Balancing of rotating masses

• Balancing
– Rotating masses
• Single plane
• Different planes
– Reciprocating masses
• Primary force and couple
• Secondary force and couple

1
Balancing of single rotating weight by a weight rotating
in the same plane
A weight W carried on a
ω
weight less arm of length
r rotates with angular m
r
velocity ω as shown. For
O θ
completely balancing the
θ
mass m, a weight B at b
distance b is attached to
the same axle in a
diametrically opposite
direction. mω 2 r = Bω 2b
∴ mr = Bb
2
Balancing a number of masses rotating in one plane by another weight
rotating in the same plane
• Consider the masses m1, m2,m3 revolving
the at radii r1,r2,r3 respectively in the m2
same plane. Then each mass produces a m1
centrifugal force acting radially outwards
r2 r1
from the axis of rotation. θ2
• If F is the vector sum, θ3 θ1
F= m1r1ω2+ m2r2ω2+ m3r3ω2
r3 θc
All the masses will be in balance if F=0.
rc
If F is not zero, a counter weight of mass mc m3
at radius rc is introduced to balance the mc
masses
m3r3
F= m1r1ω2+ m2r2ω2+ m3r3ω2 + mcrcω2=0 m2r2
m1r1+ m2r2+ m3r3 + mcrc=0
Analytically, it can be solved by resolving the
mcrc
forces into components along and m1r1
perpendicular to x axis.
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 Analytical method
 m r cosθ +m r cosθ = 0
i i i c c c

 m r sin θ +m r sin θ = 0
i i i c c c

m r = ( m r sin θ ) + ( m r cos θ )
2 2
c c i i i i i i

−  m r sin θ
i i i
tan θ =
−  m r cos θ
c
i i i

4
Balancing a number of masses rotating
in different planes
• It is proposed to reduce the case to the case
of several masses rotating in the same plane.
• In order to do so, the different masses rotating
in different planes will have to be transferred
to one plane called as a reference plane.

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 Transfer of force from one plane to another
A
F1=F B

F2=F F

Consider two planes A and B. Let F be the centrifugal force due to a rotating
mass m acting in the plane B. The equilibrium in the planes will not be
disturbed if two equal and opposite forces F1and F2each equal to and parallel
to F. then F and F1 constitute a couple of magnitude F.a and F2=F will be also
present. Thus the effect of transferring a rotating mass from one plane A to
another plane, B is to introduce in the plane B
an unbalanced equal force in the same direction and
an unbalanced couple whose magnitude is equal to the product of the force
and the distance between the two planes. 6
• Therefore, transfer of various forces in
different planes to a reference plane will result
in a number of unbalanced forces and
unbalanced couples in the reference plane.
Hence, to balance the system, the unbalanced
forces and couples are to be balanced. The
conditions to be satisfied are
m r = 0
i i

where i = 1 to n (n = no. of masses)

m ra
i i i =0
ai = distance of mass i from the reference plane
7
• couple acts in plane perpendicular to the plane in
which the forces act. Its dire ction can be
obtained by application of right hand screw rule.
Thus the balancing couple will be at right angle to
the forces producing it. However, in actual
practice, the phase of couple diagram is changed
through 90 degrees, thus enabling us to draw
couples parallel to the forces.
• As a couple is produced by two forces, two
balancing masses acting in two different planes
will be required.

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 Masses in different planes

θR2 R2
R2 θR2
mR2 m3r3a3

θ3 θ3
3 3
r3 r3
aR2 Couple polygon
aR2 m3
θ2
m3 θ2

2 2
r2 r2
m2 a3 m2 a3
m1 m1
r1 r1
a2 mR1 θ1 a2
θ1
1 1

a1 a1 θR1
θR1
R1 R1
Force polygon
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• In order to balance the masses completely, introduce two masses mR1
and mR2 at radii rR1 and rR2 in the reference planes R1 and R2
respectively. Then the conditions for complete balance are
m1r1ω 2 + m 2 r2ω 2 + m 3 r3ω 2 + m R1 rR1ω 2 + m R 2 rR 2ω 2 = 0 ......( 1)
 m r +m
i i r + m R 2 rR 2 = 0 .....( 2 )
R1 R1

