MEE312 – MECHANICS OF MACHINE

II
PART 3 – BALANCING OF MACHINERY

DEPARTMENT OF MECHANICAL ENGINEERING

FACULTY OF ENGINEERING

UNIVERSITY OF BENIN

COURSE LECTURER – ENGR DR. E. G. SADJERE

ASSISTANT LECTURER – ENGR (MRS) A. G. OREAVBIERE

2021
MEE312 LECTURE NOTES 2021

Contents
Balancing of Machinery .................................................................... 3
Balancing of Rotors ....................................................................... 4
Balancing of Rotors with masses in common transverse Plane ........ 4
Balancing of Rotor with Rotating Masses in a Common Axial Plane .. 6
Balancing of Resultant Couple ................................................... 8
Balancing of Generally Distributed Rotating Masses .....................10

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BALANCING OF MACHINERY
When a rotating shaft has a load or a mass connected to only side of the shaft,
this mass experiences a centrifugal or inertia force that tends to deflect the shaft
thereby preventing the shaft from running straight or without misalignment. Even
when the mass is small, and may cause little or no static deflection, the one
directional directed inertia force will cause the system to shake or vibrate and the
inertia force is transmitted to the bearings. (fig 1.1)

Figure 1-1

An attachment of a counter weight (mass) directly opposite the initial weight will
produce an inertia force which will counter balance the first inertia force. The
mechanism will run smoothly without shaking or misalignment and with minimum
transmission of forces to the bearing. This is the principle of balancing in machines
or machinery.
In engine design, inertia forces are prevalent and must be balanced whether
rotational or reciprocating to avoid shaking and /or vibrational forces being
transmitted to the engine block or frame.
The crankshaft of the internal combustion engine is balanced by the use of
counterweights

Figure 1-2

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The crank pin is displaced from the axis of rotation of the crankshaft and hence
induces inertia force that would transmit shaking forces and torques to the engine
block and damage the bearings. To obviate this, the crankshaft is designed with
extensions serving as counterweights to each crankpin to balance the inertia force
of the crankpin. The crankshaft is an example of balanced rotating inertia forces
without the balancing counterweight, the shaft torque Ts should have created a
shaking couple.

The internal combustion engine, also provides example of reciprocating

unbalanced inertia forces due to the reciprocating piston and connecting rod.
However, unlike the balancing of reciprocating masses or rotors, the balancing of
reciprocating masses is more complicated and not quite easy

BALANCING OF ROTORS
Rotors are systems of masses rotating about a common axis. Rotors are balanced
by attaching counterweights. Two types of rotors will be treated in this case. These
are rotors with masses rotating in a common transverse plane and rotors with
masses in a common axial plane. Rotors with masses in a more general distribution
can be simplified to these two cases for treatment.

Balancing of Rotors with masses in common transverse Plane

Figure 1-3

Fig1.3 illustrates a system of masses on a common transverse plane. Vectorially,

the system is balanced if

𝐹̂𝑒 = 𝐹̂1 + 𝐹̂2 + 𝐹̂3 = ∑ 𝐹̂ = 0

Where 𝐹̂𝑒 is the balancing inertia force or the equilibrant

Now the inertia forces are given by:

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𝐹1 = 𝑚1 𝑟̂1 𝜔2; 𝐹2 = 𝑚2 𝑟̂2 𝜔2 ; 𝐹3 = 𝑚3 𝑟̂3 𝜔2 and 𝐹𝑒 = 𝑚𝑒 𝑟̂𝑒 𝜔2

Hence
𝑚𝑒 𝑟̂𝑒 𝜔2 + 𝑚1 𝑟̂1 𝜔2 + 𝑚2 𝑟̂2 𝜔2 + 𝑚3 𝑟̂3 𝜔2 = 0
But 𝜔 is constant
Hence
𝑚𝑒 𝑟̂𝑒 + 𝑚1 𝑟̂1 + 𝑚2 𝑟̂2 + 𝑚3 𝑟̂3 = ∑ 𝑚𝑟̂ = 0

Note that these are vector equations and can be only solved if the direction of the
forces or masses with respect to a given axis are known. It can be solved using
vector polygons or unit vector analysis. As indicated on the vector polygon fig the
resultant 𝑅̂ represents the unbalance of the masses or 𝑚𝑒 𝑟̂𝑒 , the equilibrant
required to balance the system. In this equation, the two parameters (𝑚𝑒 𝑟̂𝑒 ) must
be taken together in the initial analysis but later one is assumed. It is usual to
assume the distance and as a rule of thumb, the distance should not be the farthest
mass in the system.

