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Chapter 14
Balancing of Machines
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Learning Objectives:
After studying this chapter, the student should be able to
LO 1 identify the dynamic reactions and explain the problem of balancing of rotor
LO 2 balance a given rotor with known unbalances.
LO 3 balance a given rotor with unknown unbalances, using balancing machines.
LO 4 balance a huge rotor with unknown unbalances by performing field balancing.
LO 5 analyze the balancing problem associated with reciprocating machinery.
LO 6 balance the crankshaft of an engine.

14.1 Introduction

Balancing is one very important aspect in the design of machinery. A design engineer
gives a very serious consideration, especially for high speed machines. What is the balancing
problem? This is to be understood first. Then we learn how to tackle the balancing problem.
We shall first begin with rotors. Later, we will extend these ideas to reciprocating machinery.

14.2 Bearing Reactions

Consider a shaft carrying a mass as shown in the Figure 14.1. Figure shows a mass
being attached to a shaft through a stem. In all the books we keep seeing this type of figures.
But where do we come across this kind of rotors? Let us first understand this. Consider a
shaft carrying a rotor as shown in the Figure 14.2. The rotor is of mass m. We expect the
center of mass to be at its geometric center. But due to imperfections in manufacturing, it
may not be at its geometric center but it may be at some other place G as shown in the figure.
The meaning of center of mass is that the entire mass m may be imagined to be concentrated
as a point mass at G. Let the distance of G from the axis of the shaft be e. Now the whole
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rotor can be shown as in Figure 14.1. When we say a rotor, it can be a disc or a wheel or a
flywheel or a gear wheel or a belt pulley, and so on. When we see a rotor represented as in
Figure 14.1, it should immediately occur to our mind that there is a wheel existing there and
its mass center is at some distance from the axis which is due to imperfections in
manufacturing. Now it is hoped that the Figure 14.1 is clearly understood.
Let us go back to the Figure 14.1 and try to find the reactions at the bearings P and Q.
This can be obtained very easily by taking moments about the supporting points as

= and = (14.1)
+ +
These reactions are in the direction opposite to the direction of mg. We may also say that
RPs, RQs and mg are in the same vertical plane. The reactions RPs and RQs are due to the dead
weight of the mass m. Such reactions are called static reactions. The bearings have to
supply these forces as reactions. The moment a rotor is mounted on a shaft, these reactions
will automatically come into existence. We just cannot get rid of these reactions. It is to be
noted further that these reactions are always vertically upwards.
Apart from these reactions, we will also have another type of reactions. Now imagine
that we are rotating the shaft with ω angular velocity. Due to rotation, the centrifugal forces
come into picture. The centrifugal forces are always radially outwards and hence their
directions keep changing through 3600, as the shaft rotates. Let us show the centrifugal forces
at a particular instant as in Figure 14.4. Now the bearings are to provide reaction forces to
support the centrifugal force. These reactions may be obtained as,

= and = (14.2)
+ +
These reactions are called dynamic reactions. In place of mg in Equation (14.1) we are now
having meω2 in Equation (14.2). The static reactions RPs and RQs are always in vertically
upward direction. But the dynamic reactions RPd and RQd keep changing their directions
through 3600 as the shaft rotates, because they should always be opposite to the centrifugal
force. If the shaft stops rotating, the centrifugal force and hence the dynamic reactions simply
disappear.

14.3 What is the Problem of Balancing?

For a given shaft, the static reactions are unavoidable. But it may be possible to avoid
dynamic reactions. How to do that? That is the balancing problem. In our present discussion
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we shall see how we can make the bearings free from supplying dynamic reactions. If we
allow the dynamic reactions, the operation would be noisy, the bearings would undergo
excessive wear and it may lead to further damage of the machinery. In balancing problem,
we are only bothered about dynamic reactions. Since our discussion is going to be only for
dynamic reactions, hereafter, we shall drop the subscript d which we used to distinguish them
from static reactions. If the bearings are made free from dynamic reactions, the shaft is said to
be said to be balanced.
One immediate suggestion for balancing problem may be to make e as zero. If e is
zero, there won’t be any centrifugal force and hence there will not be any dynamic reactions.
But achieving this is next to impossible. We do not have manufacturing processes which can
allow us to achieve this. Especially, for huge rotors weighing tones, it is an extremely
difficult task. We may with great difficulty, reduce the value of e to micron level. But then
this is multiplied not only by the mass of the rotor which is large, but also the square of the
angular velocity. These two factors make the centrifugal force of considerable magnitude.
Another solution is shown in the Figure 14.5. A mass m1 is attached to the shaft at a
distance e1, diametrically opposite to m. When the shaft rotates, these two centrifugal forces
become equal and opposite and cancel each other, if
= (14.3)
This solution appears to be very impressive. This method is good if we have unbalance only
in one plane. We shall see little later that this is also not a good practice if we have a shaft
carrying number of unbalances in several planes along the length of the shaft. However, the
present method is one very important concept to be remembered and we will be making use
of this while developing the principles of balancing for a shaft with unbalances in several
planes.

In the present problem, the original mass m is called unbalance mass. The mass m1 which we
attach is called balancing mass. Hereafter, we shall be making use of this terminology. In
this simple problem, we observed that the dynamic reactions are due to centrifugal forces
produced by unbalance mass m. The centrifugal force is called unbalance force. By attaching
a balance mass m1 , the unbalance force is nullified there itself. That is how the bearings are
made free from dynamic reactions. We may say that the shaft is balanced.
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Before we proceed further, let us spend some more time on the balancing of a shaft carrying
several unbalances, all being in one plane only. Such a problem is called single plane
balancing.

14.4 Single Plane Balancing

There are many occasions where we come across unbalances occurring in one plane
only. Let us first see some examples.
• Imagine the shaft being mounted with only one gear wheel or only one belt pulley.
These may be bolted with some attachments for some other purpose. Each attachment
is now giving rise to an unbalance.
• Visualize the wings of a blower fan. It may be even a table fan or a ceiling fan. All
wings are not exactly identical. Each wing may be imagined to give rise to an
unbalance. Even the dust comes and sits on the wing creates unbalance.
• Consider the wheel of a car. The central steel disc may have some unbalance
originally. That is, its mass center is away from its geometric center. While using, it
may get hit by something, due to which some material may be lost or it might get bent
or deformed, all these lead to push the center of mass still away from the geometric
center. Further, while repairing the tire for puncture, the pneumatic tube may acquire
some additional mass. Thus we can see a car wheel is like a disc carrying several
unbalances.
• Observe the shaft (spindle) of a vertical spinning washing machine. When the wash
drum is loaded with clothes, each cloth may give rise to an unbalance. To a degree of
accuracy, this spindle may be taken as one carrying several unbalances in one plane.

Therefore, we come across rotors carrying unbalances in one plane only. The balance mass
can be kept in the same plane. This type of balancing is called single plane balancing. How
much is the balance mass and at what angular orientation it is to be kept? These are the
questions to be answered. This can be done using principles of statics. Let learn this through
an example.

Example 14.1
Figure 14.6 shows a shaft carrying four masses, all being in one plane only. Balance this
rotor, if the numerical values are as follows:
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Masses, kg m1 = 5 m2 = 10 m3 = 17 m4 = 13
Distances from the axis of the shaft, mm e1 = 22 e2 = 8 e3 = 19 e4 = 33

Solution
The centrifugal forces are
= , = 1,2,3,4 (14.4)
where ω is the speed of the shaft. This is a common factor for all the forces. Therefore, it
can be dropped and simply take the forces as
= , = 1,2,3,4 (14.5)
This is only for the sake of convenience in calculations. The forces as expressed in Equation
(14.5) do not have the units of force; but the units are kg.mm. Still we call them as force
only! When they are multiplied by ω2 then they really get the units of force.
Sometimes, we may be given in the problem, weights Wk instead of masses mk. In such a
case, take Wkek as force, though it has the units N.mm. When such a force is multiplied with
(ω2 /g) then we get real units of force.
It may further be observed that the product (mkek) or (Wkek) is important and not the
individual values ek or mk or Wk. For example, let mkek is 200 kg.mm. This much of
unbalance may be created with 100 kg mass placed at 2 mm distance or 50 kg mass at 4 mm
distance and so on. So hereafter, we may treat (mkek) or (Wkek) as one quantity. We have to
find a similar quantity for the balancing mass. So the product (mass × distance) or (weight ×
distance) of the balance mass is one unknown to be determined. At what angular position it
is to be placed? So the angle representing its position is another unknown to be determined.
In total, we are having two unknowns to be determined in the single plane balancing
problem.
For describing angular orientation, we need to take a reference. Let us take the position of
mass m1 as the reference for measurement angular position θk , k = 1,2,3,4. Let us also say
that we measure θ in clockwise direction, as shown in the figure.
Table 14.1 Computations of the components of forces for the Example 14.1
k mk ek θk mkek Components of forces (kg.mm)
(kg) (mm) (degrees) (kg.mm) mkek cos θk mkek sin θk
1 5 22 0 110 110.00 0
2 10 8 105 80 –20.70 77.274
3 17 19 210 323 –279.726 –161.50
4 13 33 350 429 422.483 –74.495
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Components of various forces can be calculated as in Table 14.1.