m1r1 a1ω 2 + m 2 r2 a 2ω 2 + m 3 r3 a 3ω 2 + m R 2 rR 2 a R 2ω 2 = 0 ......( 3)

 m ra i i i +m R 2 rR 2 a R 2 = 0 ........( 4 )
The above equations can be solved analytical ly or graphicall y
Resolving the forces into components ,
 m ra i i i cos θ i +m R 2 rR 2 a R 2 cos θ R 2 = 0 .......( 5)
 m ra i i i sin θ i +m R 2 rR 2 a R 2 sin θ R 2 = 0 ........( 6 )
from Eq. (5) and (6)

m R 2 rR 2 a R 2 = ( m r a sin θ ) + ( m r a
i i i i
2
i i i cos θ i ) ........( 7 )
2

−  m i ri a i sin θ i
tan θ R 2 = .......... .......... ..( 8)
−  m i ri a i cos θ i
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Subsitutin g the values from Eq. (7) and (8) in Eq.(2),
Eq.(2) can be solved by taking its components

m R 1 rR 1 = ( m r sin θ + m
i i i r
R2 R2 sin θ R 2 ) +
2
( m r cos θ
i i i + m R 2 rR 2 cos θ R 2 ) ...( 9 )
2

− ( m r sin θ + m
i i i R2 R2r sin θ R 2 )
tan θ R 1 = .......... .......... ..( 10 )
− ( m r cos θ + m
i i i R2 R2r cos θ R 2 )

The Eq. (2) and (4) can be solved graphically by solving first
Eq.(4) by drawing couple polygon to determine mR2rR2aR2 and
θR2 and then Eq.(2) through force polygon to determine
mR1rR1 and θR1 .

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0.1 x r = (0.5 x 50 cos 0 + 0.5 x 60 cos150) 2 + (0.5 x 50 sin 0 + 0.5 x 60 sin 150) 2
r = 15.03 / 0.1 = 150.3mm

12
 Balancing of reciprocating parts
• Acceleration of reciprocating parts in an
engine is given by
2 cos 2θ 
f = ω r  cos θ + 
 n 
If m is the mass of the reciprocating parts,
then force required to accelerate the mass m is
 2 cos 2θ 
F = mω r  cos θ + 
 n 
mrω 2 cos θ is called the primary accelerating force and
cos 2θ
2
mrω is called the secondary accelerating force.
n
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mrω 2 cos θ is called the primary force and
2 cos 2θ
mrω is called the secondary force.
n
since n is greater than 1, for all engines except
high speed engines,balancing of sec ondary force
is nelgected.

14
 Partial balancing of Primary force
m

r
θ O
θ
B

• The primary force acts along the line of stroke as shown in the figure. The
primary force can be considered as A a component of a centrifugal force due
to a mass m at the crank radius r. Thus, balancing of primary force is
equivalent to balancing of mass m.
• This can be done by attaching a mass B at a radius b in diametrically
opposite direction as shown such that Bb= mr
• By the above method, the primary force is completely balanced, but the
vertical component of the centrifugal force due to B = Bbω2 sinθ remains
and its maximum value, Bbω2 is again equal to the maximum magnitude
of the primary force, mrω2 .
• In other words, the effect of the above method of balancing is toun
change the direction of maximum unbalanced force from that along the
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line of stroke to that perpendicular to it.
• As a compromise, a fraction, c of the reciprocating parts is
balanced such that
Bb= cmr
As a result unbalanced force along the line of stroke = (1-
c)mrω2cosθ
Similarly, unbalanced force perpendicular to the line of stroke =
cmrω2sinθ
∴ Resultant unbalanced primary force at any instant

= [(1 − c )mrω 2
] [
2 2
cos θ + cmrω sin θ ]
2

= mrω 2 [(1 − c )cosθ ]2 + [c sin θ ]2

The resultant unbalanced force will be minimum when c=1/2.
However, the unbalanced force along the line stroke is more
harmful than in a direction perpendicular to it. So, the common
practice is to balance two-third of the reciprocating parts.
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Partial balancing of reciprocating parts of two cylinder locomotives