Example 1
The rigid rotor, shown with three masses is to be balanced by the addition of a
fourth mass. Determine the required weight and angular position of the balancing
mass, which is to be located at 𝑟4 = 25𝑐𝑚

Figure 1-4

The data are:

𝑚1 = 5𝑘𝑔, 𝑟1 = 27.5𝑐𝑚
𝑚1 = 9𝑘𝑔, 𝑟1 = 15.0𝑐𝑚
𝑚1 = 7.5𝑘𝑔, 𝑟1 = 22.5𝑐𝑚

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Balancing of Rotor with Rotating Masses in a Common Axial Plane

Figure 1-5
In this case, the inertia forces are parallel vectors. Balancing is achieved by
summation of forces, which has to be zero on addition of the equilibrant, but, in
addition, the moments of the inertia forces also have to be zero. That is:

∑ 𝐹̂ = 0 or ∑ 𝑚𝑟̂ 𝜔2 = 0
And as 𝜔 is constant
∑ 𝑚𝑟̂ = 0
Additionally,
∑ 𝐹̂ 𝑎 = ∑ 𝑚𝑟̂ 𝜔2 𝑎 = 0
And again, with 𝜔 constant
∑ 𝑚𝑟̂ 𝑎 = 0
That is the moments of the inertia forces about an arbitrarily chosen axis normal
to the axial plane, must be zero, where ‘a’ is the moment arm of any given inertia
force. The resultant force R of the unbalanced masses is the algebraic sum, as well
as, vector sum of (𝑚𝑟̂ ) since the inertia forces are parallel. The line of action of R
is determined using the principle of moments, in which moments are taken about
the moment centre ‘O’, line of action of one of the forces. As normal counter
clockwise moments are taken as +ve while clockwise moments are –ve.

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Example 2

Figure 1-6

The data are:

𝑚1 = 2.0𝑘𝑔, 𝑟1 = 20𝑐𝑚, 𝑎1 = 0
𝑚1 = 4,5𝑘𝑔, 𝑟1 = 12.5𝑐𝑚, 𝑎2 = 12.5
𝑚1 = 4.5𝑘𝑔, 𝑟1 = 25𝑐𝑚, 𝑎3 = 30

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Balancing of Resultant Couple

In some instances, the resultant of the system of forces is a couple as shown in

figure 1.7

Figure 1-7

The system in figure 1.7 consist of two equal and opposite forces. The resultant R
for the two masses is zero, hence the condition of the equilibrium of forces ∑ 𝐹̂ = 0
is met. However, because the inertia forces of the masses are nor collinear, an
unbalanced couple exists. To meet the requirements of balance of moments, two
additional masses are needed to provide a balancing couple. There are no hard
and fast rules on the positioning of this couple nor is there fixed convention for
the magnitudes of the masses. The norm, however, is for larger masses and
shorter radii. The shorter the radii, the larger the masses. The reverse is also true.

In our previous analysis in session 1.1.1 and 1.1.2, a single mass was used as the
equilibrant to balance the system. While this will reduce shaking forces to zero and
remove load from the bearings supporting the shaft, it may lead to the shaft being
under severe bending. Consequently to reduce the possible bending of the shaft,
shafts are balanced with a minimum of two weights. Crankshafts are frequently
balanced by counterweights opposite each crankpin, i.e, providing a counter
balance opposite each mass. However, utilizing large number of counterweights is
also a disadvantage because of the overall weight of the rotating member. Another
way of achieving balance without addition of counterweights and still reduce shaft
bending is the use of intermediate bearings.

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Figure 1-8

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Balancing of Generally Distributed Rotating Masses

This is the case where rotating masses are generally distributed on a rigid rotor
with masses in various transverse and axial planes.

Figure 1-9

Figure 1.9 shows a system of three masses around and along a shaft. The three
masses are in three different axial planes and three different transverse planes
along the length of the shaft. The shaft rotates about the z-axis. The x-plane is
pictured horizontal into the plane of the paper along the rotating axis of the shaft
while the y-planes are the transverse planes perpendicular into the paper. On the
transverse planes, the masses are located with angles 𝜃1 , 𝜃2 …..𝜃𝑛 to the x-axis.
The radial distances 𝑟1 , 𝑟2 ,…… 𝑟𝑛 are measured outward from the axis of rotation
and axial distances are measured along the shaft as 𝑧1 , 𝑧2 ,…… 𝑧𝑛 .
Two masses are required to balance the general system of masses. The two
equations of mass balance and balance on moments have to be satisfied by the
system of masses. These are ∑ 𝑚𝑟̂ = 0 and ∑ 𝑚𝑟̂ 𝑎 = 0 or ∑ 𝑚𝑟̂ 𝑧 = 0 in this case.
However, these equations have to be resolved into their x- and y- components or
i and j components

Hence we have,

Mass balance
∑ 𝑚𝑟̂ = 0
𝑚𝐴 𝑟̂𝐴 + 𝑚𝐵 𝑟̂𝐵 + 𝑚1 𝑟̂1 + 𝑚2 𝑟̂2 + 𝑚3 𝑟̂3 = 0

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Resolving into x- and y- components gives