The horizontal and vertical components of the resultant force may be calculated as

= !"#$ = 0 + 77.274 − 161.50 − 74.495 = −158.721 (14.6a)

and + = ,-!$ = 110 − 20.7 − 279.726 + 422.483 = 232.057 (14.6b)

Therefore, the resultant force would be,

= / + + = 0(−158.721) + (232.057) = 281.146 . (14.7)

The angular position may be obtained as

−158.721
$1 = 3602 + 34# 5 6 7 = 325.632 (14.8)
+232.057
Up to calculation of R, there is no difficulty. But while calculating θR one has to be very
careful. Look at Equations (14.6). We observe that sin is negative and cos is positive which
says that θR is having a value in the fourth quadrant, that is, in between 2700 and 3600. That
is why it is calculated as in Equation (14.8). Usually, the student makes a mistake here in
choosing a correct quadrant. The student may check his calculations as follows. Find sin θR
(that is, sin325.630) and multiply with the value of R (which is 281.146) and check whether
we are getting the value in Equation (14.6a) (that is, –158.721) . Similarly, find cos θR (that
is, cos325.630) and multiply with the value of R (which is 281.146), and check whether we
are getting the value in Equation (14.6b) (that is, 323.057). The values should tally along
with their sign. If both the tests are through, then we may say confidently that we have
calculated R and θR correctly, and have chosen the correct quadrant for the angle. So far we
calculated the magnitude of the resultant force and its angular orientation. To nullify the
effect of all unbalance masses, we should now attach a balance mass B at a distance b
diametrically opposite to R, as shown in the Figure 14.7. The angular orientation of the
balance mass B would be
$8 = $1 − 1802 = 145.632 (14.9)
The value of Bb is 281.146 kg.mm. Choose convenient values for B and b such that their
product is 281.146 kg.mm. Usually the space limitations help us to decide the values of B
and b.
What we have observed is, there may be any number of unbalances in a plane, but all these
amount to having only one unbalance R at an angular orientation θR. This is exactly the
simplest problem with which we started our discussion in section 14.3.
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Since we have clearly developed the concept balancing of several unbalances existing in a
single plane, the same problem may also be attempted in the following manner. As it is, we
are having four unbalance masses as shown in the Figure 14.6. In addition to these, we
imagine one more mass B at a distance b from the axis of shaft, at an angular position θB . See
the Figure 14.7. That is, we are treating the balance mass also as one among the unbalance
masses we are already having. The unknowns to be determined are Bb and θB . Now make
computations as described in Table 14.2.

Table 14.2 Computations of components for Example 14.1

k mk ek θk mkek Components of forces (kg.mm)
(kg) (mm) (degrees) (kg.mm) mkek cos θk mkek sin θk
1 5 22 0 110 110.00 0
2 10 8 105 80 –20.70 77.274
3 17 19 210 323 –279.726 –161.50
4 13 33 350 429 422.483 –74.495
B b θB Bb Bb cos θB Bb sin θB

Impose the conditions that the sum of all the horizontal components is zero and the sum of all
the vertical components is zero, separately. That is sum of the entries in the last two columns
of the table are zeroes, individually.

!"#$ = 0 ⇒ 0 + 77.274 − 161.50 − 74.495 + :; !"#$8 = 0 (14.10a)

and

,-!$ = 0 ⇒ 110 − 20.7 − 279.726 + 422.483 + :; cos $8 = 0 (14.10b)

Equations (14.10) give rise to

:; !"#$8 = 158.721 and :; ,-!$8 = −232.057 (14.11)
Therefore, the required balance may be calculated as,
:; = 0(158.721) + (−232.057) = 281.146 . (14.12)

The angular position may be obtained as

+158.721
$8 = 1802 + 34#5 6 7 = 145.632 (14.13)
−232.057
Checking the values for the correctness may be done, as described earlier. The results in
Equations (14.12) and (14.13) are same as what we got earlier.
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It is to be observed that we had two unknowns, namely Bb and θB. For getting the values for
these two unknowns, we solved two equations in Equation (14.10). The method we learned
so far is called Analytical method. The same problem may also be attempted by drawing a
vector diagram. This method is called Graphical method. Let us attempt the same problem by
graphical method.
We first realize that the force mkek or Wkek is representing the centrifugal force and this force
always radially outwards. These are computed in Table 14.3 and are represented in the Figure
14.8a. After looking at the values of mkek in the table, let us decide a scale for the vectors as
1 mm = 5 kg.mm. The scaled lengths may now be computed as in the table. It may be
observed that the scale we have chosen is giving good and manageable lengths for various
vectors.
Table 14.3 Computations of lengths of force vectors for the Example 14.1
mk ek θk mkek Scaled Lengths
(kg) (mm) (degrees) (kg.mm) (mm)
5 22 0 110 22.0
10 8 105 80 16.0
17 19 210 323 64.6
13 33 350 429 85.8

Now add the vectors as in Figure 14.8b. The vector addition started at o and ended at d. The
vector od represents the resultant force R. The angle θR may be measured as shown in the
Figure as 3250. The scaled length of the vector R may be measured as 57 mm. This gives the
magnitude of R as 285 kg.mm. The results are same as what we got by analytical method.
Slight mismatch of the values is due to geometrical errors. The balance mass B is to be kept
diametrically opposite to R. The diagram in Figure 14.8b in which we have summed up the
force vectors, is also referred as force polygon.

14.5 What is the Problem of Balancing? (Continued)

In section 14.3 we tried to understand the problem of balancing as the one concerning
to dynamic reactions. We wish to make the bearings free from dynamic reactions. Then we
first wanted to know what could be the reasons for creating dynamic reactions. We have seen
that centrifugal force of an unbalance mass would create dynamic reactions. We have also
seen that by attaching an appropriate mass opposite to the unbalance mass, the centrifugal
force may be nullified and bearings can be made free from reactions. Now let us continue
our discussion from here.
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Consider the shaft carrying two unbalance masses, each of magnitude m and each is at
distance e from the axis of the shaft, as shown in the Figure 14.9. The centrifugal forces are
equal in magnitude and they are opposite in directions. Though the forces are cancelling each
other, because of the distance by which they are separated, they are producing a couple of
magnitude,
?= ×4 (14.14)
The couple C is called unbalanced couple. In order to support the unbalanced couple, the
bearings have to supply reactions each of magnitude,
? 4
= = = (14.15)
A A
Though the centrifugal forces are balanced, the bearings are not free from reactions. This is
because of the unbalanced couple C. These reactions are equal and opposite in directions. The
plane containing these reactions keeps changing through 3600 as the shaft rotates. In this
simple problem we observed that the dynamic reactions are due to unbalanced couple. We
may now conclude that the dynamic reactions can be due to either unbalanced force or
unbalanced couple or both. The shaft shown in the Figure 14.9 may be balanced by attaching
two balancing masses each of magnitude m1 and each at distances e1 from the axis,
diametrically opposite to the unbalance masses, as shown in the Figure 14.10(a) such that
= (14.16)
By doing so, we are nullifying each of the centrifugal force there itself. In the present
problem, the dynamic reactions are due to unbalance couple. What all we need is to produce
an equal and opposite couple to nullify the unbalanced couple. So, there is no need to attach
them diametrically opposite to the unbalance masses, as shown in the Figure 14.10(a). As
shown in the Figures 14.10 (b and c), the two unbalance masses can be kept anywhere with a
distance b in between them such that
; = 4 (14.17)
Now the bearings are free from reactions and the shaft is said to be balanced. In the Figure
(14.10) three different ways of attaching balance masses are shown. If the balance masses
are attached as in the Figures 14.10(b) or (c), though the bearings are made free from
dynamic reactions, the shaft is subjected to bending. If the balance masses are attached as in
the Figure 14.10(a), the shaft does not have to take any bending. If we are not bothered about
the bending of the shaft, then any of the three ways may be employed.
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14.6 Static and Dynamic Balancing

In sections 14.3 and 14.5 we saw that the causes for dynamic reactions at the bearings
are either unbalanced force or unbalanced couple or both. The unbalanced force or
unbalanced couple is due to centrifugal forces. The centrifugal forces are also referred to as
inertia forces, because they are due to centripetal accelerations. In this chapter sometimes we
may use the term inertia force which means centrifugal force only.
The problem of balancing is how to get rid of the dynamic reactions and thereby make
the bearings free from reactions. What we have seen so far are two simple situations and we
have learned that the dynamic reactions can be due to an unbalanced force or an unbalanced
couple or both. But in practice, we come across shafts on which there are number of
unbalances existing along the length of the shaft. The orientations of each unbalance is
different and it is like three dimensional as shown in the Figure 14.11. If we start attaching a
balance mass diametrically opposite to each unbalance mass, no doubt we will be able to
balance the shaft. But it cannot be appreciated because we will be doubling the weight of the
rotor. That is, if the rotor is originally weighing 1 ton, then we will be making it 2 tons. That
is why we cannot accept this type of solution. There is a simple way to tackle this problem.
This follows from the Principle of balancing which we shall be learning little later.
Meanwhile, we have to understand the terms static balancing and dynamic balancing.

A shaft is said to be statically balanced, if the sum (vector sum) of all the inertia forces
(centrifugal forces) is zero.
A shaft is said to be dynamically balanced, if the sum (vector sum) of the moments of all the
inertia forces (centrifugal forces) about a point on the shaft is zero.

Let us understand these two terms through examples.

We shall start with the very first example we have taken in Figure 14.1. It is redrawn in the
Figure 14.12(a). Dropping ω2 , the unbalance force is shown as me only. Now see the side
view in the direction indicated in the figure. The axis of the shaft appears as a point and the
force me would be seen as acting on this point, as shown in the Figure 14.12(b). Now ask a
question, is the sum of the forces zero? In the present case, there is only one force. Clearly
the sum of the forces is not zero. So we will say that the shaft is not balanced statically.
Let us next see the example we have taken in Figure 14.9. It is redrawn in the Figure
14.13(a). The unbalance forces are shown, dropping ω2 . The side view is shown in the
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Figure 14.13(b). Now ask a question, is the sum of the forces zero? Yes, the sum of the forces
is zero. So we will say that the shaft is balanced statically.
Now see the problem shown in the Figure 14.14(a). The shaft is carrying four unbalance
masses in four different planes. The forces mkek of each unbalance mass are also indicated in
the figure. The side view of the shaft is shown in the Figure 14.14(b). This set of coplanar
forces was taken to illustrate single plane balancing problem in Example 14.1. In that
example all these forces were given as acting in one plane only. In our present discussion,
these forces are given as acting in different planes. But when we see the side view, the
coplanar set forces resulted in, is same as before. We have already summed up these forces
in the Example 14.1 and we found that the sum of the forces is not zero but it was
B = −163.47 C + 233.46D (14.18)
Clearly the sum of the forces is not zero. Therefore, the shaft is not balanced statically.

As an extension to our present discussion, imagine one more mass B at a distance b giving a
force of magnitude Bb = 281.15kg.mm, is attached to the shaft at an angle θB = 1450, as
shown in the Figure 14.15(a). The attached mass may be anywhere along the length of the
shaft. In the figure it is shown on a separate plane. For the time being, view the fifth mass B
also as an unbalance mass. Now the coplanar set of forces obtained from the side view will be
as shown in the Figure 14.15(b). It may be verified that the sum of these five forces is zero.
That means the shaft is now statically balanced.

