STATIC AND DYNAMIC BALANCING OF RIGID ROTORS

1. Introduction
• Unbalance is the most common source of vibration in machines with rotating parts.
• It is a very important factor to be considered in modern machine design, especially where high
speed and reliability are significant considerations.
• Balancing of rotors prevents excessive loading of bearings and avoids fatigue failure, thus
increasing the useful life of machinery.
• Unbalance in a rotor is caused by an uneven distribution of mass, which causes the rotor to
vibrate.
• Balancing is the process of attempting to improve the mass distribution of a rotor, so that it
rotates in its bearings without uncompensated centrifugal forces.
• This is done by adding or removing compensating masses to the rotor at prescribed locations.
• A rotating member can be balanced either statically or dynamically.

2. Static Balance
• Despite its name, static balance applies to things in motion. The unbalanced forces of concern
are due to the accelerations of masses in the system.
• The requirement for static balance is simply that the sum of all forces on the moving system
must be zero.
• Also called single-plane balance, i.e, the masses generating the inertia forces are in, or nearly
in, the same plane.
• It is essentially a two-dimensional problem. Some examples are: a single gear or pulley on a
shaft, a bicycle or motorcycle tire and wheel, a thin flywheel, an airplane propeller, an
individual turbine blade-wheel.

3. Dynamic Balance
• Dynamic balance is also called two-plane balance. It requires that two criteria be met
i. The sum of the forces must be zero (static balance)
ii. The sum of the moments must be zero

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• Any rotating object or assembly which is relatively long in the axial direction compared to the
radial direction requires dynamic balancing for complete balance.
• It is possible for an object to be statically balanced but not be dynamically balanced
• Dynamic balancing involves either adding or removing the right amount of mass at the proper
angular locations in two correction planes separated by some distance along the shaft.

4. Balancing of a Single Rotating Mass by a Single Mass Rotating in the Same Plane
• Consider a disturbing mass 𝑚1 attached to a shaft rotating at ω rad/s as shown in Fig. 1.
• Let 𝑟1 be the radius of rotation of the mass 𝑚1 (i.e. distance between the axis of rotation of the
shaft and the centre of gravity of the mass 𝑚1 ).

Figure 1 Balancing of a single rotating mass by a single mass rotating in the same plane

• The centrifugal force exerted by the mass 𝑚1 on the shaft,

𝐹𝐶1 = 𝑚1 𝑟1 𝜔2 (1)
• This centrifugal force acts radially outwards and thus produces bending moment on the shaft.
In order to counteract the effect of this force, a balancing mass (𝑚2 ) may be attached in the
same plane of rotation as that of disturbing mass (𝑚1 ) such that the centrifugal forces due to
the two masses are equal and opposite.
• Now if 𝑟2 is the radius of rotation of the balancing mass 𝑚2 (i.e. distance between the axis of
rotation of the shaft and the centre of gravity of mass 𝑚2 ), then the centrifugal force due to
mass 𝑚2 is;
𝐹𝐶2 = 𝑚2 𝑟2 𝜔2 (2)

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• Equating equations 1 and 2;
𝐹𝐶1 = 𝑚1 𝑟1 𝜔2 𝐹𝐶2 = 𝑚2 𝑟2 𝜔2
𝑚1 𝑟1 = 𝑚2 𝑟2 (3)
Notes:
a) The product 𝑚2 𝑟2 may be split up in any convenient way. But the radius of rotation of the
balancing mass (𝑚2 ) is generally made large in order to reduce the balancing mass 𝑚2 .
b) The centrifugal forces are proportional to the product of the mass and radius of rotation of
respective masses, because 𝜔2 is same for each mass.

5. Balancing of a Single Rotating Mass by Two Masses Rotating in Different Planes

• We have seen that introducing a single balancing mass in the same plane of rotation as that of
disturbing mass balances the centrifugal forces (the two forces are equal in magnitude and
opposite in direction).
• But this type of arrangement for balancing gives rise to a couple which tends to rock the shaft
in its bearings.
• Therefore, in order to put the system in complete balance, two balancing masses are placed in
two different planes, parallel to the plane of rotation of the disturbing mass, in such a way that
they satisfy the following two conditions of equilibrium.

