BALANCING

RECIPROCATING MASSES
(PRACTICES)

MS 2111 Kinematics & Dynamics of Machinery

❑ A. R. Holowenko, Dynamics of Machinery, John Wiley, 1955.

❑ K. J. Waldron and G. L. Kinzel, Kinematics, Dynamics, and Design of Machinery,
John Wiley & Sons, Inc., 1999.
 x
Two Cylinder Engine - crank@180o
x

An internal combustion engine has two cranks

arranged as shown (crank angle, ø = 180o).
Find unbalance force and moment, and propose a
z ‘balancing scheme’…
y

First, check type of “unbalance”. It may be categorized into the following:

1. Both inertia force and moment resultants are “zeros” → perfectly balanced.
2. Inertia force resultant is 0, but inertia moment with respect to plane 1 (reference
plane) IS NOT 0 → inertia forces are couple.
3. Inertia force resultant is NOT 0, and inertia moment with respect to plane 1 is
NOT 0 → unbalance due to forces with the resultant at a distance z = M/f from
plane 1.
4. Resultant of inertia force is NOT 0, but the inertia moment with respect to palne
1 is EQUAL to 0 → indicates that the inertia forces resultant work on the
reference plane.
 Two Cylinder Engine - crank@180o
x x

Need to balance:
1. Primary inertia moment.
y 2. Secondary inertia forces
z

∑cos(øi-Ψi)*cosΨi = 0.0 ∑ai cos(øi-Ψi)*cosΨi = -1.0 a Inertia

∑sin(øi-Ψi)*cosΨi = 0.0 Primary ∑ai sin(øi-Ψi)*cosΨi = 0.0 Primary moment due
∑cos(øi-Ψi)*sinΨi = 0.0 inertia force is
∑ai cos(øi-Ψi)*sinΨi =
moment in y- to primary
balanced.
0.0 direction is
∑sin(øi-Ψi)*sinΨi = 0.0 unbalance. forces
∑ai sin(øi-Ψi)*sinΨi = 0.0

∑cos2(øi-Ψi)*cosΨi = 2.0 ∑ai cos2(øi-Ψi)*cosΨi = 1.0 a

∑sin2(øi-Ψi)*cosΨi = 0.0 Secondary ∑ai sin2(øi-Ψi)*cosΨi = 0.0 Secondary inertia
inertia force in force in y-direction
∑cos2(øi-Ψi)*sinΨi = 0.0 ∑ai cos2(øi-Ψi)*sinΨi = 0.0
x-direction is is unbalanced.
∑sin2(øi-Ψi)*sinΨi = 0.0 unbalanced. ∑ai sin2(øi-Ψi)*sinΨi = 0.0

Resultant of the secondary inertia

force → secondary inertia moment
 Two Cylinder Engine - crank@180o
x x

BALANCING PRIMARY SHAKING MOMENT

Magnitude : M y P = − mB R 2 a2 (cos  )

May be balanced by arrangement as

shown. Please calculate the
y magnitude of the counter balance
z mass needed.

∑ai cos(øi-Ψi)*cosΨi = -1.0 a

Primary
∑ai sin(øi-Ψi)*cosΨi = 0.0 moment in y- Speed ratio = 1:1
∑ai cos(øi-Ψi)*sinΨi = 0.0 direction is
unbalance.
∑ai sin(øi-Ψi)*sinΨi = 0.0

Due to primary R a2
force mCB = mB
Rc b
 Two Cylinder Engine-At 180o
x x

BALANCING SECONDARY SHAKING FORCE AND MOMENT

Magnitude of the secondary inertia moment:

R
M yS = mB R 2 a(cos 2 )
L
y
z
Magnitude of the secondary inertia force is:
R
fS = 2 mB R 2 (cos 2 )
Secondary unbalance force location, then is:
L
M cos 2 (a) a May be balanced as follow:
z= = = Midway between planes 1
f cos 2 (2) 2 dan 2

∑cos2(øi-Ψi)*cosΨi = 2.0

∑ai cos2(øi-Ψi)*cosΨi = 1.0 a

How about the two counter

balance masses rotational
direction? Explain? The speed?
 Eight-Cylinder V Engine (V-8)
y x

Cyl 4 & 8

Cyl 3 & 7

Cyl 2 & 6

Cyl 1 & 5
B6
1 = 5 = 0o 2 = 6 = 90o
B8 B1

B5 B2 3 = 7 = 270o 4 = 8 = 180o
B7
B3
A2,A6
Ψ B4  i = 0o ; i = 1,2,3,4
θ
A1,A5  i = 90o ; i = 5,6,7,8
ø2
ø4
ø3
A4,A8
A3,A7