Now let us try to understand the dynamic balancing.

Consider again the shaft in the Figure 14.12(a). Recall that we have seen that this shaft is not
balanced statically. This shaft is redrawn in Figure 14.16(a). This time see the front view in
the direction indicated in the figure. The shaft appears as a line as shown in the Figure
14.16(b). Now take moments about any point on the shaft. Let us choose a point on the
bearing at P. Ask a question, is the sum of moments zero? In the present case, there is only
one moment. Clearly the sum of the moments is not zero. So we will say that the shaft is not
balanced dynamically. Therefore, the shaft is not balanced both statically and dynamically.

The student might have noticed already that for testing static balancing, we are observing the
side view and for testing dynamic balancing we are observing the front view. Before we take
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up some more examples, we have to say something about moments. Let us give a pause for
our discussion and come back to this point after we discuss something about the moments.

Moment is a vector. In Figure 14.17, a force F is shown acting in the plane of paper, at a
point P whose location is indicated by a position vector r. The moment is calculated as
E = F ×G (14.19)
The Equation (14.19) is involving a cross product of the two vectors r and F. The direction
of the moment vector is vertically upwards, as shown in the figure. First align the tails of r
and F and then move from r to F . Align the four fingers of the right hand with the
movement. The thumb indicates the direction of the resulting moment vector M. This is the
classical way of fixing the direction of the moment vector. Let us apply this to the shaft
shown in the Figure 14.16(a). The direction of moment of the unbalance force me about P
may now be indicated as shown in the figure. Next consider a shaft carrying two unbalance
masses as shown in the Figure 14.18. The moments of the forces are indicated as M1 and M2
following the classical way. At this stage we want to introduce a small deviation, only for the
sake of convenience. When we say centrifugal force, the direction is very clear; it is radially
outwards. When it comes to the moment, the direction is perpendicular to the plane
containing the shaft and the force. This is causing some inconvenience. Now imagine the
moments M1 and M2 are rotated through 900 in counterclockwise direction when viewed from
P. They are aligning with forces. Then things are going to become easy. Now we shall
make a rule that the direction of moment vector is same as the force vector if the moment is
positive, otherwise it is in the direction opposite to the force. The former part is clear. But the
latter part needs some more explanation. See the forces in the Figure 14.19. The point about
which we wish to take the moments is S which is located in between the forces. The force
m1e1 is at a distance x1 from S. The force m2e2 is at a distance x2 from S. Now we say all the
distances xi measured towards right of S are positive and all the distances xi measured towards
left of S are negative. According to this notation, x1 is negative and x2 is positive. Hence, M1
is negative and M2 is positive. The vectors M1 and M2 are already shown in the figure
following the classical approach. Now a 900 of rotation of the moment vectors, makes M2
align with the force m2e2 and makes M1 opposite to the force m1e1. Therefore, if the moment
is positive, then its direction is same as the force, and if the moment is negative, its direction
is opposite to the force. We will be following this rule only for the problems of balancing,
only for the sake of convenience.
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Now let us continue our discussion regarding dynamic balancing from where we gave a
pause. Consider the shaft shown in the Figure 14.9, which is redrawn in the Figure 14.20(a).
Recall that we have seen already that this shaft is balanced statically. For dynamic balancing,
see the front view and indicate the moments as in the Figure 14.20(b). Now take the side
view and show the moment vectors acting at a point, as in Figure 14.20(c). Ask a question, is
the sum of the moments zero? Clearly a big NO because,
HI -J - #3! = K − K = ( − )= − 4 ≠ 0 (14.20)
Therefore, the shaft is not balanced dynamically. This shaft may be seen as balanced
statically but not dynamically. Recall that we called (meω2)×a as unbalance couple in
Equation (14.14).
Consider the shaft carrying three unbalance masses as shown in the Figure 14.21(a). The
unbalance forces are also indicated in the figure. Take the side view, as in Figure 14.21(b).
The coplanar set of forces is consisting of three forces, which are equal in magnitude and are
displaced by 1200. Clearly the sum of the forces is zero. Therefore, the shaft is balanced
statically. Now see the front view as it the Figure 14.21(c). The moment vectors are also
shown in the figure. The magnitudes of these vectors are,
K = , K = and KM = M (14.21)
The side view is again taken for the moments as in Figure 14.21(d). Clearly, they are not of
the same magnitude and hence the sum of the three moments is not zero. Therefore, the shaft
is not balanced dynamically. We have now seen another shaft which is balanced statically
but not balanced dynamically.
See another shaft shown in Figure 14.22(a). The side view of the forces may be shown as in
the Figure 14.22(b).
HI -J 3ℎ J-O, ! = + − − = 0 (14.22)
Clearly, the sum of the forces is zero. Therefore, it is statically balanced. The front view of
the shaft is shown in the Figure 14.22(c). The moment vectors are also shown in the figure.
Their magnitudes are,
K = , K = , KM = M and KP = P (14.23)
Figure 14.22(d) is the side view, showing the moments. The sum of the moments may be
computed as,
HI -J 3ℎ - #3! = − + + M − P = ;− 4 (14.24)
The shaft would be dynamically balanced if
; = 4 (14.25)
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In fact this is what we have already seen in Equation (14.17).

Till now we tried to understand the terms static balancing and dynamic balancing, through
simple examples. In these examples, we observed that a shaft which is balanced
dynamically, is also balanced statically. This may be proved as follows.
Consider a shaft carrying n number of masses as shown in the Figure 14.23. Let xk and yk
represent the distance of kth mass from P and m1 , respectively. We may write a relation,
Q = − , = 1,2,3, … , # (14.26)
For a shaft to be balanced statically, we require the condition
T

GS = 0 (14.27)
U

The summation in the Equation (14.27) is a vector sum of forces. Let us see if this is satisfied
by a shaft which is balanced dynamically.
Because the shaft is dynamically balanced, it is satisfying,
T

ES = 0 (14.28)
U

This may further be written as

T T

ES = ( ) C × GS = 0 (14.29)
U U

The unit vector i is indicating the direction along the length of the shaft. Equation (14.29)
may further be written as
T T

ES = ( + Q )C × GS = 0 (14.30)
U U
T T T

-O ES = ( )C × GS + (Q )C × GS = 0 (14.31)
U U U

Since the distances xk and yk are all positive quantities only, the Equation (14.31) implies
that each term on the right side is zero individually. From the first term, we may write,
T

( )C × GS = 0 (14.32)
U
T

which implies, GS = 0 (14.33)

U
 15

Therefore, the shaft is also balanced statically.

If the shaft is balanced statically, it is not necessary that it should be balanced dynamically
also! This may be seen as follows. Since the shaft is balanced statically, it satisfies the
relation,
T

GS = 0 (14.34)
U

Now the vector sum of moments may be expressed as

T T T

E S = ( )C × GS + (Q )C × GS (14.35)
U U U

In view of Equation (14.34), Equation (14.35) becomes

T T

ES = (Q )C × GS (14.36)
U U

We cannot say that the right side term in Equation (14.36) is zero. Therefore, the sum of the
moments may not be zero. Hence, it is not necessary that the shaft is also balanced
dynamically. This fact might have been observed in some of the examples we have
considered before.
If a shaft is balanced both statically and dynamically, the shaft is said to be in complete
balance. Since the dynamic balancing automatically implies static balancing also, we may
say that a shaft balanced dynamically is in complete balance.

14.7 Principle of Balancing

We have been saying that the problem of balancing is mainly concerned in making the
bearings free from dynamic reactions. One method suggested was to attach an appropriate
balancing mass diametrically opposite to the unbalance mass. But this may double the
weight of the rotor and we said this type of solution cannot be appreciated.
A shaft may contain any number of unbalance masses along its length. A complete
balance may be achieved by attaching only two appropriate masses at particular distances,
at particular orientations, in any two arbitrarily selected different planes. This is called the
principle of balancing. Let us try to understand this principle. Consider a shaft carrying
three masses mk (k = 1,2,3), as shown in the Figure 14.24(a). Let ek be the distance of mass mi
from the axis of the shaft, k = 1,2,3. Only for the sake of convenience, we are considering
 16

three masses. After this discussion, we will agree that the number of masses need not be
confined to only three but it can be any number. Let A and B be two different planes located
on the shaft. These are the planes in which we are intending to place the balance masses.
These planes are called balancing planes. Let the distance between them be L. Let xk be the
distance of the plane containing mk from the plane A (not shown in the figure). Let the inertia
force (centrifugal force) of mk be Fk. We may say, Fk = mkek .
Take the mass m1. The force F1 can be replaced by two forces F1A and F1B , in planes
A and B, respectively, as shown in the figure. Their magnitudes are,
(A − )
] = and 8 = (14.37)
A A
F1A and F1B are together producing the same effect as F1 . After introducing the two forces
F1A and F1B , in planes A and B, we can say that the shaft is free from F1 .
The student may not get convinced with this replacement. So let us understand this
first. In fact, we have been practicing this in many occasions without actually noticing.
Consider a beam carrying a load W being supported at A and B which are having a distance L
in between them, as shown in the Figure 14.25(a). We want to find the reaction forces at the
supports at A and B. We first would like to replace W by two forces WA and WB at A and B,
as shown in the figure, such that they are capable of producing the same effect as W. What do
we mean by this? W is creating a moment Wb about point B. Now WA should be able
produce the same moment. What should be the value of WA? The very first condition to be
satisfied is, line of action of WA should be in the plane containing line of action of W and the
axis of the shaft. Otherwise it is going to produce a moment in some other plane. Next, WA
should also produce the same moment about B. That is, WAL must be equal to Wb or WA =
Wb/L. In a similar manner, we say WB should be capable of producing the same effect as W.
This makes us say that the line of action of WB is in the plane containing line of action of W
and the axis of the shaft, and WB = Wa/L. After this replacement, the original load W may be
removed. Its effect is now felt by two forces WA and WB as shown in the Figure 14.25(b). To
counter these two forces, the supports should produce two forces RA and RB as shown in the
figure. The reactions are now RA = WA and RB = WB . Normally we ignore the intermediate
step and directly write the reactions as RA = Wb/L and RB = Wa/L.
Let us now continue our discussion with the Figure 14.24(a). Just as we replaced F1
with two forces, one in plane A and one in plane B, let us also replace F2 and F3 with forces
F2A and F3A in plane in A and F2B and F3B in plane B, as shown in the figure. It is to be
 17