1. The net dynamic force acting on the shaft is equal to zero (the line of action of three centrifugal forces must be the
same or the centre of the masses of the system must lie on the axis of rotation).
This is the condition for static balancing.

2. The net couple due to the dynamic forces acting on the shaft is equal to zero (the algebraic sum of the moments
about any point in the plane must be zero).

The conditions (1) and (2) together give dynamic balancing.

• The following two possibilities may arise while attaching the two balancing masses:
i) The plane of the disturbing mass may be in between the planes of the two balancing masses
ii) The plane of the disturbing mass may lie on the left or right of the two planes containing the
balancing masses.

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5.1. When the plane of the disturbing mass lies in between the planes of the two balancing masses
• Consider a disturbing mass m lying in a plane A to be balanced by two rotating masses m1 and
m2 lying in two different planes L and M as shown in Fig. 2.
• Let;
r, r1 and r2 be the radii of rotation of the masses in planes A, L and M respectively.
l1 = Distance between the planes A and L,
l2 = Distance between the planes A and M, and
l = Distance between the planes L and M.

Figure 2

• The centrifugal force exerted by the mass m in the plane A,

𝐹𝐶 = 𝑚𝑟𝜔2
• The centrifugal force exerted by the mass m1 in the plane L,
𝐹𝐶1 = 𝑚1 𝑟1 𝜔2
• The centrifugal force exerted by the mass m2 in the plane M,
𝐹𝐶2 = 𝑚2 𝑟2 𝜔2
• The net force acting on the shaft must be equal to zero, therefore the centrifugal force on the
disturbing mass must be equal to the sum of the centrifugal forces on the balancing masses,
𝐹𝐶 = 𝐹𝐶1 + 𝐹𝐶2
𝑚𝑟𝜔2 = 𝑚1 𝑟1 𝜔2 + 𝑚2 𝑟2 𝜔2
𝑚𝑟 = 𝑚1 𝑟1 + 𝑚2 𝑟2 (6)

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• To find the magnitude of balancing force in the plane L (or the dynamic force at the bearing Q
of a shaft), take moments about P which is the point of intersection of the plane M and the axis
of rotation. Therefore
𝐹𝐶1 𝑥 𝑙 = 𝐹𝐶 𝑥 𝑙2
𝑚1 𝑟1 𝜔2 𝑥 𝑙 = 𝑚𝑟𝜔2 𝑥 𝑙2
𝑙2
𝑚1 𝑟1 = 𝑚. 𝑟 𝑥 (7)
𝑙

• Similarly, the balancing force in plane M (or the dynamic force at the bearing P of a shaft) is
found by taking moments about Q which is the point of intersection of the plane L and the axis
of rotation. Therefore
𝐹𝐶2 𝑥 𝑙 = 𝐹𝐶 𝑥 𝑙1
𝑚2 𝑟2 𝜔2 𝑥 𝑙 = 𝑚𝑟𝜔2 𝑥 𝑙1
𝑙1
𝑚2 𝑟2 = 𝑚. 𝑟 𝑥 (8)
𝑙

• Equation 6 represents the condition for static balance, but in order to achieve dynamic
balance, equations 7 or 8 must also be satisfied.

5.2. When the plane of the disturbing mass lies on one end of the planes of the balancing masses

Figure 3

• Here, the mass m lies in the plane A and the balancing masses lie in the planes L and M, as
shown in Fig. 3. As discussed above, the following conditions must be satisfied in order to
balance the system, i.e.
𝐹𝐶 + 𝐹𝐶2 = 𝐹𝐶1

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 𝑚𝑟𝜔2 + 𝑚2 𝑟2 𝜔2 = 𝑚1 𝑟1 𝜔2
𝑚𝑟 + 𝑚2 𝑟2 = 𝑚1 𝑟1 (9)
• The balancing force in the plane L (or the dynamic force at the bearing Q of a shaft), take
moments about P which is the point of intersection of the plane M and the axis of rotation.
Therefore
𝐹𝐶1 𝑥 𝑙 = 𝐹𝐶 𝑥 𝑙2
𝑚1 𝑟1 𝜔2 𝑥 𝑙 = 𝑚𝑟𝜔2 𝑥 𝑙2
𝑙2
𝑚1 𝑟1 = 𝑚. 𝑟 𝑥 (10)
𝑙