A V-8 engine is to be balanced. Pistons (sliders) 1, 2, 3, and 4 are in-line, such

that Ψ1,2,3,4 = 0. While sliders 5,6,7, and 8 are also in-line with V-angle Ψ5,6,7,8 =
90o. Crank 1 coincides with crank 5, as crank 2 and 6, crank 3 and 7, also crank
4 and 8. The angle ø are as shown.
 Eight-Cylinder V Engine (V-8)
y x

Cyl 4 & 8

Cyl 3 & 7

Cyl 2 & 6

Cyl 1 & 5
B6
1 = 5 = 0o 2 = 6 = 90o
B8 B1

B5 B2 3 = 7 = 270o 4 = 8 = 180o
B7
B3
A2,A6
Ψ B4  i = 0o ; i = 1,2,3,4
θ
A1,A5  i = 90o ; i = 5,6,7,8
ø2
ø4
ø3
A4,A8
A3,A7

1. Check the inertia force and moment equilibrium (easier if tabulated as with the
rotating unbalance case).
Primary shaking moment unbalance.
n n

 cos(i − i )cos i = 0  cos 2( − )cos

i =1
i i i =0 n

 ai cos(i − i )cos i = −3a

n

 a cos 2( − )cos

i i i i =0
i =1
i =1 i =1
n

 cos( − )sin
n n

 a cos( − )sin  a cos 2( − )sin

n

i =1
i i i =0  cos 2( − )sin
i =1
i i i =0 i i i i = −a i i i i =0
i =1 i =1
n

 a sin 2( − )sin

n n
 sin 2(i − i )sin i = 0
n

 sin( i − i )sin i = 0
i =1
 a sin( − )sin
i =1
i i i i = 3a
i =1
i i i i =0
i =1
n n

 a sin( − )cos  a sin 2( − i ) cos i = 0

n

 sin 2( − )cos = −a

n

 sin( − )cos
i =1
i i i =0
i =1
i i i =0
i =1
i i i i
i =1
i i
 Eight-Cylinder V Engine (V-8)
y x

Cyl 4 & 8

Cyl 3 & 7

Cyl 2 & 6

Cyl 1 & 5
B6
1 = 5 = 0o 2 = 6 = 90o
B8 B1

B5 B2 3 = 7 = 270o 4 = 8 = 180o
B7
B3
A2,A6
Ψ B4  i = 0o ; i = 1,2,3,4
θ
A1,A5  i = 90o ; i = 5,6,7,8
ø2
ø4
ø3
A4,A8
A3,A7

Since only primary shaking moment unbalance exist, could determine the balancing couple.
Magnitude of the shaking moment is:

 n n
M x = − mB R cos   ai cos(i − i )sin i − sin   ai sin (i − i )sin i
2

 i =1 i =1
Shaking
moment x-
n n

+ cos 2  ai cos 2(i − i )sin i − sin 2  ai sin 2(i − i )sin i 
R R direction.
L i =1 L i =1 
 n n
M y = mB R 2 cos   ai cos(i − i ) cos i − sin   ai sin(i − i ) cos i
 i =1 i =1 Shaking
moment y-
n n

+ cos 2  ai cos 2(i − i ) cos i − sin 2  ai sin 2(i − i ) cos i 
R R
direction.
L i =1 L i =1 
 Eight-Cylinder V Engine (V-8)
y x

Cyl 4 & 8

Cyl 3 & 7

Cyl 2 & 6

Cyl 1 & 5
B6
1 = 5 = 0o 2 = 6 = 90o
B8 B1

B5 B2 3 = 7 = 270o 4 = 8 = 180o
B7
B3
A2,A6
Ψ B4  i = 0o ; i = 1,2,3,4
θ
A1,A5  i = 90o ; i = 5,6,7,8
ø2
ø4
ø3
A4,A8
A3,A7

Substituting the known angular magnitudes, we obtain the x shaking moment as follows:
 n n
M x = − mB R 2 cos   ai cos(i − i )sin i − sin   ai sin (i − i )sin i n

 i =1
=0 i =1
=0
 a cos( − )sin
i =1
i i i i = −a
n n

+ cos 2  ai cos 2(i − i )sin i − sin 2  ai sin 2(i − i )sin i 
R R
n

L i =1 L i =1
 a sin( − )sin
i i i i = 3a
 i =1
= − mB R 2 cos  (− a ) − sin  (3a ) +
R R
cos 2 (0) − sin 2 (0)
L L 
= mB R 2 acos  + 3 sin   ➔ p cos  + q sin  = p 2 + q 2 sin( +  ), , tan  = p / q➔ M x = 10 mB R 2 a sin( + 18,44o )

sinθ = cos (θ-90o) ➔ M x = 10 mB R 2 a cos  − 71.56o ( )

