as a rotating, unbalanced dynamic couple
discussed in Section 6.3.Thus, the net effect of this engine
arrangement is what appears to be a rotating dynamic unbalance.
Therefore, the shaking couple can be balanced by a set of rotating
counterweights that produce an equal but opposite rotating couple.

291
 Theory of Machines, Chapter sex. Balancing of Machines

The magnitude of this couple is given by meresew2=mrsw2v110,and the

locations are as depicted in Fig.(6-1SB), where me is the mass,' re is
the radial position, and Se is the axial spacing of the counterweights.
Because this engine can be completely balanced in this fashion, it
exhibits smooth-running performance.

'.

292
Theory of Machines. Chapter sex. Balancing of Machines

Problems
6-1 Determine the magnitude and location of the equivalent offset
inertia force for the connecting rod, link 2, of the slider crank
mechanism of figure for the position shown. The crank has a constant
angular velocity of 100 rad/s counterclockwise. The mass of the
connecting rod is 0.3 kg and the moment of inertia about the center of
mass G2 is 300 kg. mrn"

B OB = 40 mm
Be = 100 mm
BG2 = 50 mm

6-2 For the mechanism of problem 6-1, determine the crank torque T 1
required for dynamic equilibrium at the position shown. Neglect
external loads and the inertia of the crank 1 and 'slider 3.

6-3 For the mechanism of problem "6-1, determine the crank torque 11

required for dynamic equilibrium if slider 3 has a mass of 0.3 kg.

Neglect external loads and the inertia crank 1.

6-4 An in-line slider crank mechanism has a crank length of 0.1 m and
a connecting rod length of 0.5 m. The piston has a mass of 2 kg.The
connecting rod has a mass of 3 kg with a center of mass located at a
distance of 0.15 m from the crankpin end of the rod. Utilizing a lumped-
mass approximation for the connecting rod, determine an expression
for the torque required to maintain a constant crank speed of 200 rpm.

294
Theory of Machines, Chapter sex, Balancing of Machines

Evaluate the torque at the following crank angles 4>: 0, 30, 60, 90,
120, 1SO, and 1800.

6-5 For the mechanism of problem 6-4, determine the magnitude and
directions of all bearing forces for crank angle 4>=0, 45, 90, 135,
and1800.
Assume that the center of mass of the crank is stationary.

6-6 Derive an expression for input torque T1 for the offset slider crank
mechanism of figure with constant crank angular velocity W1. For the
parameter values of problem 6-5 and an offset e of 0.1 m, evaluate the
torque at the following crank angles <P:0, 30, 60, 90, 120, 150, and
- ,
180°.

~-}

6-7 The figure is a schematic of a three-bladed propeller. Determine

the location and correction amount of the counterweigh that will
balance the rotor. Perform the solution by using (a) the graphical
method, (b) the analytic method.

-- x -
1
y

3
m1 = 1 kg '1 = 3mm 01 = 0
m2 = 1kg '2 = 6 mm 8? = 120
0

m1 = 1kg '3 = 2mm 0; = 240

0

295
Theory of Machines, Chapter sex, Balancing of Machines

6-8 Determine the corrections needed in planes P and Q to balance

the rotor shown in figure. Carry out the solution by the graphical and
analytical methods. Where w1=42 N, W2=25 N, r1=20 mm , r2=25 mm,

r
0
<P1= 90 <P2= O~
,

1
p

L
Q

2 2
p_.-: ----~-++-~~l---
x I ,l;-;J ,o - y

i i
'--- -..J
Q.6mo·6m O'6m '

6-9 For the rotor shown in figure, unbalanced masses I and 2 have
weights of 26 Nand 17 N, respectively. The system is to be balanced
by adding mass in L plane at a radius of 75 mm and removing mass in
. ,
R plane at a radius of 85 rnrn. Determine the magnitudes and locations
of the required corrections by graphical and analytical solutions.
W 1= 25 N, W2 = 15N, r1= 90 mm, r2= 110 mm
/h 0 rh 0
'+'1=90 , '+'2=210
L, R ~z
I

n----~----~--~
: 4 in! 9 in .• in
-1' ---'1

6-10 The rotor of figure has unbalance weights Wi = W3 1000 N,

w2=1500 N, at radial position :1=r2=75 mm,r3=50 mm. Determine the
necessary counterweight correction amounts and locations in balance
planes at locations P and Q for complete static and dynamic balance
of rotor by graphical and analytical solutions. a = 25 mm, b 50 mm

296
Theory of Machines, Chapter sex, Balancing of Machines

I
a , 6 ~Il.
rc "L c
.L
'f I
i i
I I I
i 1 !
I I
!
2
I
!

