EMM 3534 – MECHANICS OF MACHINES

Whirling of Shaft
 Introduction

• In engineering, we have seen many applications of

shaft and a rotor system.

• Power transmitting shafts always have either gear,

pulley, sprocket, rotor or a disc attached to a shaft
as shown in the Figure
Shaft Problems in shaft and a rotor
systems:

(i) Unbalance in rotor/disc

disc
(ii) Improper assembly

(iii) Weaker bearings

bearings
Unbalance in rotor / disc
For perfect balancing
rotor
Geometric (i) Mass centre (centre of
m centre gravity) has to co-inside
with the geometric centre
e Mass
centre (ii) m.e = unbalance =0

Top view of a rotor

*e- eccentricity
 POP QUESTION
What is the ‘eccentricity’ ?
‘deviation of a curve or
orbit from circularity.’
• A circle has an eccentricity of zero,
so the eccentricity shows you how
"un-circular" the curve is.
• Bigger eccentricities are less
curved.
Unbalance in rotor / disc

m
Centrifugal force
e


Top view of a disc

Static dynamic
 Top view of the disc Rotating shafts tend to bend out at
certain speed and whirl in an
undesired manner, which affects
d e
the working of machine, and the
O P G shaft may also fail due to large
deflection at the center

• P : Geometric center
• G : Centre of gravity
• O : Center of rotation
• d : deflection of shaft
• e : eccentricity

Footnotes
• An object's center of rotation is the point about which it is being rotated.
• An object's center of gravity is the point around which an object's weight is evenly
distributed.
Whirling is defined as the rotation of
plane made by the bent shaft and line of
centers of bearings as shown in Figure
Whirling of shafts neglecting damping
Whirling of shafts neglecting damping

Assumptions
(i) the disc at the mid-span is unbalance
L/2

(ii) the shaft inertia is negligible, and the shaft

L
stiffness is same in all directions

(iii) any internal damping is neglected

 Top view of the disc

d e
Restoring force
Centrifugal force
(spring force) O P G
K.d mω2 (d + e)


P : Geometric center
G : center of gravity
O : center of rotation
e : eccentricity
d : deflection of shaft
K : stiffness
Equating both the forces
mω2 (d + e) = Kd

mω2e Divide numerator and

d= denominator by K
K − mω2

er 2
d=
1 − r2
 er 2
d=
1 − r2

• It is observed from above equation that theoretically, the

deflection of the shaft tends to infinity when r =1, i.e
=n.
• The speed of the shaft under this condition is referred as
critical speed of shaft.

Notes : n = natural frequency

 4

d/e
d r2
=
e 1 − r2 1

0
0 1 2 3 4
*deflection of the shaft /n (r)
Critical speed
tends to infinity when r =1,
i.e. =n.
 er 2
d=
1 − r2
O
P G
• If r <1 (or <n) : Below critical speed
▪ d is +ve
▪ which indicates that disc rotates about O (center
of rotation)
Top view of the disc
▪ O and G (Centre of gravity) are opposite each other
 er 2
d=
1 − r2
O
P G
• If r >1 (or >n) : Above critical speed
o d is –ve
o which indicates O, approaches G and disc rotates
about center of gravity.
Top view of the disc
Important

➢ It is desired to run the shaft at speed much

higher than the natural frequency of the shaft
rotor system, which has reduced whirling of
shaft.
 • A power transmission shaft has
diameter of 30 mm and 900mm
long, and simply supported. The
shaft carries a rotor of 4 kg at its mid-
span. The rotor has an eccentricity
of 0.5 mm. Calculate the critical
Sample Problem 1 speed of shaft and deflection of the
shaft at the mid-span at 1000 rpm.
Neglect mass of the shaft, take
E=2x105 MPa (Ref: Mechanical
Vibrations By Kelly and Kudari,
Schamus outline series)
 Given data

D
Shaft diameter, D =30 mm
Shaft length, L =900 mm
Rotor mass, m =4 kg
L
Eccentricity, e =0.5 mm
Modulus of elasticity, E =2x105 MPa Find Ncr, the critical speed
= 2x1011 Pa And deflection of shaft d
Mid-span at speed, N =1000 rpm
• To Find Ncr, the critical speed, it is required to find
natural frequency of the system