. . . [Same as equation 7]
• The balancing force in the plane M (or the dynamic force at the bearing P of a shaft), take
moments about Q which is the point of intersection of the plane L and the axis of rotation.
Therefore
𝐹𝐶2 𝑥 𝑙 = 𝐹𝐶 𝑥 𝑙1
𝑚2 𝑟2 𝜔2 𝑥 𝑙 = 𝑚𝑟𝜔2 𝑥 𝑙1
𝑙1
𝑚2 𝑟2 = 𝑚. 𝑟 𝑥 (11)
𝑙

. . . [Same as equation 8]

Balancing of Several Masses Rotating in the Same Plane

• Consider any number of masses (say four) of magnitude m1, m2, m3 and m4 at distances of r1,
r2, r3 and r4 from the axis of the rotating shaft.
• Let θ1, θ2, θ3 and θ4 be the angles of these masses with the horizontal line OX, as shown in
Fig. 4 (a).
• Let these masses rotate about an axis through O and perpendicular to the plane of paper, with
a constant angular velocity of ω rad/s.

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 Figure 4
• The magnitude and position of the balancing mass may be found out analytically or
graphically.

Analytical method
i) Find out the centrifugal force exerted by each mass on the rotating shaft (since ω2 is
same for each mass, the magnitude of the centrifugal force for each mass is proportional
to the product of the respective mass and its radius of rotation.).
ii) Resolve the centrifugal forces horizontally and vertically and find their sums, i.e. ΣH
and ΣV. We know that sum of horizontal components of the centrifugal forces,
∑ 𝐻 = 𝑚1 𝑟1 cos 𝜃1 + 𝑚2 𝑟2 cos 𝜃2 + … …
and sum of vertical components of the centrifugal forces,
∑ 𝑉 = 𝑚1 𝑟1 sin 𝜃1 + 𝑚2 𝑟2 sin 𝜃2 + … …
iii) Magnitude of the resultant centrifugal force,
𝐹𝐶 = √(∑ 𝐻)2 + (∑ 𝑉)2
iv) If θ is the angle, which the resultant force makes with the horizontal, then
∑𝑉
tan 𝜃 = ∑ 𝐻

v) The balancing force is then equal to the resultant force, but in opposite direction.
vi) Now find out the magnitude of the balancing mass, such that
𝐹𝐶 = 𝑚. 𝑟
where m = Balancing mass, and
r = Its radius of rotation.

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Graphical method
i) First of all, draw the space diagram with the positions of the several masses, as shown
in Fig. 4 (a).
ii) Find out the centrifugal force (or product of the mass and radius of rotation) exerted by
each mass on the rotating shaft.
iii) Draw the vector diagram with the obtained centrifugal forces (or the product of the
masses and their radii of rotation), such that ab represents the centrifugal force exerted
by the mass 𝑚1 (or 𝑚1 𝑟1) in magnitude and direction to some suitable scale. Similarly,
draw bc, cd and de to represent centrifugal forces of other masses 𝑚2 , 𝑚3 and 𝑚4 (or
𝑚2 𝑟2 , 𝑚3 𝑟3 and 𝑚4 𝑟4).
iv) Now, as per polygon law of forces, the closing side ae represents the resultant force in
magnitude and direction, as shown in Fig. 4 (b).
v) The balancing force is, then, equal to the resultant force, but in opposite direction.
vi) Now find out the magnitude of the balancing mass (m) at a given radius of rotation (r),
such that
𝑚𝑟𝜔2 = Resultant centrifugal force
𝑚. 𝑟 = 𝑅𝑒𝑠𝑢𝑙𝑡𝑎𝑛𝑡 𝑜𝑓 𝑚1 𝑟1 , 𝑚2 𝑟2 , 𝑚3 𝑟3 𝑎𝑛𝑑 𝑚4 𝑟4

Sample problem
Four masses m1, m2, m3 and m4 are 200 kg, 300 kg, 240 kg and 260 kg respectively. The
corresponding radii of rotation are 0.2 m, 0.15 m, 0.25 m and 0.3 m respectively and the angles
between successive masses are 45°, 75° and 135°. Find the position and magnitude of the balance
mass required, if its radius of rotation is 0.2 m.