81 = 60°
y --
x I
I
I

I
8,,=150° I
tJ; = 270° Q
3 3

6-11 The rotor of figure has the following unbalanced amounts: rn.r, =

1500 kg.mm, m2r2= 2000 kg.mm, and m3r3= 1500 kg.mm. Balance the

rotor by determining the angular orientation and correction amount for

a counterweight in plane P and the axial location and angular
orientation of a second
. , counterweight having a correction amount of
1000 kg.mm by graphical and analytical solution.

o.s
,0.6 m 0.9 m m

~_...Io..__ ..,...
__ -, .~

.)1
3 P
3

6-12 Figure depicts a four-throw crankshaft that has the following

properties: m, = m2 = m3 = m, =10 kg and r1= r2 = r3 = r4= 40 mm.
Determine the balancing arrangement in correction planes P and Q.

3 1
/)
50 50
mm 100 mm 100 mm 100 mm mm
---+--1

,
:
p Q
2 4 4 2

297
Theory of Machines, Chapter sex, Balancing of Machines

6-13 Figure shows an in-line, two-cylinder engine arrangement in

which the cranks are spaced at 900 Determine expressions for the net
shaking force F, and its axial-position a as functions of angle wt. For
each cylinder, mrw2 =900 Nand rll = 0.25, where m is the reciprocating
mass, r is the crank length, and I is the connecting rod length. Axial
distance s = 100 mm. Which of the following are balanced: primary
shaking force, secondary shaking force, primary shaking moment,
secondary shaking moment?

900
i

.. .
6-14 Examine the balance conditions, both shaking force and shaking
moment, as they apply to the four-cylinder, in-line engine of the figure.
1
4 ~ ~
~ ~ I:

:J
,~
c [
i 3 ~~ 2 ~
~nH ~
~

1.-!

2, 3

6-15 Examine the shaking force balance conditions as they apply to

the two-cylinder opposed engine of the figure, which has a single
crank and zero axial distance between cylinders.
Theory of Machines, Chapter sex, Balancing of Machines

6-16 Examine the balance conditions, both shaking force and shaking
moment, as they apply to the four-cylinder, in-line engine of the figure.

6-17 Examine the balance conditions, both shaking force and shacking
moment, as they apply to the six-cylinder, in-line engine of the figure.

~ 6

Il
~1

~ 5 ~ 2 ,~
~
~ 3 it~
-1 ~ ~ ~

~ 4 i~ 3
~
~ ,~ t,

-,~-
.)

3,4

6-18 Examine the shaking force balance of the two-cylinder, v-engine

of figure (problem 6-8). The two cylinders lie in the same axial plane.
Angle ljJ is 90°.

299
Theory of Machines. Chapter sex, Balancing of Machines

6-19 The four-cylinder radial engine depicted in figure is an excellent

engine from the point of view of dynamic balance. Show that the
engine can be balanced by means of a single rotating counterweight
mounted on the crankshaft, and determine the location and magnitude
of such a counterweight. The crank length is r, the connecting rod
lengths all equal I, and the reciprocatinq masses all equal m. the
-
rotating masses are balanced, and all four cylinders lie in a single
transverse plane.

6-20 For given and equal parameters of each slider crank mechanism
in the following in line engines: study the state of balancing with
respect to the primary and secondary inertia effects.
1.
Two cylinder engine.
\
(
)
\
/
2-

Three cylinder engine. '/'-

.'

J 1
( \
J
-'
300
Theory of Machines, Chapter sex. Balancing of Machines

Three cylinder engine

i
/

/.
-'
Four cylinder engine.
4·
\ /
2

/'
••
-,
Four cylinder engine. 2 3
\ /
~

Six cylinder engine.

Eight cylinder engine.

Eight cylinder engine.

301

---- -- -