CHAPTER-3

BALANCING OF ROTATING MASSES

force from
svllabus : Introduction, static balancing, dynamic balancing, transference of
one plane to another plane, balancing of several masses in different planes,
force balancing of linkages, balancing machines.

Topic Name
Page No.
Section No.
3-2
3.1 Introduction
3-2
3.2 Static and DynamicBalancing
Another Plane
3-4
3.3 Transference of Force from One Plane to
3 -5
3.4 Balancing of Rotating Masses
3-6
Single Plane
3.5 Balancing of Masses Rotating in
3-9
Rotating in Different Planes
3.6 Balancing of Several Masses
3- 13
3.7 Solved Examples
3- 54
Single Plane
3.8 Balancingof Multiple Masses Rotating in a
3- 56
3.9 Solved Examples
3- 61
3.10 Balancing Machines
3 - 64
3.11 Field Balancing
3- 69
3.12 Balancing Linkages
3-71
ReviewQuestions
3-71
Answers
3.13 University Questions with

Dynamics of Machinery
3-1
 Balancing of Rotating Masses
3.1 Introduction rS | GTU: Winter-11,13,18,19, Summer-17 1
Now-a-days we are using high speeds of rotation for engines and machines.
These systems have rotating and revolving parts.
These parts are subjected to static (due to self weight) as well as dynamic or
inertia (due to acceleration of various members of machine) forces.
In such systems, it is necessary to eliminate the unbalance of the systenm to
ensure a smooth and trouble free operations.
If the moving parts are not completely balanced then the following effects are
observed :
o Inertia forces are set up which increases the load on the bearings.
Stresses in various members.
o Vibrations are produced due to centrifugal forces caused by unbalanced masses.
o Low efficiency of system with wear and tear of parts.
o Excessive noise of operation.
The purpose of balancing is to neutralise these vibratory effects as far as possible.
Balancing is the technique of correcting or eliminating, either completely or
partially the effects of inertia forces and moments acting on machine parts.
Balancing is essential in high speed applications like electric motors, turbines,
pumps, machine tools, blowers, aircrafts, etc.
Study of balancing is classified as follows :

Balancing

Rotating Reciprocating Combined rotating

masses masses and reciprocating masses

1. Single plane 1. Primary force and couple

2. Multiple or
2. Secondary force and couple
different planes
Fig. 3.1 : Study of balancing
3.2 Static and Dynamic Balancing

IS [GTU:Winter-12,13,14,18,19,Summer-19 1
In asystem containing one or more rotating masses, if the centre of mass of the
system does not lie on the axis of rotation, then it is known as unbalanced
system.
3-2 Dynamics of Machinery
 Balancingof Rotating Masses
Consider rotating mass (disc) whose centre of mass C.G. is at a distance r'
from the axis of rotation. Refer Fig. 3.2.
Disc or
rotating mass
CG Bearings
Shaft CG

-
Axis of
rotation

Fig, 3.2:Unbalanced system

Let, m = Mass of the rotating disc in kg.
r =Distance of CG of disc from the axis of rotation in m
Angular speed of rotation in rad/sec
V= Linear speed in m/sec =r 0
This
Due to unbalance in systemn, dynamic force or centrifugal force is developed.
force acts in radially outward direction and given by,
m y2
Fc = mr o2
. . (3.1)

Static balancing
masses is on the axis of
If the centre of mass (C.G.) of the system of a series of
rotation, then the system is said to be under static balance.
the dynamic or centrifugal
For statically balanced system, the resultant of all zero, i.e.
forces acting on the system while rotation should be
(Dynamic or centrifugal forces = 0
acting on the system

Shaft axis

Principal axis
of inertia
(b)Vibratory behaviour
(a) Static unbalance
Fig. 3.3
3-3 Dynamics of Machinery
 Balancing of Rotating Masses
In a static balance system, the dynamic forces on the bearings may produce
during the rotation.
A system under static unbalance and corresponding vibratory movement is shown
in Fig. 3.3.
Dynamic or complete balancing
For a system to be dynamically or completely balanced it should satisfy the
following two conditions :
i) The centre of mass (C.G.) of the system must lie on the axis of rotation
(condition of static balancing). It means, the system should be statically balanced
i) The resultant couple due to all dynamic or centrifugal forces acting on the
system, when rotating, should be zero.
Resultant couple due to
= 0
dynamic forces acting on the system
If above both the conditions are satisfied, then the system is dynamically or
completely balanced.
For a dynamically unbalanced condition the axis passing through the C.G. is not
coincident with the shaft axis.
" Fig. 3.4 shows dynamically unbalanced system and corresponding vibratory
behaviour.