θ = 201.48° Ans.
Determine using both methods.

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6. Balancing of Several Masses Rotating in Different Planes
• When several masses revolve in different planes, they may be transferred to a reference plane
(briefly written as R.P.), which may be defined as the plane passing through a point on the axis
of rotation and perpendicular to it.
• The effect of transferring a revolving mass (in one plane) to a reference plane is to cause a
force of magnitude equal to the centrifugal force of the revolving mass to act in the reference
plane, together with a couple of magnitude equal to the product of the force and the distance
between the plane of rotation and the reference plane.
• In order to have a complete balance of the several revolving masses in different planes, the
following two conditions must be satisfied:
i) The forces in the reference plane must balance, i.e. the resultant force must be zero.
ii) The couples about the reference plane must balance, i.e. the resultant couple must be zero.
Let us now consider four masses m1, m2, m3 and m4 revolving in planes 1, 2, 3 and 4 respectively
as shown in Fig. 5 (a). The relative angular positions of these masses are shown in the end view
[Fig. 5 (b)]. The magnitude of the balancing masses mL and mM in planes L and M may be obtained
as discussed below:
1. Take one of the planes, say L as the reference plane (R.P.). The distances of all the other planes
to the left of the reference plane may be regarded as negative, and those to the right as positive.

Figure 5

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2. Tabulate the data as shown in Table 1. The planes are tabulated in the same order in which they
occur, reading from left to right.
Table 1
Plane Mass (m) Radius Centrifugal force Distance Couple/ω2
1 (2) (r) /ω2 (m r) from plane L (mrl)
(3) (4) (l) (6)
(5)
1 m1 r1 m1 r1 -l1 -m1 r1 l1
L (R.P) mL rL m L rL 0 0
2 m2 r2 m2 r2 l2 m2 r2 l2
3 m3 r3 m3 r3 l3 m3 r3 l3
M mM rM mM rM lM mM rM lM
4 m4 r4 m4 r4 l4 m4 r4 l4

3. Now draw the couple polygon as shown in Fig. (a). The vector d′ o′ represents the balanced
couple. Since the balanced couple CM is proportional to 𝑚𝑀 𝑟𝑀 𝑙𝑀 , therefore
𝐶𝑀 = 𝑚𝑀 𝑟𝑀 𝑙𝑀 = 𝑣𝑒𝑐𝑡𝑜𝑟 𝑑 ′ 0′
𝑣𝑒𝑐𝑡𝑜𝑟 𝑑 ′ 0′
𝑚𝑀 =
𝑟𝑀 𝑙𝑀

From this expression, the value of the balancing mass mM in the plane M may be obtained, and the
angle of inclination ϕ of this mass may be measured from Fig. 5 (b).

4. Now draw the force polygon as shown in Fig. 6 (b). The vector eo (in the direction from e to o)
represents the balanced force. Since the balanced force is proportional to 𝑚𝐿 𝑟𝐿 , therefore,

𝑚𝐿 𝑟𝐿 = 𝑣𝑒𝑐𝑡𝑜𝑟 𝑒𝑜
𝑣𝑒𝑐𝑡𝑜𝑟 𝑒𝑜
𝑚𝐿 =
𝑟𝐿

From this expression, the value of the balancing mass mL in the plane L may be obtained and the
angle of inclination α of this mass with the horizontal may be measured from Fig. 5 (b).

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 a) Couple polygon b) Force polygon
Figure 6

Sample Problem
1. A shaft carries four masses A, B, C and D of magnitude 200 kg, 300 kg, 400 kg and 200 kg
respectively and revolving at radii 80 mm, 70 mm, 60 mm and 80 mm in planes measured from
A at 300 mm, 400 mm and 700 mm. The angles between the cranks measured anticlockwise
are A to B 45°, B to C 70° and C to D 120°. The balancing masses are to be placed in planes
X and Y. The distance between the planes A and X is 100 mm, between X and Y is 400 mm and
between Y and D is 200 mm. If the balancing masses revolve at a radius of 100 mm, find their
magnitudes and angular positions. Refer to figure 7.