observed that the original force and the two forces which are replacing the original force are
in the same plane. After replacements are done, the shaft portion in between the planes A and
B is free from forces. But we are having one coplanar set of forces in plane A and another
coplanar set of forces in plane B. Let RA be the resultant of forces in plane A and let RB be the
resultant of forces in plane B. RA and RB may also be visualized as being produced by some
unbalance mass in plane A and some other unbalance in plane B, as shown in the Figure
14.24(b). We can nullify the effect of the forces RA and RB by attaching appropriate balance
masses at appropriate distances from the axis of the shaft, diametrically opposite to RA and
RB. Should this discussion be confined to only three unbalance masses in between planes A
and B? No! We can have any number of unbalance masses. The force due to each mass is
replaced by one force in plane A and one force in plane B. Then remove that unbalance mass.
Do this for all the masses. Finally, we will be left with nothing in between planes A and B and
two sets of coplanar forces, one in plane A and one in plane B. Find the resultant forces in
planes A and B. Attach balance masses diametrically opposite to the resultant forces and
nullify them. So we have noticed that a shaft with any number of unbalance masses can be
balanced completely by using only two appropriate balance masses in two different planes.

14.8 Balancing of Rotors

We make use of the principle of balancing for balancing a given rotor. For achieving
complete balance, we impose the conditions,

GS = 0 (14.38)

and ES = 0 (14.39)

Each of these equations is a vector equation. When they are split up into components, each
equation gives rise to two algebraic equations. Therefore, we will be able to solve at the most
four unknowns only.
There are two ways of solving the problem. They are, (i) Analytical method and (ii)
Graphical Method. The approach is only different, though the basic principle involved in the
two methods is same. Let us learn these two methods through examples. Before we take up
an example, let us list out some important points to be remembered.
 18

(i) The force is either mkek or Wkek , units being kg.mm or N.mm, respectively.
(ii) The direction of force is always radially outwards. There is nothing like a negative
force.
(iii) The distances (xk) of various planes along the length of the shaft are to be measured
from a convenient reference point on the shaft. A wise choice for the reference point is
the plane in which the mass is not known.
(iv) All the distances measured towards right of the reference plane are positive and all the
distances measured towards left of the reference plane are negative.
(v) The moment of the force is either mkekxk or Wkekxk , units being kg.mm2 or N.mm2,
respectively. Some of the moments may turn out to be negative. This depends on the
sign of xk.
(vi) The direction of moment is same as force (that is, radially outwards) if the moment is
positive. The direction of moment is opposite to that of force (that is, radially inwards)
if the moment is negative.
(vii) One has to be very careful while fixing the quadrant for the angle. This is based on the
signs of sin and cosine terms.

Example 14.2
Figure 14.26 shows a shaft carrying four masses.
Table 14.4 Data for Example 14.2
Planes, k 1 2 3 4
Masses, kg m1 = 5 m2 = 7 m3 = 11 m4 = 3
Distances from the axis of the shaft, mm e1 = 4 e2 = 11 e3 = 6 e4 = 8

The distance between the planes 1 and 2 is 53 mm, that between planes 2 and 3, and planes 3
and 4 are, 17 mm and 20 mm, respectively. It is intended to have one balancing plane A in
between planes 1 and 2, at distance of 25 mm from plane 1 and another balancing plane B at
distance of 33 mm from plane 4, in between plane 4 and right side bearing. Determine the
balancing masses required to be placed in planes A and B, in order to balance the shaft
completely.

Solution
Analytical Method
Prepare a table as in Table 14.5 and insert the data.
It is to be observed that for the measurement of θ, we have taken the orientation of the mass
in plane 2 as the reference. Further, all angles are measured in clockwise direction only,
when viewed from bearing P.
 19

For measuring the distances xk , we have taken plane A as reference. Note that the distance of
plane 1 is negative because it is towards left of the reference plane, and all other distances are
positive because they are to the right of the reference plane.

Table 14.5 Computations of components of forces and moments for the Example 14.2
Plane mk ek θk xk mk ek (kg.mm) mk ek xk (kg.mm2 )
k kg mm deg. mm mkek sinθk mkek cosθk mkekxk sinθk mkekxk cosθk
1 5 4 300 –25 –17.321 10.000 433.013 –250.000
A mA eA θA 0 mAeAsinθA mAeAcosθA 0 0
2 7 11 0 28 0 77.000 0 2156.000
3 11 6 45 45 46.669 46.669 2100.107 2100.107
4 3 8 120 65 20.785 –12.000 1351.000 –780.000
B mB eB θB 98 mBeBsinθB mBeBcosθB 98mBeBsinθB 98mBeBcosB

Now we impose the conditions that sum of the entries in the last four columns of the table are
zeroes, individually. Let us first concentrate the last two columns.
−250.0 + 2156.0 + 2100.107 − 780.0 + 98 8 8 ,-!$8 =0
and + 433.013 + 2100.107 + 1351.0 + 98 8 8 !"#$8 =0
These may be expressed as
98 8 8 ,-!$8 = −3226.107
and 98 8 8 !"#$8 = −3884.12
From these two equations we get
98 8 8 = 0(−3226.107) + (−3884.12) = 5049.174
or 8 8 = 51.52 .
−3884.120
34# $8 = = 1.20396 ⇒ $8 = 1802 + 34#5 1.20396 = 230.292
−3226.107

Now concentrate on the next two columns.

10.0 + ] ] ,-!$] + 77.0 + 46.669 − 12.0 + 51.52 cos 230.292 = 0
and − 17.32 + ] ] !"#$] + 46.669 + 20.785 + 51.52 sin 230.292 = 0
These may be expressed as
] ] ,-!$] = −88.753
and ] ] !"#$] = −10.500
From these two equations we get

] ] = 0(−88.753) + (−10.500) = 89.37 .

 20

−10.500
34# $] = = 0.118 ⇒ $] = 1802 + 34# 5 0.118 = 186.742
−88.753
The final results are:
] ] = 89.37 . $] = 186.742 "J ] = 10 , 3ℎ # ] = 8.937
8 8 = 51.52 . $8 = 230.292 "J 8 = 10 , 3ℎ # 8 = 5.152
Answers
Graphical Method
Prepare the information as in Table 14.6.
Table 14.6 Computations of forces and moments for the Example 14.2
Plane mk ek xk m k ek mk ek xk Scaled Lengths in mm
k kg mm mm kg.mm kg.mm2 Forces Moments
1 5 4 –25 20 –500 20 –10
A mA eA 0 mAeA 0 --- 0
2 7 11 28 77 2156 77 43.12
3 11 6 45 66 2970 66 59.4
4 3 8 65 24 1560 24 31.2
B mB eB 98 mBeB (**) 98mBeB --- (**) --
-----------------
(**) At this stage, the values of mBeB and its direction θB are not known. Their values will be
obtained after summing up the moments.
------------------
First six columns of the table can be filled up without any difficulty. After looking at the
values in columns 5 and 6, scales for force and couple diagrams are fixed as follows:
Force polygon: 1 mm = 1 kg.mm and Moment polygon: 1 mm = 50 kg.mm2
Accordingly, the scaled lengths of various forces and moments are calculated and columns 7
and 8 of the table are filled up.

The orientations of unbalances are drawn in Figure 4.27(a), for the sake of convenience. Let
us begin with moments. Recall that if the moment is positive, its direction is same as force,
that is, radially outwards, and if the moment is negative, its direction is opposite to that of
force, that is , radially inwards.
From the table, we notice that there is only one moment m1e1 which in negative. The moment
are summed up as in Figure 14.27(b). The diagram o-a-b-c-d is drawn. Join d to o. This
represents 98mBeB. From the diagram this vector is measuring101 mm. Therefore,
98 8 8 = 101 = 101 × 50 = 5050 . ⇒ 8 8 = 51.5 .
The angular orientation θB may be measured as shown in the figure as θB = 2300
 21

Now come to summing up of forces. Forces are always positive. Hence they are always
radially outwards. Summation of forces may be done as in the Figure 4.27(c). The polygon is
drawn up to oabcde. The vector de represents mBeB . The values of mBeB and θB obtained
above are used to draw this vector. Join e to o. This represents mAeA . From the force
diagram, the length of the vector may be measured and the value of mAeA may be obtained as,
] ] = 89 = 89 × 1 = 89 .
The angular orientation θA may be measured as shown in the figure as θA = 1870
The results obtained by graphical method are,
] ] = 89.0 . and $] = 1872
8 8 = 51.5 . and $8 = 2302 _`abcFa
These are well agreeing with the results obtained by analytical method.

The problem demonstrated in the Example 14.2 is a very straightforward problem. We tried
to find balance masses to be placed in given balance planes. Sometimes, we may come
across problems in which the shaft carrying different rotors is given and we have to achieve
complete balancing by adjusting the orientations and/or distance between the rotors, in
addition to attaching some masses. The number of unknowns, however, cannot be more than
four. This is demonstrated in the next example.

Example 14.3
Figure 14.28 shows a shaft carrying four masses, in four different planes, P , Q , R and S.
The masses in planes P , R and S, are respectively, 5 kg, 8 kg and 5 kg. The distances of
masses in planes P , Q , R and S from the axis of rotation are, respectively, 80 mm , 70 mm ,
60 mm and 50 mm. The distance between the planes P and Q is 200 mm and the distance
between the planes Q and R is 300 mm. The relative angular position of mass in plane R with
respect to the mass in plane P is 600. If the rotor is to be in complete balance, determine
(i) the mass in plane Q, (ii) angular positions of masses in planes Q and S, and (iii) the
location of plane S.

Solution
Let us first prepare the given data as in Table 14.7.
 22

Table 14.7 Data for the Example 14.3 (Unknowns are highlighted)
mP = 5 kg mQ = ? mR = 8 kg mS = 5 kg
eP = 80 mm eQ = 70 mm eR = 60 mm eS = 50 mm
xP = –200 mm xQ = 0 xR = 300 mm xS = ?
θP = 0 θQ = ? θR = 600 θS = ?