Shaft axis

Principal axis
of inertia

(a) Dynamic unbalance (b) Vibratory behaviour

Fig. 3.4
3.3 Transference of Force from One Plane to Another Plane

Consider a shaft suppoting mass 'm' at radius 't in a plane at a distance 'L' from
another plane as shown in Fig. 3.5.
If two equal and opposite forces F, and F, are added in the latter plane, u
equilibrium of the system does not change (F = F, = mr).

3-4 Dynamics of Machinery

 Balancingof Rotating Masses
The net effect would be a single force F, in the second plane having direction of
original force with a couple 'mrL' formed by 'mr and F, in a plane containing
these forces and shaft.

Reference plane

Couple Imaginary
vectors Turned by 90°
in the direction
(Original) of force

Fig. 3.5
The moment of couple is equal to the product of one of the force (F; or F2) and
L. The couple may be assumed to rotate about the shaft (point O).
Draw perpendicular to the shaft through point Oi.e. line OA which is the axis of
rotation of the couple.
Aline is drawn parallel to the axis (shaft) with suitable scale which represent the
couple vertically, the sense of rotation of which is given by right hand screw
rule. (for clockwise couple, the direction is away from the observer).
In case of balancing problems, it is easier if the vectors are drawn by rotating
them through 90° (drawing them parallel to force vectors). This roration does not
affect their relative positions.
A plane passing through a point like Oand perpendicular to the axis of shaft is
called as reference plane.
By using same technique, other masses acting in different planes can be
transferred to the reference plane.

3.4 Balancing of Rotating Masses

" It is already discussed that, in a system containing one or more rotating masses,
rotation,
1f the centre of mass (C.G.) of the system does not lie on the axis of
then it is called as unbalanced system.
The unbalance in a rotating system is due to the following factors :
o Non-homogeneity of material.
o Unsymmetrical shape of the rotors.
3-5 Dynamics of Machinery
of
Rotating
Masses centrifugal For crankshafts ] speed
follows.Summer-19
plane. au bea
angular mass producea
the
experiences single as mass
methodS
direction, engine discussed
: at mro? Fe Unbalanced rotation. on
IGTU
a rotating of is load
Balancing in turbines, position 'mro2 system. following
rotating are of
it outward
IS mass increased
conditions. Plane shaft axis
axis, plane Angular magnitude the planes
: rotating plane
follows are and a
the of the
an radially planes. Single single to using
assembly. plane pumps
masses (b) from in vibrations samedifferent
operatingabout connected
unbalanced results
as different a 'm' of by
a classified
in single in of of in Mass mass
force
balanced
in in
rotating rotating to
rotating
force) Rotatingimpellers Rotating force rotating
to and number dynamic leads
in in 'm' mass
due manufacturing rotating Single
of
is
rotating mass mass
disturbing C.G. unbalanced
this be
distortionis
mass
masses or masses mro
Fc=
4 of
3.6:
position can single
masses
onerotors, rotating a and (Extern
balanc
nmassesMasses
masses Single3.6. of rotates,
force
(Internal
balancing)
two
unbalanced such
applications, Fig. distance shaft
as rotating
Unsymmetrical of
Balancing
Turbine Fig. Longitudinal unbalanced
mass
m.
or
a
by by
in called of of of single shaft dynamic unbalanced
of of in m Bearings the Balancing
Balancing
Tolerances Balancing
Balancing balancing shown the
example: Balancing
Balancing a Shaft
be the of
an (also many Consider (a) bending
as 'r When This This
Whenforce (i1) The Let, (i) (ii)
o (i) In etc.
'
3.5.1
3.5
 Balancing of Rotating Masses

Balancing by a single mass rotating in same plane (Internal balancing)

Tobalance a single rotating mass, a balancing mass 'm,' is placed in the plane
ofrotation of unbalanced mass at a radius 'r'.
This counterbalance mass is placed directly opposite to the unbalanced mass in
the system. Hence, the centrifugal forces due to both masses (m and m,) are
equal and opposite.
It means,
mr o2
... (3.2)
mr m, Ih
Refer Fig. 3.7.
. This kind of balancing is also called as internal balancing.
mro? mro?

