Winter 2022-23

School of Mechanical Engineering

BMEE207L KINEMATICS AND DYNAMICS OF MACHINES

MODULE 6
Balancing

By
Dr. T. CHRISTO MICHAEL
Outline
• Why balancing?

• Balancing of rotating masses

– Static

– Dynamic

• Problems

• Basics of Balancing of Reciprocating Masses

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 Balancing of
Rotating Masses
• Static balancing
• Dynamic balancing

1. Kinematics and Dynamics of Machinery by R. L. Norton

2. Theory of Machines and Mechanisms by John J, Uicker Jr, Gordon
R. Pennock and Joseph E. Shigley
3. Theory of Machines by S. S. Rattan

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Why Balancing?

 Inertia forces associated with the moving masses causes

unbalance
 The inertia forces transmitted to the frame or foundation
of a machine tend to shake or vibrate the machine
 Balancing is the technique of correcting or eliminating
unwanted inertia forces and moments in rotating
machinery
 Members in pure rotation can (theoretically) be balanced
to eliminate all shaking forces and shaking moments

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Why Balancing?

 Rotating parts can be designed to be inherently

balanced by their geometry
 The unexpected changes in the production
tolerances guarantee that there will still be some
small unbalance in each part
 Thus a balancing procedure will have to be applied
to each part after manufacture
 The imbalance can be measured quite accurately
and the material is added or removed in the correct
locations

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Engine Forces

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Static Balance (Single-plane Balance)
 The requirement for static balance is that the sum of all
forces on the moving system must be zero
According to D’ Alembert’s principle,

𝑭 − 𝒎𝒂 = 0

 External forces cannot be balanced by making any

changes to the system’s internal geometry
 Hence, only the inertia forces are equated to zero
 Single-plane balance means that the masses which are
generating the inertia forces are in (nearly in) the same
plane

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 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 (but not the entire turbine)

The common denominator among these devices is that they

are all short in the axial direction compared to the radial
direction, and thus can be considered to exist in a single plane.

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A Link in Pure Rotation - Static Balancing

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Static Balance-Analytical Approach

𝑰𝑭 = 𝑚1 𝒓1 𝜔2 + 𝑚2 𝒓2 𝜔2 + 𝑚3 𝒓3 𝜔2 = 0
Statically balanced
𝑰𝑭 ≠ 0
𝑚1 𝒓1 𝜔2 + 𝑚2 𝒓2 𝜔2 + 𝑚3 𝒓3 𝜔2 + 𝑚𝑐 𝒓𝑐 𝜔2 = 0
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In general,
∑𝑚𝒓𝜔2 + 𝑚𝑐 𝒓𝑐 𝜔2 = 0
To solve mathematically, resolve the each force in to two
components
∑𝑚𝑟 cos 𝜃 + 𝑚𝑐 𝑟𝑐 cos 𝜃𝑐 = 0

∑𝑚𝑟 sin 𝜃 + 𝑚𝑐 𝑟𝑐 sin 𝜃𝑐 = 0

𝑚𝑐 𝑟𝑐 cos 𝜃𝑐 = −∑𝑚𝑟 cos 𝜃

𝑚𝑐 𝑟𝑐 sin 𝜃𝑐 = −∑𝑚𝑟 sin 𝜃

Squaring and adding,
𝑚𝑐 𝑟𝑐 = (∑𝑚𝑟 cos 𝜃)2 +(∑𝑚𝑟 sin 𝜃)2
− ∑ 𝑚𝑟 sin 𝜃
tan 𝜃𝑐 =
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− ∑ 𝑚𝑟 cos 𝜃 12
 Problem 1 Graphical Solution
Three masses of 8 kg, 12 kg
and 15 kg attached at radial
distances of 80 mm, 100 mm
and 60 mm respectively to a
disc on a shaft are in complete
balance. Determine the
angular positions of the
masses of 12 kg and 15 kg
relative to the 8 kg mass.

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Analytical Solution

cos 𝜃2 = −0.677

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Problem 2
A circular disc mounted on a shaft carries three attached
masses of 4 kg, 3 kg and 2.5 kg at radial distances of 75
mm, 85 mm and 50 mm and at the angular positions of 45°,
135° and 240° respectively. The angular positions are
measured counter clockwise from the reference line along
the x-axis. Determine the amount of the counter mass at a
radial distance of 75 mm required for the static balance.

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Graphical Solution 8
300 = 8 cm = × 255 cm
300
255 = 6.8 cm 8
= × 125 cm
125 = 3.33 cm 300

𝑚c 𝑟c = 282.75 240°

𝑟c = 75 mm
282.75 276°
∴ 𝑚c = = 3.77 kg
75 135°

300
= × 7.54 cm
8

45°
7.54 cm = 282.75

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Analytical Solution
 Dynamic Balancing
 When several masses
rotate in different planes,
the centrifugal force, in
addition to being out of
balance, also form
couples
 A system of rotating
masses is in dynamic
balance when there
does not exist any
resultant centrifugal
force as well as resultant
couple

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 Some examples are,

 Rollers
 Crank shafts
 Cam shafts
 Motor rotors
 Clusters of multiple gears
 Aircraft turbines
 Propeller shafts
The common denominator among these devices is their mass
may be unevenly distributed both rotationally around their axis
and also longitudinally along their axis.

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 Balancing of Several Masses in Different Planes
For complete balancing of rotating masses in different planes,
the resultant forces and resultant couples both should be
zero.