The following are to be observed while preparing the above data.

(i) Reference for measurement of angular position θ is taken as the position of mass mP .
(ii) Reference for the measurement of distance along the length of the shaft, x is taken as
plane Q, because this plane is containing the mass mQ which not known.
(iii) Since the plane P is to the left of the reference plane Q, its distance xP is negative.
(iv) The number of unknowns is four. Hence, the problem can be attempted.
(v) The unknowns are, mQ , θQ , θS and xS.

Analytical Method
Prepare a table as follows and insert the data:
Table 14.8 Computations of components of forces and moments for the Example 14.3
Plane mk ek θk xk mk ek (kg.mm) mk ek xk (kg.mm2 )
k kg mm deg. mm mkek sinθk mkek cosθk mkekxk sinθk mkekxk cosθk
P 5 80 0 –200 0 400 0 –80,000
Q mQ 70 θQ 0 70mQ sinθQ 70mQ cosθQ 0 0
R 8 60 60 300 415.69 240 1,24,707 72,000
S 5 50 θS xS 250 sinθS 250 cosθS 250 xS sinθS 250 xS cosθS

Now we impose the condition that the sum of the entries in the last four columns must be
zero, individually. Last two columns give us,

−80 000 + 72 000 + 250 d ,-!$d = 0 ⇒ 250 d ,-!$d = 8 000

and 1 24 707 + 250 d !"#$d = 0 ⇒ 250 d !"#$d = −1 24 707

From these two equations we get

250 d = 0(8000) + (−124707) = 124963 . ⇒ d = 500
−124707
34# $d = = −15.588 ⇒ $d = 3602 − 34#5 15.588 = 273.672
8000

Now concentrate on the next two columns.

 23

400 + 70 ,-!$ + 240 + 250 cos 273.672 = 0 ⇒ 70 ,-!$ = −656

and 70 !"#$ + 415.7 + 250 sin 273.672 = 0 ⇒ 70 !"#$ = −166
From these two equations we get
70 = 0(−656) + (−166) = 677 . ⇒ = 9.67
−166
34# $ = = 0.253 ⇒ $ = 1802 + 34#5 0.253 = 1942
−656

The final results are:

= 9.67 , $ = 1942 , d = 500 and $d = 273.672 _`abcFa

Graphical Method
Prepare the information as in Table 14.9.
Table 14.9 Computations of forces and moments for the Example 14.3
Plane mk ek xk m k ek mk ek xk Scaled Lengths in mm
k kg mm mm kg.mm kg.mm2 Forces Moments
P 5 80 –200 400 –80 000 40 –40
Q mQ 70 0 70 mQ 0 --- 0
R 8 60 300 480 1 44 000 48 72
S 5 50 xS 250 250 xS 25 ---

After looking at the values in columns 5 and 6, scales for force and moment diagrams may
be fixed as follows:
Force polygon: 1 mm = 10 kg.mm and Moment polygon: 1 mm = 2000 kg.mm2
Accordingly, the scaled lengths of various forces and moments are calculated and columns 7
and 8 of the table are filled up. The moment polygon is first drawn as shown in the Figure
14.29(b).
First a vector oa of length 40 mm is drawn parallel to the radial line representing position of
mass in plane P, in the radially inward direction, to represent a moment –80,000 kg.mm2.
From point a another vector ab of length 72 mm is drawn parallel to the radial line
representing position of mass in plane R, in the radially outward direction, to represent a
moment 1,44,000 kg.mm2 .
Join b and o. This represents the moment 250 xS. From the diagram,
250 d = 62 = 1,24,000 . ⇒ d = 496

The angle θS is measured from the figure as θS = 273.50

 24

Next draw the force polygon as shown in the Figure 14.29(c).

Draw a vector oa of length 40 mm parallel to the radial line representing position of mass in
plane P, in the radially outward direction, to represent a force 400 kg.mm.
From a draw a vector ab of length 48 mm parallel to the radial line representing position of
mass in plane R, in the radially outward direction, to represent a force 480 kg.mm.
From b draw a vector bc of length 25 mm parallel to the radial line representing position of
mass in plane S, in the radially outward direction, to represent a force 250 kg.mm.
Join c and o. The vector co represents the force 70mQ . From the figure,
70 = 67 = 670 . ⇒ = 9.57
The angle θQ is measured from the figure as θQ = 1940

The final results are:

= 9.57 , $ = 1942 , d = 496 and $d = 273.502 _`abcFa

The results obtained by both the methods are tallying.

14.9 Balancing of Reciprocating Machines

So far we have seen the balancing of a shaft carrying several rotors. The other aspect
of balancing problem is balancing of reciprocating machinery. We find reciprocating
machinery in several applications like internal combustion engines, steam engines, hydraulic
pumps, air compressors etc. All these machines use slider crank mechanism. The velocity of
the slider (piston) starts with zero at the beginning of a stroke, increases to a large value
somewhere in the middle of the stroke and then decreases to zero towards the end of the
stroke. Therefore, we may say that the slider performs reciprocating motion with
acceleration. Because of the acceleration of the slider, the entire engine frame experiences a
shaking force. The problem of balancing here is how to eliminate the shaking force so that
the engine will be running smooth. In this section we will first take up a single cylinder
engine and try to understand how we may calculate the shaking forces and also how we may
try to nullify their effect. Then we shall extend these ideas to multi cylinder engines.
Figure 14.30 shows a slider crank mechanism. We know that the slider is having some
acceleration f. Using the coordinate x chosen to describe the motion of the piston (see the
figure), the acceleration of the piston may be shown to be
J = e ≃ −O (,-!$ + g ,-!2$) (14.40)
 25

The slider is actually moving towards right. That is why there is negative sign. The
expression for acceleration expressed in the Equation (14.40) is an approximate analytical
expression. The exact expression contains of infinite number of terms. The first two terms
are only considered because the other terms are of very small magnitude and may be
neglected. See the development of Equation (4.11) in section 4.4.3.
Now imagine a person applying a force F1 and making the slider to move with the
acceleration f. When he tries to apply a force on the piston, he should apply an equal and
opposite force F2 on the cylinder body (that is, the engine frame) through his feet. A free
body diagram may be drawn as shown in the Figure 14.31. The mass of reciprocating parts is
represented by m. The mass m includes the mass of piston, piston rings, piston pin and a part
of the mass of the connecting rod. The last one follows from the concept of dynamically
equivalent link. The reader is advised to see Appendix C for understanding the concept of
dynamically equivalent link.

The equation of motion may be written as

= − J = O (,-!$ + g ,-!2$ ) (14.41)
Since F2 is having the same magnitude as F1 , we may write
4 #"3Ih -J Gi = O (,-!$ + g ,-!2$) (14.42)
The force experienced by the engine frame is F2 and it may be rewritten for convenience as
= + d (14.43a)
where, = O ,-!$ and d = O g ,-!2$ (14.43b)
FP and FS are called Primary and Secondary forces, respectively. These are the forces
causing vibrations (shaking) to the engine body. Let us try to visualize and interpret these
forces. For the sake of convenience in discussion, we shall be using the word horizontal for
indicating the direction parallel to the line of motion of the slider, and the word vertical for
indicating the direction perpendicular to the line of motion of the slider. First see the
expression for the primary force FP in Equations (14.43b). Look at the Figure 14.32. For a
while imagine the mass m as being placed at the crankpin C. When the crank rotates at ω
angular velocity, then centrifugal force of magnitude mrω2 would be generated. The
horizontal component of this centrifugal force is what we have as the primary force FP .
Really, m is not at the crankpin. Only for the sake of interpreting the primary force, we are
imagining m at the crankpin C. Then what about the vertical component mrω2sinθ ? There
is nothing like this component because m is really not there at C. The primary force may now
 26

be imagined to cause oscillations (shaking or vibrations) along the line of motion of the
slider. These oscillations would take place with a frequency ω, the speed of rotation of the
crankshaft. The student may appreciate this statement after learning forced vibrations, in
Chapter 19. For nullifying the unwanted shaking force, one may think of attaching a mass B
at distance b, diametrically opposite to the crank, as shown in the figure. The crank web may
be extended and a mass may be attached as shown in the Figure 14.33(a). The figure shows
the crankshaft of a single cylinder engine and observe various important parts of a crankshaft,
namely, main shaft portion which sits in bearings called main bearings, crank which is called
crank web, and crankpin which is held by (the big end of) the connecting rod. This
crankshaft may be shown schematically as in Figure 14.33(b). Let us return to the Figure
14.32. When the balancing mass B is attached, if Bb = mr then the horizontal component of
the centrifugal forces produced by B would cancel the primary forces completely. But the
vertical component of the centrifugal force of B continues to exist. That is, when we are in
our efforts to nullify the primary forces, a vertical force of similar nature is introduced. That
means we cannot balance the primary forces completely. Hence, we may go for partial
balancing of primary forces. That is, instead of attempting to balance the primary forces
completely, we may think of balancing only a part of primary forces. Then the remaining part
of primary force continues to exist. Further, we will also have a force in vertical direction
which is introduced by the balancing mass B.

Example 14.4
The crank and connecting rod of an engine are 40 mm and 170 mm, respectively. The mass
of reciprocating parts is estimated to be 1.37 kg. If it is desired to balance 43 percent of
primary forces, determine the mass of balancing mass which is to be attached to the crank
webs at a distance of 27 mm from the center. What are the forces experienced by the engine
frame after balancing the engine if the engine is running at 350 rpm?

Solution
For finding the required balancing mass, we may make use of the following relation,
0.43 O = :;
Substituting the given information,
0.43 × 1.37 × 40 = : × 27 ⇒ : = 0.8727 _`abcF
 27

This mass may be distributed equally to the two webs, as shown in the Figure 14.33. The
balance mass to be attached to each web is 0.436 kg.
The forces on the engine frame are (i) the unbalanced primary force and (ii) the force
introduced by the attached balancing mass B.
(i) The unbalanced primary force may be obtained as
40 2j 350
= (1 − 0.43) × 1.37 × ×6 7 ,-!$ = 41.96 ,-!$ k _`abcF
1000 60
(ii) The force introduced by the attached balancing mass B
27 2j 350
+ = 0.8727 × ×6 7 !"#$ = 31.65 !"# $ k _`abcF
1000 60
It is to be observed that these forces depend on the speed of rotation of the crankshaft.
Further, they are not constants and they keep changing their magnitudes as the crank rotates.