Figure 7

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Answers
mY = 182.5 kg
θY = 12°
mX = 355 kg
θX = 145°
2. A shaft carries three masses A, B and C. Planes B and C are 60 cm and 120 cm from A. A, B
and C are 50 kg, 40 kg and 60 kg respectively at a radius of 2.5 cm. The angular position of
mass B and mass C with A are 900 and 2100 respectively. Find the unbalanced force and
couple. Also find the position and magnitude of balancing mass required at 10 cm radius in
planes L and M midway between A and B, and B and C.

Solution:
Case (i):
Plane Mass Radius Centrifugal force Distance Couple/ω2 Angle
1 (m) kg (r) m /ω2 (m r) from plane (mrl) θ
(2) (3) kg-m Am Kg-m2
(4) (5) (6) (7)
A 50 0.025 MArA = 1.25 0 0 θA = 00
(R.P)
B 40 0.025 MB rB = 1.00 0.6 0.6 θB = 900
C 60 0.025 MC rC = 1.50 1.2 1.8 θC = 2100

Analytical Method
Step 1:
Determination of unbalanced couple
Resolve the couples into their horizontal and vertical components and find their sums.
Sum of the horizontal components gives,
∑ 𝑚𝑟𝑙 𝑐𝑜𝑠 𝜃 = 0.6 𝑐𝑜𝑠 90 + 1.8 𝑐𝑜𝑠 210 = −1.559 (i)
Sum of the vertical components gives,
∑ 𝑚𝑟𝑙 𝑠𝑖𝑛 𝜃 = 0.6 𝑠𝑖𝑛 90 + 1.8 𝑠𝑖𝑛 210 = −0.3 (ii)
Squaring and adding (1) and (2), we get
𝑪𝒖𝒏𝒃𝒂𝒍𝒂𝒏𝒄𝒆𝒅 = √(−𝟏. 𝟓𝟓𝟗)𝟐 + (−0.3)𝟐 = 𝟏. 𝟓𝟖𝟖 𝒌𝒈 − 𝒎𝟐

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Step 2:
Determination of unbalanced force
Resolve the forces into their horizontal and vertical components and find their sums.
Sum of the horizontal components gives,
∑ 𝑚𝑟𝑙 𝑐𝑜𝑠 𝜃 = 1.25 𝑐𝑜𝑠 0 + 1.0 𝑐𝑜𝑠 90 + 1.5 cos 210 = −0.049 (iii)
Sum of the vertical components gives,
∑ 𝑚𝑟𝑙 𝑠𝑖𝑛 𝜃 = 1.25 𝑠𝑖𝑛 0 + 1.0 𝑠𝑖𝑛 90 + 1.5 sin 210 = 0.25 (iv)
Squaring and adding (3) and (4), we get
𝐹𝑢𝑛𝑏𝑎𝑙𝑎𝑛𝑐𝑒𝑑 = √(−0.049)2 + (0.25)2 = 0.2548 𝑘𝑔 − 𝑚

Graphical solution:

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Case (ii):

To determine the magnitude and directions of masses mM and mL.

Let, mL be the balancing mass placed in plane L and mM be the balancing mass placed in plane M
which are to be determined.
The data may be tabulated as shown.
Plane Mass (m) Radius (r) Centrifugal force /ω2 Distance from Couple/ω2 Angle
1 kg m (m r) plane A m (mrl) θ
(2) (3) kg-m (5) Kg-m2
(4) (6) (7)
A 50 0.025 MArA = 1.25 -0.3 -0.375 θA = 0 0
L(RP) ML = ? 0.10 0.10 ML 0 0 θL= ?
B 40 0.025 MB rB = 1.0 0.3 0.3 θB = 900
M Mm = ? 0.10 0.10 Mm 0.6 0.06 Mm θm= ?
C 60 0.025 MC rC = 1.50 0.9 1.35 θC = 2100