• The two cylinders of locomotive have their cranks at 90

degrees.
• On account of partial balancing of reciprocating parts,
there is an
• 1. unbalanced force along the line of stroke and 2.
unbalanced force perpendicular to the line of stroke.
• The effect of unbalanced force along the line of stroke
is to produce
– a)the variation of tractive force along the line of stroke
– b) the unbalanced couple

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• The effect of unbalanced force perpendicular
to the line of stroke is to produce
– c) the variation of pressure on rails which results
in hammering action on the rails. The maximum
magnitude of the unbalanced force perpendicular
to the line of stroke is termed as hammer blow.

18
• Consider a two cylinder engine with cranks at 90 degrees as shown.
m - mass of reciprocating parts per cylinder
c - fraction of reciprocating parts balanced
r - radius of crank
a - the distance between cylinder centre lines
2
2
1

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a) Variation of tractive force :
unbalanced force along the line of stroke of
cylinder 1
= (1 − c )mrω 2 cos θ
cylinder 2
= (1 − c )mrω 2 cos(90 + θ )
Resultant unbalanced tractive force along
line of stroke Ft = (1 − c )mrω 2 cos θ + (1 − c )mrω 2 cos(90 + θ )
Ft = (1 − c )mrω 2 (cos θ − sin θ )
for Ft to be maximum or minimum
dFt
=0
dθ
− sin θ − cos θ = 0
tan θ = −1
θ = 135o or 315o
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  1 1 
Ft max. and min. = (1-c )mrω  m
2
m 
 2 2
= m 2 (1 − c )mrω 2
Maximum and minimum values of Ft are referred
to as variation in tractive force

21
b) Swaying couple
• Unbalanced forces along line of stroke for cylinders 1 and 2
constitute a couple. This couple is measured about line YY in
figure and its maximum magnitude is known as swaying couple
and occurs at θ=45o and 225o.
−a a
Couple , C = (1 − c )mr ω 2 cos θ   + (1 − c )mr ω 2
cos (90 + θ )
 2  2
a
= − (1 − c )mr ω 2 (cos θ + sin θ )
2
dC
the couple is maximum or minimum when =0
dθ
dC a
= − (1 − c )mr ω 2 (− sin θ + cos θ ) = 0
dθ 2
tan θ = 1
θ = 45 o and 225 o
a
C max or min = m (1 − c )mr ω 2
2 22
c) Hammer blow
• The unbalanced force perpendicular to the line of
stroke due to balance mass B1 at radius b to balance
reciprocating parts only= B1bω2 sinθ
• The maximum magnitude of this force is known is
hammer blow and occurs at θ=90o and 270o
• Hammer blow =B1bω2
• If P is the downwards pressure on rail due to dead load
and other loads, then net pressure =P± B1bω2.
• If P- B1bω2 is negative, then the wheels will be lifted
from the rails. Therefore the limiting condition in order
that the wheel does not lift from rails is P- B1bω2 =0.
• The permissible value of angular speed obtained from
the condition is ω=(P/B1b)1/2
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 Balancing of secondary force

2 cos 2θ
FS = mrω
n
2 r
= mrω cos 2ωt
l
2
r
= m(2ω ) 2 . . cos 2ωt
4l

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 Balancing of In-line engines
Two cylinder in-line engines:

mra cosθ θ
Primary couple polygon
θr

Reference plane
θ
c a
Primary force polygon

Consider a two cylinder vertical engine having equal reciprocating masses and
cranks 180o apart as shown. The crank angles are θ and 180+θ. Length of each
crank is r and the distance of cylinder center lines from the reference plane are
c and a. the reference plane is at the centre of left hand main bearing.
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 Two cylinder in-line engines….

• Primary forces: From the primary force

polygon diagram, it is completely balanced.
• Primary couples: From the primary couple
polygon diagram, resultant primary couple is
proportional to the vertical component of the
resultant mra.
• Resultant primary couple= mrω2acosθ
• It is maximum at θ=0 and 180o and the
maximum value=±mrω2a

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 Two cylinder in-line engines….
• Secondary forces:
2
2 r
FS = m( 2ω ) . . cos 2ωt
4l
r2
taking r1 =
4l
The speed of this crank is twice the speed of the
actual cranks. Therefore, crank pins lie in line
since when the actual crank angles are θ and 180 + θ ,
the secondary crank angles are 2θ and 360 + 2θ
respective ly.