Shaft

Fig. 3.7 : Balancing by single mass

up as per the requirement. Generally, the value
split
The product of 'm, I 'may the value of 'mn,!.
so as to reduce
of 'r,' is kept large
rotating in different planes (External balancing) of
(i) Balancing by two masses balancing mass in the plane
cases, it is not possible to introduce a
In many mass.
rotation of unbalanced to the plane of rotation of
plane parallel
mass is placed in a arrangement will
If asingle balancing dynamic force can be balanced. But, this
disturbing mass, the
produce an unbalanced couple. balancing of the system, minimum two
masses
In such cases, to
obtain complete
parallel to the plane of disturbing mass.
placed in two planes in two different planes
are required to be and 'm 2' are placed
masses 'm b1' that they satisfy the
Consider two balancing disturbing mass such
rotation of the
parallel to the plane of
following two conditions : the axis of rotation (condition of
system must lie on
mass of the
i) The centre of
static balancing). zero.
dynamic forces, when rotating, must be
couple due to balancing is achieved.
ii) The resultant conditions are satisfíed, dynamic
When above both the Dynamics of Machinery
3 - 7
 Balancing of Rotating Masses
Case - I: Balancing masses are placed tn tvo different planes (on oPposite sides of the
plane of rotation of disturbing mass)
RP =Reference Plane
Fe mro?
Disturbing Fo
mass
m

b2
-
RP

Fc2
Fig. 3.8:Balancing by twO masses (on opposite sides of disturbing mass)
For complete balancing the following two conditions should be satisfied :
i) The centrifugal force produced by the disturbing mass 'm' should be equal to
the sum of the centrifugal forces produced by the balancing masses 'm,i' and
m2'.
It means, Fc = Fc1 +Fcz (2F, =)
mr o = mh1 Ih 0+ M52
mr = mh1 Ib1+ Mb2 Ib2 (3.3)
ii) The sum of moments of centrifugal forces about any plane
should be zero.
Now, taking moment about reference plane RP,
(M)Rp =0=-Fc1 Xa +Fca xb
Fc1Xa = Fcz Xb or MbË Ibl 0 xa = mpT Ih 0 xb
mbË Ib1 Xa = mb2 I'b2 Xb
(3.4)
Case II: Balancing masses are placed in two different planes (on one
side of the
plane of rotation of disturbing mass)
For complete balancing the following two conditions should be
i) Balancing of centrifugal forces i.e. satisfied :
Fc = Fc1 -Fcz 2E, =0)
..
Fc+Fc2 =Fc1

3 -8 Dynamics of Machinery
 Balancing of Rotating Masses
F¢ mr

Disturbing
mass M
Fo RP Reference Plane

b2

RP m

Fig, 3.9 : Balancing by two masses (on one side of

disturbing mass)

mr+m52 Ib2 = mb1 bl .. (3.5)

i) Balancing of couples i.e.
E(MRP = 0=Fc Xa -Fc X(a +b)
FcjXa = Fc2 x(a +b) or my b) 0 xa = my I o (a +b)
mËIbl Xa = my2 Ib2 (a +b) ... (3.6)

3.6 Balancing of Several Masses Rotating in Different Planes

S | GTU: Summer-14,16,17,18, Wintre-18 1
When several masses are rotating in different planes, for balancing purpose they
can be transferred to a single plane. This plane is called as Reference Plane
(RP).
" It is already discussed that, for complete balancing of any system the resultant of
allthe centrifugal forces and the resultant couple should be zero.
Consider four masses m,m,,m3 and m4 rotating in planes A, B, C and D
respectively. Refer Fig. 3.10(a).
Fig. 3.10 (b) shows the relative angular position of all four masses.
Let, this system of four masses is balanced by two masses mp and mÍ which

are placed in planes P and Q respectively.

Let, r,I,,I; and Ia be the radii of four respective masses and, Ip and Io be the
radii of two balancing masses.
3-9 Dynamics of Machinery
 Balancingof Rotating Masses
The complete balancing of such type of system is obtained by either of the
following methods :
(1)Graphical method (2) Analytical method
D

A C (m4)
M4 (Ma
(m2
P
(mo
2
(m3)
p 3

m+x

(a) Position of planes of masses (b) Angular position of masses

Fig, 3.10
Balancing by graphical method
For complete balancing by graphical method used
following procedure :
i) Consider one of the plane as
Reference Plane (RP), The RP should be selected
such that it eliminate maximum unknowns. In this
The distance of other planes to the right of RP is
case, consider P as RP.
taken as positive and to the
left of RP taken as negative.
ii) Now tabulate the centrifugal forces and
couples produced due to these
centrifugal forces. Refer following table.
Plane Mass Radius Force
m(kg) rtm) Foc mr Distance
from RP .0. Couple Angle of
Coc mrL plane 0
(kg - m) L{(m) (kg - m?) (Deg.)
m
RP ’ mp mp p mp p þ =0
m2 m2 2
ma mo Ta
m3 m3 3
ma
m4 l4 4