Analytical Method:
Step 1:
Resolve the couples into their horizontal and vertical components and find their sums.
Sum of the horizontal components gives,
∑ 𝑚𝑟𝑙 𝑐𝑜𝑠 𝜃 + 𝑚𝑚 𝑟𝑚 𝑙𝑚 𝑐𝑜𝑠 𝜃𝑚 = 0
On substituting;
−0.375 𝑐𝑜𝑠 0 + 0.3 cos 90 + 0.06 𝑚𝑚 𝑐𝑜𝑠 𝜃𝑚 + 1.35 cos 210 = 0
0.06 𝑚𝑚 𝑐𝑜𝑠 𝜃𝑚 = 1.54413
𝑚𝑚 𝑐𝑜𝑠 𝜃𝑚 = 25.74 (i)

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Sum of the vertical components gives,
∑ 𝑚𝑟𝑙 𝑠𝑖𝑛 𝜃 + 𝑚𝑚 𝑟𝑚 𝑙𝑚 𝑠𝑖𝑛 𝜃𝑚 = 0
On substituting;
−0.375 𝑠𝑖𝑛 0 + 0.3 sin 90 + 0.06 𝑚𝑚 𝑠𝑖𝑛 𝜃𝑚 + 1.35 sin 210 = 0
0.06 𝑚𝑚 𝑠𝑖𝑛 𝜃𝑚 = 0.375
𝑚𝑚 𝑠𝑖𝑛 𝜃𝑚 = 6.25 (ii)
Squaring and adding (i) and (ii), we get
(𝑚𝑚 𝑐𝑜𝑠 𝜃𝑚 )2 + (𝑚𝑚 𝑠𝑖𝑛 𝜃𝑚 )2 = (25.74)2 + (6.25)2 = 701.61
(𝑚𝑚 )2 = 701.61
𝑚𝑚 = 25.6 𝑘𝑔 ans
Dividing (2) by (1), we get
6.25
𝑡𝑎𝑛 𝜃𝑚 = 25.74

𝜃𝑚 = 13.650 ans

Step 2:
Resolve the forces into their horizontal and vertical components and find their sums.
Sum of the horizontal components gives,
∑ 𝑚𝑟 𝑐𝑜𝑠 𝜃 + 𝑚𝐿 𝑟𝐿 𝑐𝑜𝑠 𝜃𝐿 + 𝑚𝑚 𝑟𝑚 𝑐𝑜𝑠 𝜃𝑚 = 0
1.25 𝑐𝑜𝑠 0 + 0.1 𝑚𝐿 𝑐𝑜𝑠 𝜃𝐿 + 1.0 𝑐𝑜𝑠 90 + 2.649 cos 13.65 + 1.5 cos 210 = 0
1.25 + 0.1 𝑚𝐿 𝑐𝑜𝑠 𝜃𝐿 + 0 + 2.5741 + (−1.299) = 0
𝑚𝐿 𝑐𝑜𝑠 𝜃𝐿 = −25.251 (iii)
Sum of the vertical components gives,
∑ 𝑚𝑟 𝑠𝑖𝑛 𝜃 + 𝑚𝐿 𝑟𝐿 𝑠𝑖𝑛 𝜃𝐿 + 𝑚𝑚 𝑟𝑚 𝑠𝑖𝑛 𝜃𝑚 = 0
1.25 𝑠𝑖𝑛 0 + 0.1 𝑚𝐿 𝑠𝑖𝑛 𝜃𝐿 + 1.0 𝑠𝑖𝑛 90 + 2.649 sin 13.65 + 1.5 sin 210 = 0
0 + 0.1 𝑚𝐿 𝑠𝑖𝑛 𝜃𝐿 + 1 + 0.6251 + (−0.75) = 0
𝑚𝐿 𝑠𝑖𝑛 𝜃𝐿 = −8.751 (iii)
Squaring and adding (3) and (4), we get
(𝑚𝐿 𝑐𝑜𝑠 𝜃𝐿 )2 + (𝑚𝐿 𝑠𝑖𝑛 𝜃𝐿 )2 = (−25.251)2 + (−8.751)2 = 714.193
(𝑚𝐿 )2 = 714.193
𝑚𝐿 = 26.72 𝑘𝑔 ans

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Dividing (iii) by (iv), we get
−8.751
𝑡𝑎𝑛 𝜃𝐿 = −25.251

𝜃𝐿 = 19.110 ans
The balancing mass mL is at an angle 19.110 + 1800 = 199.110 measured in counter clockwise
direction.

Graphical Method:

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