So far we have seen about the primary forces and their balancing. We said that it is not
possible to balance the primary forces completely. Later we will see that it is possible to
balance the primary forces completely, if we go for multi cylinder engines. Now let us see
the secondary forces. They were already expressed in Equation (14.43b). The secondary
forces may be re-expressed as
Og
d = 6 7 (2 ) ,-!2$ (14.44)
4
This gives us a hint to interpret the secondary forces as, if the mass of reciprocating parts are
rotated at a radius (rλ/4) at twice the speed of the crankshaft, then there would have been
centrifugal force and the horizontal component of the centrifugal force is what we have as
secondary force. If we want to balance the secondary force, we have to rotate a balancing
mass of magnitude m at a radius (rλ/4) at 2ω angular velocity. A gear mechanism may have
to be used to obtain a speed of 2ω from the crankshaft whose speed of rotation is ω. After
doing all this we are going to face the same difficulty as we saw for balancing of primary
force. That is, we will be introducing a force of similar nature in the perpendicular direction.
Then we may start thinking of partial balancing. We shall face the similar problem as in the
case of balancing of primary force. Things have become very complicated. Hence, normally
we ignore balancing of secondary forces. The reason is the maximum value of the secondary
force is λ times the maximum value of the primary force; see the expressions in Equation
(14.67b). For all practical machinery, the value of λ is around 0.2 to 0.3. Therefore, the
 28

magnitude of secondary forces is very small in comparison to the magnitude of the primary
forces.
Now let us see the balancing of crankshaft of a multi cylinder engines. Though it has
in its name shaft, the crankshaft is not a straight shaft. Already we have seen the crankshaft of
a single cylinder engine in Figure 14.33. Let us see some more crankshafts. Figure 14.34
shows the crankshaft of a two cylinder inline engine. Figure 14.35 shows the crankshaft of a
three cylinder inline engine. Figure 14.36 shows the crankshaft of a four cylinder inline
engine. What is noticed from these figures? They are not straight shafts. Observe crank webs
and crankpins etc. Recall that the crankpins are held by the big end of the connecting rods.
The purposes of making the crankshaft in the shapes shown in the figures are mainly (i) to
make the power generation nearly uniform and (ii) for reducing the shaking forces. The first
one will be referred in the next chapter where we will be discussing the design of flywheels.
At present our interest is on the second one. Students are advised to visit automobile garage,
and any nearby diesel loco shed, and observe various crankshafts and draw their sketches the
notebooks.
For the sake of convenience in discussion, consider a four cylinder inline engine, as shown in
the Figure 14.37(a). This figure also shows the respective pistons and connecting rods.
Recall how we interpreted the primary forces. First, the mass of reciprocating parts is to be
imagined at the crankpin. If we really do it, the crankshaft may be considered to be a straight
shaft with various unbalances as shown in the Figure 14.37(b). It is interesting to note that the
problem of balancing a crankshaft has become similar to balancing of a straight shaft carrying
several unbalances. In the interpretation of primary force, we next said that the horizontal
component of centrifugal force is the primary force. If we balance the rotor shown in Figure
14.37 using the methods we learned in section 14.8, then we will be taking care of not only
horizontal components but also vertical components. Though the vertical components are
balanced, they are really not there in the crankshaft problem. But our procedures do balance
the horizontal components which are nothing but primary forces. Therefore, we may now say
that the primary forces may be balanced completely. For balancing a crankshaft, what all we
need to do is, place the masses of various reciprocating parts at their respective crankpins,
and attempt the problem like balancing of a straight shaft. Since the primary forces are
balanced, the multi cylinder engines show very smooth running with very less vibrations in
comparison to single cylinder engines. However, still some vibrations are seen which are due
to secondary forces and higher order forces, and these are very small in magnitude.
 29

Example 14.5
A marine engine has a four cylinder inline engine. The weight of reciprocating parts and the
stroke length of each of the four cylinders of the engines are as follows.
Table 14.10 Data for the Example 14.5
Cylinder A B C D
Weight of reciprocating parts (N) 4,000 W 5,000 4,500
Stroke length (mm) 1,000 1,090 1,060 1,030

The spacing’s between the cylinders are described in the Figure 14.38. For achieving the
total balancing of the primary forces, (i) what should be the weight W of the reciprocating
parts of the cylinder B and, (ii) the angular spacing’s of various cranks.

Solution
The data given in the problem may be tabulated for convenience as,
Table 14.11 Data given for the Example 14.5
Plane Wk ek θk xk
k N mm deg. mm
A 4,000 500 0 –1,600
B W 545 θB 0
C 5,000 530 θC 3,500
D 4,500 515 θD 5,000

The following may be observed from the Figure 14.38.

(i) The crank of cylinder A may be kept vertical and this may be taken as the reference for
the measurement of angular positions θ’s of various other cranks.
Let us also say that the crank angles are measured in clockwise direction.
(ii) Reference for the measurement of distances along the length of the shaft, x’s is taken as
plane B, because this plane is containing the weight W, which not known.
(iii) Since the plane A is to the left of the reference plane B, its distance xA is negative.
(iv) The number of unknowns is four. Hence, the problem can be attempted.
(v) The unknowns are, W , θB , θC and θD.
(vi) The crank length (ek) is half of the stroke length.
 30

Analytical Method
Prepare a table as follows and insert the data:
Table 14.12 Computations of components of forces and moments for the Example 14.5
Plane Wk ek θk xk Wk ek × 10–5 (N.mm) Wk ek xk × 10–8 (N.mm2 )
k N mm deg mm Wkek sinθk Wkek cosθk mkekxk sinθk mkekxk cosθk
A 4000 500 0 –1600 0 20 0 –32
B W 545 θB 0 545W sin θB 545W cos θB 0 0
C 5000 530 θC 3500 26.500sin θC 26.500cos θC 92.75 sin θC 92.75 cos θC
D 4500 515 θD 5000 23.175sin θD 23.175cos θD 115.875sin θD 115.875cos θD

Now we impose the condition that the sum of the entries in the last four columns must be
zero, individually. Last two columns give us,
92.75 ,-! $l + 115.875 ,-! $m = 32 (14.45)
and 92.75 !"# $l + 115.875 !"# $m = 0 (14.46)
Squaring and adding we get
92.75 + 115.875 + 2 (92.75)(115.875)(,-! $l ,-! $m + !"# $l !"# $m ) = 32
From this we may write,
32 − 92.75 − 115.875
cos($m − $l ) -O cos($l − $m ) = = −0.97723
2 (92.75)(115.875)
Therefore,
$m − $l -O $l − $m = 167.752 -O 192.252 (14.47)

Let us first take

$m − $l = 167.752 ⇒ $m = 167.752 + $l (14.48)
Replace $m in Equation (14.46) using Equation (14.48) as
92.75 !"# $l + 115.875 !"# (167.752 + $l ) = 0
or 92.75 !"# $l + 115.875 (!"#167.752 ,-!$l + ,-!167.752 !"#$l ) = 0
From this we get,
24.5852 ,-!$l = 20.4865 !"#$l ⇒ 34# $l = 1.2
This provides two values for the angle as
$l = 50.1962 -O 230.1962
Out of these two values, only one is to be taken and the other is to be discarded. This is
judged by testing which one would satisfy the Equation (14.45).
Let us first test 50.1960
$l = 50.1962 ⇒ 92.75 ,-! 50.1962 + 115.875 cos(167.752 + 50.1962 ) = −32
 31

Clearly the Equation (14.45) is not satisfied. Therefore, $l = 50.1962 is to be discarded.

Now let us see $l = 230.1962 .
$l = 230.1962 ⇒ 92.75 ,-! 230.1962 + 115.875 cos(167.752 + 230.1962 ) = 32

Clearly the Equation (14.45) is satisfied. Therefore, $l = 230.1962 is acceptable and is to

be considered. Now we have one solution as
$l = 230.1962 and $m = 397.9462 that is, 37.9462 (14.49)

Let us next take

$m − $l = 192.252 ⇒ $m = 192.252 + $l
Proceeding in similar lines we can get the acceptable solution as
$l = 129.82 and $m = 322.052 (14.50)
So by taking $m − $l = 167.752 -O 192.252 we have got two possible solutions as
$m − $l = 167.752 ⇒ $l = 230.1962 and $m = 37.9462 (14.51a)
and $m − $l = 192.252 ⇒ $l = 129.82 and $m = 322.052 (14.51b)

By taking $l − $m = 167.752 -O 192.252 and proceeding in similar lines, we will get

two possible solutions as
$l − $m = 167.752 ⇒ $l = 129.82 and $m = 322.052 (14.52a)
and $l − $m = 192.252 ⇒ $l = 230.1962 and $m = 37.9462 (14.52b)

These are no way different from the solutions we expressed in Equations (14.51). Therefore,
there are only two possible solutions.

Let us take the first possible solution, θC = 230.1960 and θD = 37.9460

Concentrate on the next two columns in the Table 14.12. We may write the following
equations.
20 + 0.00545W cos θB + 26.500 cos 230.1960 + 23.175 cos 37.9460 = 0
and 0.00545W sin θB + 26.500 sin 230.1960 + 23.175 sin 37.9460 = 0
From these two equations we get
W cos θB = – 3910.336 and W sin θB = 1120.659
Squaring and adding,
o = 0(−3910.336) + (1120.659) = 4067.75 k
 32

1120.659
and tan $8 = = −0.2865 ⇒ $8 = 1802 + 34#5 (−0.2865) = 1642
−3910.336

The final results are: W = 4067.75 N and $8 = 1642 _`abFca

Let us take the second possible solution, θC = 129.80 and θD = 322.050

Proceeding in similar lines, we may get the final result as,
W = 4067.75 N and $8 = 1962 _`abFca

Let us summarize the results obtained by analytical approach, as follows.