 Eight-Cylinder V Engine (V-8)
y x

Cyl 4 & 8

Cyl 3 & 7

Cyl 2 & 6

Cyl 1 & 5
B6
1 = 5 = 0o 2 = 6 = 90o
B8 B1

B5 B2 3 = 7 = 270o 4 = 8 = 180o
B7
B3
A2,A6
Ψ B4  i = 0o ; i = 1,2,3,4
θ
A1,A5  i = 90o ; i = 5,6,7,8
ø2
ø4
ø3
A4,A8
A3,A7

Substituting the known angular magnitudes, we obtain the y shaking moment as follows:
 n n
M y = mB R 2 cos   ai cos(i − i ) cos i − sin   ai sin (i − i ) cos i n

 i =1
=0 i =1
=0
 a cos( − )cos
i =1
i i i i = −3a
n n

+ cos 2  ai cos 2(i − i ) cos i − sin 2  ai sin 2(i − i ) cos i 
R R
n

 a sin( − i ) cos i = − a
L i =1 L i =1
i i
 i =1
= mB R 2 cos  ( −3a ) − sin  (− a ) + cos 2 (0) − sin 2 (0) 
R R
L L 
= mB R 2 a− 3 cos  + sin   ➔ p cos  + q sin  = p 2 + q 2 sin( +  ); tan  = p / q

M y = 10 mB R 2 a sin  − 71.56o ( )
 Eight-Cylinder V Engine (V-8)
y x

Cyl 4 & 8

Cyl 3 & 7

Cyl 2 & 6

Cyl 1 & 5
B6

B8 B1 Counter balance mass

B5 71,56o
B2 Shaking moment
B7
B3
A2,A6 71,56o
Ψ B4
θ
71,56o
A1,A5
ø2
Counter balance mass
ø4
Balancing couple
ø3
A4,A8
A3,A7

The shaking moment resultant is then:

M x = 10 mB R 2 a cos  − 71.56o ( ) M y = 10 mB R 2 a sin  − 71.56o ( )

M = M x i + M y j = 10 mB R 2 a cos  − 71.56o i + sin  − 71.56o j  ( ) ( )
Note the arrangement of above counterbalance masses. The resulting couple
from the counterbalance masses should be equal to 10 mB R a
2

In the location shown

 Eight-Cylinder V Engine (V-8)
 Remember that all of steps that was
mentioned at the previous slides are for
conditions where the crank has been
balanced.
 The primary (ω) and secondary (2ω) forces
that occur are the result of mass inertia
forces because of shaking forces. As well as
what happened at the primary and
secondary moment.
 Six Cylinder In-line Engine
x
x
B6 Ø1 = 0; ø2 = 120o; ø3 = 240o; ø4 = 60o; ø5 = 300o; ø6 = 180o.
B1 a1 = 0; a2 = a; a3 = 2a; a4 = 3a; a5 = 4a; a6 = 5a;
B5
B2
B4
B3
The six-cylinder in-line engine shown in the figure. The
Plane 1

Plane 6
engine has a crank, a connecting rod, and a piston head
Plane 5
Plane 2

Plane 3

Plane 4

A1
θ A6 that identical. If all the rotating masses have been
y
R
ø6 balanced perfectly. Determine the shaking forces and
A5 shaking moments that occur? How to do balancing that?
ø5 z
A2 ø2
ø3 ø4 Please create a table to calculate it using MS Excel.
A4 a2
A3 a3
a4
a5
a6

Check for inertia forces:

∑cos(øi-Ψi)*cosΨi = 0.0 ∑cos2(øi-Ψi)*cosΨi = 0.0

∑sin(øi-Ψi)*cosΨi = 0.0 Primary forces ∑sin2(øi-Ψi)*cosΨi = 0.0 secondary forces
∑cos(øi-Ψi)*sinΨi = 0.0 balanced. ∑cos2(øi-Ψi)*sinΨi = 0.0 balanced.

∑sin(øi-Ψi)*sinΨi = 0.0 ∑sin2(øi-Ψi)*sinΨi = 0.0

 Six Cylinder In-line Engine
x
B6 Ø1 = 0; ø2 = 120o; ø3 = 240o; ø4 = 60o; ø5 = 300o; ø6 = 180o.
B1 a1 = 0; a2 = a; a3 = 2a; a4 = 3a; a5 = 4a; a6 = 5a;
B5
B2
B4
B3
The six-cylinder in-line engine shown in the figure. The
Plane 1

Plane 6
engine has a crank, a connecting rod, and a piston head
Plane 5
Plane 2

Plane 3

Plane 4

A1
θ A6 that identical. If all the rotating masses have been
y
R
ø6 balanced perfectly. Determine the shaking forces and
A5 shaking moments that occur? How to do balancing that?
ø5
A2 ø2
ø3 ø4 Please create a table to calculate it using MS Excel.
A4 a2
A3 a3
a4
a5
a6

Check for moment inertia:

Primary shaking Couple caused
→ primary forces.
moment y-direction.