 If not satisfied the above equations, then there are

unbalanced forces and couples
 A mass placed in the reference plane may satisfy the force
equation but the couple equation is satisfied only by two
forces in different transverse planes
 Thus, two planes are needed to balance a system of
rotating masses
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The force equation becomes,

Taking moment about reference plane O,

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To solve mathematically, resolve the each force in to two
components to find 𝑚𝑐2 𝑜𝑟 𝑟𝑐2 and 𝜃𝑐2
∑𝑚𝑟𝑙 cos 𝜃 + 𝑚𝑐2 𝑟𝑐2 𝑙𝑐2 cos 𝜃𝑐2 = 0

∑𝑚𝑟𝑙 sin 𝜃 + 𝑚𝑐2 𝑟𝑐2 𝑙𝑐2 𝑠𝑖𝑛 𝜃𝑐2 = 0

𝑚𝑐2 𝑟𝑐2 𝑙𝑐2 cos 𝜃𝑐2 = −∑𝑚𝑟𝑙 cos 𝜃

𝑚𝑐2 𝑟𝑐2 𝑙𝑐2 𝑠𝑖𝑛 𝜃𝑐2 = −∑𝑚𝑟𝑙 sin 𝜃

Squaring and adding,

𝑚𝑐2 𝑟𝑐2 𝑙𝑐2 = (∑𝑚𝑟𝑙 cos 𝜃)2 +(∑𝑚𝑟𝑙 sin 𝜃)2

− ∑ 𝑚𝑟𝑙 sin 𝜃
tan 𝜃𝑐2 =
− ∑ 𝑚𝑟𝑙 cos 𝜃
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After finding 𝑚𝑐2 (𝑜𝑟 𝑟𝑐2 ) and 𝜃𝑐2 , using force equations, find
𝑚𝑐1 (𝑜𝑟 𝑟𝑐1 ) and 𝜃𝑐1
∑𝑚𝑟 cos 𝜃 + 𝑚𝑐1 𝑟𝑐1 cos 𝜃𝑐1 + 𝑚𝑐2 𝑟𝑐2 cos 𝜃𝑐2 = 0

∑𝑚𝑟 sin 𝜃 + 𝑚𝑐1 𝑟𝑐1 sin 𝜃𝑐1 + 𝑚𝑐2 𝑟𝑐2 sin 𝜃𝑐2 = 0

𝑚𝑐1 𝑟𝑐1 cos 𝜃𝑐1 = −(∑𝑚𝑟 cos 𝜃 + 𝑚𝑐2 𝑟𝑐2 cos 𝜃𝑐2 )

𝑚𝑐1 𝑟𝑐1 sin 𝜃𝑐1 = −(∑𝑚𝑟 sin 𝜃 + 𝑚𝑐2 𝑟𝑐2 sin 𝜃𝑐2 )

Squaring and adding,

𝑚𝑐1 𝑟𝑐1 = (∑𝑚𝑟 cos 𝜃 + 𝑚𝑐2 𝑟𝑐2 cos 𝜃𝑐2 )2 +(∑𝑚𝑟 sin 𝜃 + 𝑚𝑐2 𝑟𝑐2 sin 𝜃𝑐2 )2

−(∑𝑚𝑟 sin 𝜃 + 𝑚𝑐2 𝑟𝑐2 sin 𝜃𝑐2 )

tan 𝜃𝑐1 =
−(∑𝑚𝑟 cos 𝜃 + 𝑚𝑐2 𝑟𝑐2 cos 𝜃𝑐2 )

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 Problem 3
A rotating shaft carries three unbalanced masses of 4 kg, 3 kg
and 2.5 kg at radial distances 75 mm, 85 mm and 50 mm and
at the angular positions of 45°, 135° and 240° respectively. The
second and the third masses are in the planes at 200 mm and
375 mm from the plane of the first mass. The angular positions
are measured counter-clockwise from the reference line along
x-axis and viewing the shaft from the first mass end.
The shaft length is 800 mm between bearings and the distance
between the plane of the first mass and the bearing at that end
is 225 mm. Determine the amount of the counter masses in
planes at 75 mm from the bearings for the complete balancing
of the shaft. The first counter mass is to be in a plane between
the first mass and the bearing and the second mass in a plane
between the third mass and the bearing at that end.
Graphical Solution
Force Couple
Plane Mass (m), Radius (r), Length (l), mr mrl
kg mm mm
C1 (RP) mc1 rc1=75 0 75mc1 0
1 4 75 150 300 45000 = 5 cm
2 3 85 350 255 89250 = 9.92 cm
3 2.5 50 525 125 65625 = 7.29 cm
C2 mc2 rc2=40 675 40mc2 27000mc2 = 8.55 cm
= 76950
mc2 = 2.85 kg

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Couple Polygon 25
Graphical Solution
Force mc2 = 2.85 kg
Plane Mass (m), Radius (r), Length (l), mr
kg mm mm
C1 (RP) mc1 rc1=75 0 75mc1 = 3.9 cm = 234
1 4 75 150 300 = 5 cm
2 3 85 350 255 = 4.25 cm
3 2.5 50 525 125 = 2.1 cm
C2 2.85 rc2=40 675 114 = 1.9 cm

mc1 = 3.12 kg

Force Polygon
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Solution
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 Problem 4
Four masses A, B, C and D are completely balanced.
Masses C and D make angles of 90° and 195° respectively
with that of mass B in the counterclockwise direction.
Masses A, B, C and D can be assumed to be concentrated
at radii150, 200, 100 and 180 mm respectively. The masses
B, C and D are 25 kg, 40 kg and 35 kg respectively. The
planes containing B and C are 250 mm apart. Determine the
(i) Mass A and its angular position with that of mass B
(ii) Positions of all the planes relative to plane of mass A.

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