Table 14.13 Summary of the results
Possible Possible
Solution 1 Solution 2
W 4067.75 N 4067.75 N
θB 1640 1960
θC 230.1960 129.80
θD 37.9460 322.050

It is observed that the value of W is same in both the solutions. In order to get a physical feel,
the shapes of the crankshafts for both the solutions are sketched in the Figure 14.39. Further,
it is to be observed from the Table 14.13, that the angles θB , θC and θD of the two possible
solutions add up to 3600. This tells us that though we are saying Two possible solutions, these
two are one and the same. They are only different from the way the angle θ is measured; in
clockwise direction or counterclockwise direction. Therefore, we may now conclude that the
solution is unique.
Graphical Method
Let us prepare the information as in Table 14.14.
Table 14.14 Computations of forces and moments for the Example 14.5
Plane Wk ek xk Wk ek × 10–5 Wk ek xk × 10–8 Scaled lengths in mm
k N mm mm N.mm N.mm2 Forces Moments
A 4000 500 –1600 20 –32 40 –32
B W 545 0 545W 0 --- 0
C 5000 530 3500 26.50 92.75 53 92.75
D 4500 515 5000 23.175 115.875 46.35 115.875

After looking at the values in columns 5 and 6, scales for force and moment diagrams may
be chosen as,
Force polygon: 1 mm = 0.5×105 N.mm and Moment polygon: 1 mm = 108 N.mm2
 33

Accordingly, the scaled lengths of various forces and moments are calculated and columns 7
and 8 of the table are filled up.
The moment polygon is to be drawn first. The crank of cylinder A is imagined to be kept
vertical as in Figure14.40(a). Draw a vertical line oa of length 32 mm to represent the
moment WA eA xA , as shown in the Figure 14.40(a). The value of this moment is negative.
Therefore, it is to be drawn in the direction crankpin to the center of the crankshaft. Observe
from the table that there are three nonzero moments. Therefore, the moment diagram is a
triangle. Since we know the lengths of the sides of the triangle, we should be able to construct
the triangle without any difficulty. One side oa is already drawn. Taking a center, draw an
arc of radius 115.875 mm. Taking o as center, draw an arc of radius 92.75 mm. Let these two
arcs cut at a point p. Put the arrow heads such that the triangle signifies that the resultant of
the moments is zero.
Vector oa: The arrow head must be near a. This signifies the moment, WA eA xA .
Vector ap: The arrow head must be near p. This signifies the moment, WD eD xD .
Vector po: The arrow head must be near o. This signifies the moment, WC eC xC .
The triangle oap is a closed diagram representing the moment polygon. Being a closed
diagram, it says that the vector sum of the moments is zero. That is, we are saying that the
moments are balanced. Transfer the vectors ap and po to the center of the crankshaft, as
shown in the Figure 14.40(c). The angles made by the cranks of the cylinders C and D may
be measured as shown in the Figure 14.40(c). They are also shown in the Figure 14.40(b).
They are measured as θC = 2300 and θD = 380 . These results are agreeing well with what we
got in analytical method as Possible Solution 1, as indicated in Table 14.13.

At this stage, the student may wonder why we can’t draw the triangle in a different way as
shown in the Figure 14.40(d). First we draw the vector oa as explained before. Taking a
center, draw an arc of radius 92.75 mm. Taking o as center, draw an arc of radius 115.875
mm. Let these two arcs cut at a point q. Put the arrow heads such that the triangle signifies
that the resultant of the moments is zero.
Vector oa: Signifies the moment, WA eA xA .
Vector aq: Signifies the moment, WC eC xC .
Vector qo: Signifies the moment, WD eD xD .
The triangle oaq is the moment polygon. Transfer the vectors aq and qo to the center of the
crankshaft, as shown in the Figure 14.40(e). The angles made by the cranks of the cylinders
 34

C and D may be measured as shown in the Figure 14.40(e). They are also shown in the
Figure 14.40(d). They are measured as θC = 1300 and θD = 3220 . These results are agreeing
well with what we got in analytical method as Possible Solution 2, as indicated in Table
14.13.
The moment polygon which is a triangle in our present problem, is being drawn in two ways
and each has given one possible solution. It may be observed that the two triangles were
drawn on the same side (right side) of the vector oa. Here, one may get a doubt what if we
draw these two triangles on the left side of the vector oa? Do they give us two more possible
solutions? Yes, we may draw the triangles on the left side of the vector oa also. But the
solutions we get are nothing different from what we got. They are mirror images of our
present solutions. The resulting crank positions will be like mirror images of the cranks we
got in our solutions. They may also be interpreted as being the same solutions with θ being
measured in counterclockwise direction. The student is advised to verify these facts and get a
physical feel of the problem.
Still there are two more unknowns to be found, namely, W and θB . These we get by
balancing the forces by drawing force polygon.
Consider the possible solution 1. Figure 14.41(a) shows the positions of the cranks of
cylinders A, C and D. As shown in the Figure 14.41(b), draw vector oa parallel to the crank
of cylinder A, in the radially outward direction, to represent WAeA . From a draw a vector ab
parallel to the crank of cylinder C, in the radially outward direction, to represent WC eC . From
b draw a vector bc parallel to the crank of cylinder D, in the radially outward direction, to
represent WDeD . Join c an o. The vector co represents the direction of the crank of the
cylinder B. Transfer this vector to the Figure 14.41(a). Measure the angle θB , as shown in
the Figures 14.41(a). We are getting θB = 1650. Measure the length of the vector co. It
measures 44 mm representing 545W N.mm.
545 o = 44 = 44 × 0.5 × 10p = 22,00,000 k. ⇒ o = 4037k
These values of θB and W are closely agreeing with those obtained by analytical method.

Consider the possible solution 2. Figure 14.42(a) shows the positions of the cranks of
cylinders A, C and D. Following the same lines as described above, draw the force polygon,
as shown in the Figure 14.42(b). The values of θB and W may be obtained as, θB = 1960 and
W =4037 N. These results are also closely agreeing with those obtained by analytical method.
 35

14.10 Balancing Machines

Let us first understand the necessity for a balancing machine. Many times we come
across shafts having unbalance. We won’t be having any knowledge of unbalances present on
the shaft. But we are only aware that there exists some unbalance. The whole rotor may be so
massive weighing few tones. Such rotors may have to be rotated at several thousands of rpm.
One practical example is the rotor of a steam turbine or a gas turbine. Balancing such a high
speed shaft is very important. But the difficulty is that we do not know anything about the
unbalance present. In such situations, the balancing machines come to our rescue. In this
section, we shall understand the basic principles involved in the working of a balancing
machine.
Let us begin with a single plane balancing. Consider a setup shown in the Figure
14.43. A frame is shown supporting a shaft. The frame is hinged at A and is resting on a
spring support at B. There is a pointer attached to the frame which moves on a circular scale
indicating the angular swing of the frame. The disc to be balanced is mounted on the shaft.
The shaft is firmly attached with a thin circular disc having angular graduations, like a
protractor. Figure 14.44 shows the protractor disc and the disc to be balanced. A trial mass
may be attached to the disc to be balanced, at any place and its angular location θ may be
read from the protractor disc as shown in the Figure. We have seen in Section 14.4 that a
disc may have any number of unbalances but the combined effect of all these may be felt by a
single unbalance R (kg.mm or N.mm). If we know this, then the next step would be to place
a balance mass diametrically opposite this unbalance mass. Now for the given disc we do not
know the location of the unbalance mass. Let θR be the location of R and both are not known.
When the shaft is rotated, the centrifugal force due to R is developed. The hinge at A resists
the horizontal component of the centrifugal force and does not allow the frame to swing in
the horizontal plane. The vertical component of the centrifugal force makes the frame to
swing in the vertical plane. In order to know the location of R, a trial mass may be attached to
the disc. Now the swinging of the frame in the vertical plane is not only due to the vertical
component of the centrifugal force of R but also due to the vertical component of the
centrifugal force of the trial mass. Attach the trial mass at θ = 00. Run the shaft at a particular
speed and measure the amplitude of oscillations of the frame. Keep the trial mass at θ = 100.
Run the shaft at the same speed and measure the amplitude of oscillations of the frame. Next,
keep the trial mass at θ = 200 and measure the amplitude of oscillations. This way, keep
changing the location of the trial mass in steps of 100 and scan through 3600. At each step,
 36

measure the amplitude of oscillations of the frame. The speed of rotation of the shaft must be
kept the same throughout. During the 3600 rotation scan, at some place the amplitude of
oscillations will be observed to be the lowest. That is the position diametrically opposite to R.
At this position try different trial masses or try the same trial mass at different radii, till the
amplitude of oscillations becomes zero. A graph may be drawn with measured amplitude
versus θ, for accurate location. Figure 14.45 shows a typical variation. It is to be observed
that at the location θP the amplitude is the maximum. This indicates that at this position the
trial mass is aligning with the unbalance R. At the location θQ the amplitude is the minimum.
This indicates that at this position the trial mass is diametrically opposite to the unbalance R.
This is actually what we wanted. The difference between θQ and θP is expected to be 1800,
which is an ideal situation. However, in practice we may not get exactly 1800 because of
possible experimental errors. The frame of the setup is also referred as cradle.
The method described is very simple and straight forward but it suffers from the
disadvantage of taking many readings. However, the balancing may be done with only four
readings. This needs drawing of a vector diagram. Let us understand this method in a
systematic way. Imagine an unbalance mass at some distance from the center of rotation
(axis) located at angle θ with respect a reference line attached to the shaft, as shown in the
Figure 14.46(a). The amplitude of oscillations of the cradle is a consequence of the
centrifugal force developed when the shaft is rotated. Therefore, we may imagine a vector to
represent the effect of the unbalance mass, with the magnitude (that is, the length) of this
vector being the amplitude of oscillation of the cradle, and direction being parallel to the
radial line passing through the unbalance (that is, at angle θ with respect to the reference line
attached to the shaft), as shown in the Figure 14.46(b). It is also to be noted that the
magnitude of the centrifugal force and hence the amplitude of oscillations of the cradle, (and
consequently the length of the vector representing the effect of unbalance) is proportional to
the value of the unbalance mass. Now take the readings in the following sequence.