𝑚𝐴 𝑟̂𝐴𝑥 + 𝑚𝐵 𝑟̂𝐵𝑥 + 𝑚1 𝑟̂1𝑥 + 𝑚2 𝑟̂2𝑥 + 𝑚3 𝑟̂3𝑥 = 0

𝑚𝐴 𝑟̂𝐴𝑦 + 𝑚𝐵 𝑟̂𝐵𝑦 + 𝑚1 𝑟̂1𝑦 + 𝑚2 𝑟̂2𝑦 + 𝑚3 𝑟̂3𝑦 = 0
Or
𝑚𝐴 𝑟̂𝐴𝑥 + 𝑚𝐵 𝑟̂𝐵𝑥 = −(𝑚1 𝑟̂1𝑥 + 𝑚2 𝑟̂2𝑥 + 𝑚3 𝑟̂3𝑥 ) = 0
𝑚𝐴 𝑟̂𝐴𝑦 + 𝑚𝐵 𝑟̂𝐵𝑦 = −( 𝑚1 𝑟̂1𝑦 + 𝑚2 𝑟̂2𝑦 + 𝑚3 𝑟̂3𝑦 ) = 0

𝑟𝑥 = 𝑟 cos 𝜃
𝑟𝑦 = 𝑟 sin 𝜃
There are four unknowns in the equations

Moment Equation

∑ 𝑚𝑟̂ 𝑎 = ∑ 𝑚𝑟̂ 𝑧 = 0
Taking moment about 𝑚𝐴 , we have

𝑚𝐵 𝑟̂𝐵 𝑧𝐵 + 𝑚1 𝑟̂1 𝑧1 + 𝑚2 𝑟̂2 𝑧2 + 𝑚3 𝑟̂3 𝑧3 = 0

Resolving, we have

𝑚𝐵 𝑟̂𝐵𝑥 𝑧𝐵 + 𝑚1 𝑟̂1𝑥 𝑧1 + 𝑚2 𝑟̂2𝑥 𝑧2 + 𝑚3 𝑟̂3𝑥 𝑧3 = 0

𝑚𝐵 𝑟̂𝐵𝑦 𝑧𝐵 + 𝑚1 𝑟̂1𝑦 𝑧1 + 𝑚2 𝑟̂2𝑦 𝑧2 + 𝑚3 𝑟̂3𝑦 𝑧3 = 0

Hence

−(𝑚1 𝑟̂1𝑥 𝑧1 + 𝑚2 𝑟̂2𝑥 𝑧2 + 𝑚3 𝑟̂3𝑥 𝑧3 )

𝑚𝐵 𝑟̂𝐵𝑥 =
𝑧𝐵

−(𝑚1 𝑟̂1𝑦 𝑧1 + 𝑚2 𝑟̂2𝑦 𝑧2 + 𝑚3 𝑟̂3𝑦 𝑧3 )

𝑚𝐵 𝑟̂𝐵𝑦 =
𝑧𝐵
𝑚𝐵 𝑟̂𝐵𝑥 and 𝑚𝐵 𝑟̂𝐵𝑦 are determined and substituted into the mass balance equations
to obtain 𝑚𝐴 𝑟̂𝐴𝑥 and 𝑚𝐴 𝑟̂𝐴𝑦 .

Finally we have,

2
𝑚𝐴 𝑟̂𝐴 = √(𝑚𝐴 𝑟̂𝐴𝑥 )2 + (𝑚𝐴 𝑟̂𝐴𝑦 )
𝑚𝐴 𝑟̂𝐴𝑦
𝜃𝐴 = tan−1
𝑚𝐴 𝑟̂𝐴𝑥

2
𝑚𝐵 𝑟̂𝐵 = √(𝑚𝐵 𝑟̂𝐵𝑥 )2 + (𝑚𝐵 𝑟̂𝐵𝑦 )
𝑚𝐵 𝑟̂𝐵𝑦
𝜃𝐴 = tan−1
𝑚𝐵 𝑟̂𝐵𝑥
As usual 𝑟𝐴 and 𝑟𝐵 are assumed and the masses are determined. This means there
are many possible combinations of 𝑚𝐴 𝑟̂𝐴 and 𝑚𝐵 𝑟̂𝐵

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Example
The system shown has the following data;

𝑚1 = 1.2𝑘𝑔, 𝑟1 = 1.135𝑚 @ < 113.4

𝑚2 = 1.8𝑘𝑔, 𝑟2 = 0.822𝑚 @ < 48.8
𝑚3 = 2.4𝑘𝑔, 𝑟3 = 1.04𝑚 @ < 251.4
𝑧1 = 0.854𝑚, 𝑧2 = 1.701𝑚, 𝑧3 = 2.396𝑚, 𝑧B = 3.097𝑚

Find the mass-radius products and their angular locations needed to dynamically
balance the system using the correction planes A and B.

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