K
ωn =
m
To Find stiffness, K of the shaft
W
Simply supported shaft

L
Deflection of the beam at mid span δ =
3
WL
48EI

Stiffness of beam K=
W
δ
 48EI
K = 3 The stiffness of the shaft
L

Moment of Inertia for a π 4 Substitute D in meters

solid cylindrical section I= D
64
π
I= (0.03)4 =39.76x10-9 m4
64

K = 523598.75 N/m
 K 523598.75 = 361.80 rad/s
ωn = =
m 4

The critical speed happens when r =1 or cr=n

2πNcr
ω cr = = ωn Convert rad/s to rpm
60

Ncr= 3455 rpm

• Deflection of the shaft at 1000 rpm

2πN = 104.72 rad/s

ω=
60

ω 104.72
r = = = 0.289
ωn 361.80

er 2
d= 2 = 0.0455 mm
1− r
Whirling of shafts with damping
Whirling of shafts with damping

Damping is the resistance to motion

Air or Oil

For the analysis of the systems with

damping an additional assumption is
made, i.e the external damping force is
proportional to the velocity of the disc at
geometric center.
Three forces acting on the shaft under equilibrium:

(i) centrifugal force at G acts racially outwards

(ii) restoring force at point P acts radially inwards and
(iii) damping force at P acts radially outwards.

G
ω2mb
b

P e
P : Geometric center
O Kd G : center of gravity
cd O : center of rotation
d e : eccentricity
d : deflection of shaft
Force diagram
K : stiffness
 Top view of the disc at time t

y centrifugal force
x g = x + e.cosωt
G (xg,yg)
e y g = y + e.sinωt

x t
d P
 y
O x

Notes : The phase angle () refers to the difference in timing between the applied force and the resulting
displacement. It arises due to the presence of damping, which dissipates energy as the shaft vibrates.
The equation of motion for the system in X - direction is:

mx g + cx + Kx = 0

m( x − ω2e.cosωt ) + cx + Kx = 0

mx + cx + Kx = mω2e.cosωt

F
The equation of motion for the system Y - direction is:
my + cy + Ky = mω2e.sinωt
 The governing equation of motion of the system is:

mx + cx + Kx = mω2e.cosωt

Solution of governing differential equation

x(t) = x c (t) + x p (t)

Transient solution Steady state solution

Let, x(t), the steady state solution of equation of motion is:

x(t) = Xcos(ωt − ψ)
Above Eqn has to satisfy governing Eqn.
 Vectorial representation of forces

KX-m2X

A Impressed force
Spring force B F Displacement
  vector
KX X
t Reference axis
Damping O
cX
force m2X
Inertia force
The steady state response of the system in x, horizontal direction
is :
From triangle OAB

(KX − mω X) + (cωX)
2 2 2
= mω2e

 
2
  2
X2 K −mω  + ( ) 
cω 2  = mω2e
  
 

mω2e
X=
(K − mω ) + (cω)
2 2 2
Dividing by K
mω2 e
X= K
2
 mω 
2
 cω 
2
1 −  +  
 K   K 

r 2e
X=
(1 − r 2 )2 + (2ξr )2

Damping ratio
The steady state response of the system in x,
horizontal direction is :
er 2
x(t) = cos(ωt − ψ)
(1 − r ) + (2ξr )
2 2 2

Similarly, the steady state response of the system in y,

Vertical direction is :
er 2
y(t) = sin(ωt − ψ)
(1 − r ) + (2ξr )
2 2 2
The deflection of shaft is :

y
G (xg,yg) d= x2 + y2
e

x t
d P er 2
d=
O
 y
x
(1 − r ) + (2ξr )
2 2 2
 4
=0.0
=0.1
The deflection of shaft is :
3
=0.2

=0.3
2 2
d r

d/e
=0.4
=
(1 − r ) + (2ξr )
=0.5
e 2 2 2
1

=0.707
=1
0
0 1 2 3 4
/n (r)
Critical speed

RECAP :
The damping ratio of the control system varies from underdamped (ζ<1), overdamped (ζ>1) critically damped
(ζ=1) and undamped (ζ=0)
 180

160

140
The phase angle is :
=1.0

Phase angle, 
120
=0.707
=0.5
100
 2ξr 
−1
ψ = tan  2
80
 1 − r  60

40
=0.2
20 =0.1
=0
0
0 1 2 3 4 5
/r (r)
 • undamped (ζ=0)
Undamped system: In a system with no damping, the phase angle
is 0°. This means the displacement and force are in perfect sync,
• critically damped (ζ=1)
reaching their peaks simultaneously. • underdamped (ζ<1)
• overdamped (ζ>1)
Critically damped system: In a critically damped system, the phase
angle is 90°. This means the displacement lags the force by a
quarter of a cycle. The system approaches its equilibrium position 180
quickly without any overshoot. 160