∑ai cos(øi-Ψi)*cosΨi = -3.0 a ∑ai cos2(øi-Ψi)*cosΨi = 0.0

∑ai sin(øi-Ψi)*cosΨi = -1.7 a Primary shaking ∑ai sin2(øi-Ψi)*cosΨi = 0.0
moment unbalanced. Secondary shaking
∑ai cos(øi-Ψi)*sinΨi = 0.0 ∑ai cos2(øi-Ψi)*sinΨi = 0.0 moment balanced.
∑ai sin(øi-Ψi)*sinΨi = 0.0 ∑ai sin2(øi-Ψi)*sinΨi = 0.0
 Six Cylinder In-line Engine
x
B6 Ø1 = 0; ø2 = 120o; ø3 = 240o; ø4 = 60o; ø5 = 300o; ø6 = 180o.
B1 a1 = 0; a2 = a; a3 = 2a; a4 = 3a; a5 = 4a; a6 = 5a;
B5
B2
B4
B3 The six-cylinder in-line engine shown in the figure. The
engine has a crank, a connecting rod, and a piston head
Plane 1

Plane 6
Plane 5
Plane 2

that identical. If all the rotating masses have been

Plane 3

Plane 4

A1
θ A6 balanced perfectly. Determine the shaking forces and
R
y ø6 shaking moments that occur? How to do balancing that?
A5 Please create a table to calculate it using MS Excel.
ø5
A2 ø2 ø4
ø3 a2
A4
A3 a3 ∑ai cos(øi-Ψi)*cosΨi = -3.0 a
a4
a5
a6 ∑ai sin(øi-Ψi)*cosΨi = -1.7 a

The magnitude of couple that occur are:

cos   ai cos(i − i ) cos i − sin   ai sin(i − i ) cos i 
M y = mB R 2  R 
+ cos 2
 ai cos 2(i − i )cos i − L sin 2  ai sin 2(i − i ) cos i 
R
 L

Secondary shaking moment have been balance

 Six Cylinder In-line Engine
x
B6 Ø1 = 0; ø2 = 120o; ø3 = 240o; ø4 = 60o; ø5 = 300o; ø6 = 180o.
B1 a1 = 0; a2 = a; a3 = 2a; a4 = 3a; a5 = 4a; a6 = 5a;
B5
B2
B4
B3 The six-cylinder in-line engine shown in the figure. The
engine has a crank, a connecting rod, and a piston head
Plane 1

Plane 6
Plane 5
Plane 2

that identical. If all the rotating masses have been

Plane 3

Plane 4

A1
θ A6 balanced perfectly. Determine the shaking forces and
R
y ø6 shaking moments that occur? How to do balancing that?
A5 Please create a table to calculate it using MS Excel.
ø5
A2 ø2 ø4
ø3 a2
A4
A3 a3 ∑ai cos(øi-Ψi)*cosΨi = -3.0 a
a4
a5
a6 ∑ai sin(øi-Ψi)*cosΨi = -1.7 a

The magnitude of couple that occur are :


M y = mB R 2 cos   ai cos(i − i ) cos i − sin   ai sin(i − i ) cos i 
= -3 a = -1.7 a

M y = mB R 2 a− 3 cos  + 1.7 sin   → p cos  + q sin  = p 2 + q 2 sin( +  ), tan  = p / q

M y = mB R 2 a 11.89 sin  − 60.5o  ( )

 Six Cylinder In-line Engine
x
B6 Ø1 = 0; ø2 = 120o; ø3 = 240o; ø4 = 60o; ø5 = 300o; ø6 = 180o.
B1 a1 = 0; a2 = a; a3 = 2a; a4 = 3a; a5 = 4a; a6 = 5a;
B5
B2
B4
B3 The six-cylinder in-line engine shown in the figure. The
engine has a crank, a connecting rod, and a piston head
Plane 1

Plane 6
Plane 5
Plane 2

that identical. If all the rotating masses have been

Plane 3

Plane 4

A1
θ A6 balanced perfectly. Determine the shaking forces and
R
y ø6 shaking moments that occur? How to do balancing that?
A5 Please create a table to calculate it using MS Excel.
ø5
A2 ø2 ø4
ø3 a2
A4
A3 a3
a4
a5
a6

Six-cylinder engine could be balanced by using with

mechanism that shown in the right-side figure. The
value of counter-balance masses that needed is :

Massa counter balance,

R a mCB
mCB = 11.89 mB
RCB b In the figure above shown
that at the position while
θ = 0o