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 Two cylinder in-line engines….

• Resultant centrifugal force is proportional to 2mr1.

r2 2
Resultant secondary force = 2m(2ω ) cos 2θ
4l
The maximum values occur when θ = 0 o , 90o , 180o and 270o
i.e. four times per revolution of the actual crank and the
ω 2r 2
maximum value = 2m
l

mr1
2θ 2θ
2θ r1
mr1
mr1(a/2)
a
Secondary
Secondary
force polygon
couple polygon
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 Two cylinder in-line engines….

• Secondary couples: From the secondary

couple polygon, secondary couples are
balanced.
• Resultant secondary couple=0.

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 Four cylinder in-line engine

Reference plane
θr

a a a

2θ
r1

a a a

2 r2
Primary forces are balanced Resultant secondary force = 4m(2ω ) cos 2θ
4l
Primary couples are balanced Secondary couples are balanced
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Questions

31
Which one of the following can completely balance
several masses revolving in different planes on a
shaft?
(a)A single mass in one of the planes of the revolving
masses
(b) A single mass in any one plane
(c)Two masses in any two planes
(d)Two equal masses in any two planes.

Ans. (c)
32
A rotor supported at A and B, carries two masses as
shown in the given figure. The rotor is
(a) dynamically balanced
(b) statically balanced
(c) statically and dynamically balanced
(d) not balanced.

Ans. (b)

33
• Masses B1, B2 and 9 kg are attached to a shaft
in parallel planes as shown in the figure. If the
shaft is rotating at 100 rpm, the mass B2 is
(a) 3 kg (b) 6 kg (c) 9 kg
(d) 27 kg

Solution:
9 x0.5=B2 x 1.5
B2=3 kg

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Static balancing is satisfactory for low speed rotors but with
increasing speeds, dynamic balancing becomes necessary.
This is because, the
(a) Unbalanced couples are caused only at higher speeds
(b) Unbalanced forces are not dangerous at higher speeds
(c) Effects of unbalances are proportional to the square of the
speed
(d) Effects of unbalances are directly proportional to the
speed

Ans. (C)

35
• The balancing weights are introduced in
planes parallel to the plane of rotation of the
disturbing mass. To obtain complete dynamic
balance, the minimum number of balancing
weights to be introduced in different planes is
(a) 1 (b) 2 (c) 3 (d) 4
• Ans. b

36
 A rigid rotor consists of a system of two masses located as shown in the given
figure. The system is
(a) statically balanced
(b) dynamically balanced
(c) statically unbalanced
(d) both statically and dynamically unbalanced

Ans. a
centre of masses lie on the axis of rotation.

37
If the ratio of the length of connecting rod to the crank
radius increases, then
(a) Primary unbalanced forces will increase
(b) Primary unbalanced forces will decrease
(c) Secondary unbalanced forces will increase
(d) Secondary unbalanced forces will decrease

Ans. (d) Secondary force only involves ratio of length of

connecting rod and crank radius.
If n increases, value of secondary force will decrease.

38
• A single cylinder, four-stroke I.C. engine rotating
at 900 rpm has a crank length of 50 mm and a
connecting rod length of 200 mm. If the effective
reciprocating mass of the engine is 1.2 kg, what is
the approximate magnitude of the maximum
'secondary force' created by the engine?
(a) 533 N (b) 666 N (c) 133 N
(d) None of the above
Sol: Maximum secondary force= mrω2/n

39
• Consider the following statements:
An in-line four-cylinder four-stroke engine is
completely balanced for
1. primary forces 2. secondary forces
3. primary couples 4. secondary couples
Of these statements:
(a) 1, 3 and 4 are correct (b) 1, 2 and 4 are correct
(b) (c) 1 and 3 are correct (d) 2 and 4 are correct

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