3 - 10 Dynamics of Machinery
 It is important to note that, the Balancing of Rotating Masses
placedfrom left to right. planes are tabulated in the
same sequence as they are
Points to remember :
As the shaft and all
force F = mro canmasses rotates with
be written as F same angular
force C= F X L can be mr. Also, the velocity' ,the centrifugal
couple due to centrifugal
written as C oc mrL.
(i) The angular
position
(in anticlockwise
(8)
direction).of all masses are measured from positive
Gii) In graphical method , to
x-direction
find
as force polygon for completeunknowns we have to draw couple polygon as well
(iv) Initially, draw couple
balancing.
contains four known valuespolygon because in the above table the couple
and one unknown value (mo) column
contains four known values and two where force column
unknown values (mp and mo).
(v) Thus, draw the couple polygon first in
which the closing vector indicates the
magnitude and direction of mass Q (mo and o).
(vi) Now draw the force polygon in which the
and direction of mass P (mp and p). closing vector indicates the magnitude

ii) Draw the couple polygon by considering suitable scale.

o Draw line oa parallel to Om, but towards left because magnitude of its couple
is negative.

mgr3l3 (+ ve)

Balancing
mgrgl2 (t ve) centrifugal
force
(+ ve)
o m,r4l -ve)
0, q
ma'a/b
a
0, p
Balancing
moloo (+ve) couple

(b) Force polygon

(a) Couple polygon
polygon
Fig. 3.11l : Couple and force Dynamics of Machinery
3- 11
Massesits Refer magnitude
we and balancingis the magnitude
find
can
we and
of known ) force givenany zero. Machin
ofDynam
magnitude in (0p) can
Om. (e the
Rotating
X-direction its positive). Om4 the :
satisfied equation
represents
are anotherof represents X-directionin in
be
to Lo and known
is polygon
polygon
becauseparallel magnitude forces
must
of and find always Om,,Om, be
above
Balancing which must
positive (To Q. which positive force force
m, cd ro mass
rp
conditions the
of because
are of
of line 'do' scale. 'eo'
linevalue
the
As andas vertically,
values from values of to from well
centrifugal
directionand line suitable parallel
direction couple
the 'do' (b). right following
the 'eo'(b).
Om, the the as
and
the drawAs vector3.10 towards
all de draw
rp. vector
3.10 the couple 0
to moloLo- considering the draw = 3-
12
Fig. and mp Fig. the
to horizontally
in parallel closed, this column in closed, forces)
Om, in Om, Omocd masses. force thisin the
should systemdue
of vector of vector draw
to bc be i.e. ofmo. angle by to force to bc, be centrifugal
angle we
of
couples centrifugal
parallel line mustcouple this polygonparallel parallel
(b).
linesrespective
must this can
that
the
method couples
positive.
icouple
s the of
valuethe
the the draw polygon mp. to We masses. 0 0
draw polygon to
oa 3.11 measure necessary
balancing
ab Fig. balancingmeasure
(a).
3.11 parallel
force line(In Fig. ab balancing
of parallel analytical to L)
(mr
X= the =
line
of
Similarly,
of masses. due S(mr
resolvingL)
Similarly, find mp). positive. line direction
the value known Summation
the complete S(Couples written as:
Draw Alsodrawthe Draw ReferDraw As, the Also
draw
not
by
Mathematically,
As of can Drawmass is of of Balancing i.e. By
o o o o o o o It sequence
sequence
For
iv) :
Note i)
 and S(mr L), = 0 Balancingof Rotating Masses
By applying these two
angular position o. conditions we will get the unknown mass mo
and its
i) To find another unknoWn
mass take summation of
equate to zero. Mathematically, centrifugal forces and
(Centrifugal forces) = 0
i.e. (mr) = 0
By resolving the forces horizontally and
vertically, the above equation can be
written as :
E(m) =0
and = 0

By applying these two conditions we will get the unknown mass m and its
angular position Op.
Note :
method is discussed with
The detail procedure for balancing by analytical
examples.
procedures are not
The main advantage with analytical method is that, graphical
are not compromised. But,
required and the accuracies of the solution obtained
calculations.
analytical methods are tedious and require more examples.
of the methods for solving the
The students can select any one

3.7 Solved Examples

masses in parallel planes A, B, C and D in this
four
CXample 3.1 : A shafi carries C are 18 kg and 12.5 kg respectively and
masses at B and
Order along its length. The
each has an eccentricity of 60 mm.eccentricity of 80 mm. The angle between the masses at
Themasses at A and Dhaye
an
is 19O", both being measured in the
at B and A
C is 100° and between masses and B is 100 mm and between B
O and between plane A
axial distance
oCme direction. The complete dynamic balance determine :
in
and Cis 200 mm. f the shaft is and D
A
a) The magnitude of masses at
A and D
b) The distance between planes
of mass at D Winter-13; Summner-18, 7 Marks 1
c) Angular position Similar in
LS IGTU : Dynamics of Machinery
3 - 13