Underdamped system: In an underdamped system, the phase 140

=1.0

Phase angle, 
angle is between 0° and 90°. The displacement lags the force by 120
some amount, but the system still oscillates. The higher the =0.707
=0.5
damping ratio (closer to 1), the smaller the phase angle and the 100
quicker the decay of oscillations.
80
Overdamped system: In an overdamped system, the phase angle 60
is greater than 90°. The displacement lags the force by more than
a quarter of a cycle. The system returns to its equilibrium position 40
=0.2
slowly without any oscillations. 20 =0.1
=0
0
0 1 2 3 4 5
/r (r)
 • A disc of mass 4 kg is mounted mid-
way between bearings, which may
be assumed to be simple supports.
The bearing span is 0.48 m. The steel
shaft which is horizontal is 0.09 m in
diameter. The center of gravity of the
disc is displaced 3 mm from the
geometric center. The equivalent
Sample Problem 2 viscous damping at the center of the
disc-shaft is 49 N.s/m. If the shaft
rotates at 760 rpm, find the maximum
stress in the shaft and compare it with
the dead load stress in the shaft. Also
find the power required to drive the
shaft at this speed.
 Given data
D
Shaft diameter, D = 0.09m
Shaft length, L = 0.48 m
Rotor mass, m =4 kg
L
Eccentricity, e =3 mm
Viscous damping, c= 49 N.s/m Find maxm stress in the shaft
Modulus of elasticity, E = 20 MPa And power required to drive the
Shaft speed, N =760 rpm shaft
 2πN
ω= = 79.58 rad/s Forcing frequency
60

The Mod. of elasticity of the material is not given

Assume: E = 20 MPa

48EI
K = 3
The stiffness of the shaft
L
π 4
I= D
64

K = 27957 N/m
K = 27957 N/m

K 27957
ωn = = = 83.6 rad/s
m 4

c
ξ = =0.073 Damping ratio
2mωn

ω 79.58
r= = = 0.951 Frequency ratio
ωn 83.60
 er 2
d= Deflection of shaft
(1 − r )
2 2
+ (2ξr )
2

d =0.016 m
Dynamic load on the shaft (Restoring force)
Fd = Kd = 450 N

Static load on the shaft (Self weight)

Fs = Mg =39.24 N
Total force (maxm force) = Dynamic load on the shaft
(Restoring force) + Static load on the shaft (Self weight)

Fmax = Fs + Fd = 489.24 N

Maxm stress in the shaft

Mmax
σ max = Z= section modulus = I / ymax = pi*d^3 / 32
Z
Fmax L
Mmax = = 58.70 N/m
4
 Mmax
σ max = = 0.82x106 N/m2
Z

σ Static =0.658x105 N/m2

power required to drive the shaft = power required to overcome

damping

Friction force = cd

Friction torque = cd2 = (50)(78.58)(0.0001122) = 1 Nm

Power = T = T(2N/60) = (0.998)(2)(3.14)(760)/60 =~80 Watts

Summary

Due unbalance in a shaft-rotor system, rotating shafts tend to

bend out at certain speed and whirl in an undesired manner

Whirling is defined as the rotation of plane made by the bent

shaft and line of centers of bearings

Theoretically, the deflection of the shaft tends to infinity when r

=1, i.e =n.
The speed of the shaft under this condition is referred as critical
speed of shaft.

DR NURUL IZZAH ABD RAHMAN

Summary

Theory indicates that at higher speeds the shaft tries to rotate at

centre of gravity, and deflection of the shaft is negligible

It is desired to run the shaft at speed much higher than the

natural frequency of the shaft rotor system

DR NURUL IZZAH ABD RAHMAN

Theory questions

What do you understand by critical speed of shafts. Derive the

necessary relations and thus, explain what is happening in the
system carrying a shaft having an unbalanced disc at its centre
is operated above and below critical speed.
A solid disk weighing 44.98N is keyed to the center of a steel shaft 0.6096m between
bearings. Determine the lowest critical speed of the system. Assume shaft to be simply
supported. The diameter of the shaft is 1.25 cm. Also, find the steady state response
of the system given c=150 Ns/m and eccentricity, e=0.5mm with w=2000rpm

Weight 44.98 N

Length of shaft is 0.6096m

End of whirling of shaft topic