Reading 1: Run the rotor (that is, the disc) as it is, at certain speed.
Let the amplitude of oscillations of the cradle be A1.
Reading 2: Attach the trial mass at θ = 00 and run the rotor at the same speed.
Let the amplitude of oscillations of the cradle be A2 .
Reading 3: Attach the same trial mass at θ = 900 and run the rotor at the same speed.
Let the amplitude of oscillations of the cradle be A3 .
Reading 4: Attach the same trial mass at θ = 1800 and run the rotor at the same speed.
Let the amplitude of oscillations of the cradle be A4 .
 37

Let us first examine the following geometric construction. Then we can arrive at a stepwise
procedure.

Imagine two vectors OA and OF be drawn as shown in the Figure 14.46(c). The vector OA
may represent A1, that is, the vector OA is purely due to the original unbalance present in the
disc. Let the vector OF is due to the unbalance created by the trial mass only. That is, the disc
is imagined to be perfect and without any unbalance, and the unbalance is created purely by
the trial mass attached at θ = 00. Complete the parallelogram OABF as shown in the Figure
14.46(d). The vector OB which is the vector sum of OA and AB (or OF) represents the effect
due to the original unbalance and the trial mass attached at θ = 00. That is, it represents A2.

Again imagine the disc to be perfect and if the trial mass is attached at θ = 1800, its effect
must be just equal and opposite to OF. Extend the line FO to G such that FO = OG. See
Figure 14.46(e). The vector OG is due to the unbalance created only by the trial mass, placed
at θ = 1800. Now complete the parallelogram OGDA. The vector OD which is the vector sum
of OA and AD (or OG) represents the effect due to the original unbalance and the trial mass
attached at θ =1800. That is, it represents A4. In fact the vector FA is also same as vector OD.

Complete the parallelogram OBED. In this parallelogram, we can say that

(i) OA = AE (=A1) and AB= AD
because the diagonals of a parallelogram bisect each other and,
(ii) OB = DE and OD = BE
because opposite sides of a parallelogram are equal.

Let β be the angle between OA and AB. If we want to know its value from the experimental
readings we have, the procedure is very simple. Construct triangle OBE with sides OB = A2 ,
BE = A4 and OE = 2A1 . Locate midpoint of OE and name it as A. Join AB and measure the
angle OAB which is nothing but β. Recall that the effect of the trial mass alone, placed at θ =
00 is represented by vectors OF or AB. Now we want to make this (i) equal in magnitude to
A1 which is nothing but the effect of original unbalance present in the disc, and (ii) make it
opposite to A1 .

Let us first answer the question, what is the trial mass which can make OF = OA (= A1) ?

The magnitude or length of the vector OF is proportional to the mass attached. Let m be the
value of the trial mass with which we have been performing the experiments. Let mB be the
 38

mass which can make its effect equal to the effect of the original unbalance present in the
rotor, that is, OF = OA. We may deduce the following result as,

8 qr qr
q or r: ∝ and qr ∝ 8 ⇒ = ⇒ 8 = × (14.53)
r: r:

We performed experiments with trial mass m. Now we say that if we had performed
experiment with mB then the length of OF or AB (magnitude of A2) would be equal to the
length of OA (the magnitude of A1). Thus we are able to make the effect of trial mass alone
equal to the effect of the original unbalance present in the rotor. Now mB represents
magnitude of unbalance mass. The next task is to place mB diametrically opposite to the
original unbalance. For this, we make use of the angle β. It is to be realized that the vector
OF is representing θ = 0. According to the notation we have been following, θ is measured in
clockwise sense as indicated in the Figure 14.46(e). If θ is taken as β, it amounts to saying
that the vector OF is rotated in clockwise sense and made to align with the vector OA. If θ is
taken as – (180 – β), it amounts to saying that the vector OF is rotated in counterclockwise
sense and made to align with the vector OA. So we must place mB at an angle θ which is
either β or – (180 – β). But which is correct? One angle is diametrically opposite direction to
A1 and the other angle is same direction as A1. We have to choose the correct direction.
Observe that so far we have used the experimental readings A1 , A2 and A4. We have not used
the information A3. Now this is going to help us to decide whether θ to be taken is β or
– (180 – β). With A as center and AB as radius, draw a circle. Vector AB is the effect of trial
mass m alone when placed at θ = 00. Vector AD is the effect of trial mass m alone when
placed at θ = 1800. Draw a line CC* perpendicular to the line (diameter) BD. If the trial mass
is kept at θ = 900 then it effect would be the vector AC or AC*. The vector OC which is the
sum of the vectors OA and AC, represents the combined effect of the original unbalance and
the trial mass m placed at θ = 900. Similarly, the vector OC* which is the sum of the vectors
OA and AC*, represents the combined effect of the original unbalance and the trial mass m
placed at θ = 900. That is, OC or OC* must represent A3. We have the value of A3. See which
one of OC or OC* has its length equal to A3. If the length of OC matches with A3 then take θ
= – (180 – β). Place mB at θ = – (180 – β) in order to be diametrically opposite to the original
unbalance. If the length of OC* matches with A3 then take θ = β. Place mB at θ = β in order
to be diametrically opposite to the original unbalance. Thus we are able to balance the disc
completely. We may now write the procedure in the following steps.
 39

Step 1: Draw a triangle OBE with the sides measuring, OB=A2 , OE=2A1 and BE=A4 .
Step 2: Locate the midpoint A of OE. Join AB. Measure angle OAB as β.
Step 3: Draw a circle with A as center and AB as radius.
Step 4: Draw a diameter CC* perpendicular to AB.
Step 5: Join OC and OC*. If OC = A3 take θ = – (180 – β)
If OC*= A3 take θ = β
t]
8 = × ]8
Step 6: Calculate the balance mass as
Step 7: Place the mass mB at θ which is determined in Step 5.

The beauty of this procedure is nowhere we are measuring the phase angles. Only with
amplitudes we are able to balance the disc. This method is called Four Vector Method.

Example 14.6
A chemical plant has a blower fan which needs to be tested for balancing. The fan has a ring
as an integral part. It is possible to attach a mass on this ring at any place as we desire. The
fan is mounted on the shaft of a cradle balancing machine and experiments are performed.
When the machine is run at a certain speed, the amplitude of oscillations of the cradle is
observed to be 6 mm. A mass 0.3 kg is attached to the ring of the blower fan at 00 of the
protractor and the shaft is run at the same speed. The amplitude of oscillations is observed to
be 9 mm. Then the mass is removed and attached to the ring of the blower at 900 of the
protractor. When the machine is run at the same speed, the amplitude of oscillations is
observed to be 11.3 mm. Next, the same mass is attached to the ring at 1800 of the protractor
and the machine is run. This time, the amplitude of oscillations is observed to be 7 mm.
Determine the required balance mass and also its location on the ring in order to balance the
fan perfectly.

Solution
The experimental readings are: A1 = 6 mm, A2 = 9 mm, A3 = 11.3 mm and A4 = 7 mm.
The amplitudes are very small and they may give rise to considerable geometric errors, when
they are to be represented as vectors. Hence, let us take a scale, 1 mm of amplitude to be
represented by a length 10 mm. According to this scale, the lengths of various vectors are,
A1 = 60 mm, A2 = 90 mm, A3 = 113 mm and A4 = 70 mm
Draw a line OE measuring 120 mm to represent 2A1. See Figure 14.47.
Construct the triangle OEB such that OB = 90 mm (A2) and EB = 70 mm (A4).
Locate the midpoint A of OE.
 40

Join A and B. Measure angle OAB. This is β. Angle β = 1050.

Taking A as center and AB as radius, describe a circle. Draw the diameter CC* which is
perpendicular to the diameter AD. Test whether OC = 113 mm of OC* = 113 mm.
Clearly, OC = 113 mm.
Therefore, the balance mass is to be placed at an angle θ = – (180 – β) = –750.
The balance mass, mB = m × (OA/AB) = 0.3×(60/53) = 0.34 kg. Answers

It is to be observed that in actual practice, we will not get OC or OC* exactly equal to A3..
This is because of experimental errors. See which one is almost closer to A3.
Now let us learn the two plane balancing. The name two plane balancing implies that
it is concerned with balancing of a shaft. We come across shafts whose unbalances are not
known to us. In section 14.7 we learned the principle of balancing. It says that there may be
any number of unbalances on the shaft. But one can achieve complete balance of the shaft by
attaching two appropriate masses, in two different planes, at appropriate orientations. While
proving the principle of balancing, we showed that the shaft containing several unbalances is
equivalent to a shaft carrying only two unbalance masses in two different planes A and B as
in Figure 14.48. We will now have in our minds that an unbalanced shaft means, a shaft with
two unbalances only. To be consistent with our earlier discussions, consider the shaft as
shown in the Figure 14.49. The shaft is supported on bearing at P and Q. The bearings P and
Q may also be referred as left and right bearings, respectively. The balancing planes are A
and B. Planes A and B may also be referred as left balancing plane and right balancing plane,
respectively. For the sake of convenience, we will be considering an x-y coordinate system
wherever we require, as shown in the Figure 14.49. The x-y coordinate system is attached to
the shaft and rotates along with the shaft. It is like the protractor we considered in cradle
balancing machine. Here also we can think of protractors attached to the shaft in planes A and
B. The angular position of the unbalance mass or balance mass is measured using θ, taking x-
axis as reference for the measurement of the angle and measurement is done in the clockwise
sense as seen from the bearing P. Let MA and MB be the unbalance masses at distances EA and
EB, in planes A and B, respectively. Note that their angular positions are indicated by θA and
θB. The unbalances in planes A and B are, respectively, RA and RB which are given by,
] = K] u] and 8 = K8 u8 (14.54)
 41

The problem here is we do not know the magnitude and direction of RA and RB. If we know
this, the immediate next step would be to attach masses mA and mB at distances eA and eB,
diametrically opposite to RA and RB , respectively, such that
] ] = K] u] and 8 8 = K8 u8 (14.55)
Then the shaft is balanced completely. The masses mA and mB are called balance masses.
Now we want to balance this shaft. One straight forward method is to make use of single
plane balancing method we learned. It may be as follows. For the given rotor, we have
decided where we would like to have balance planes A and B. Refer to the cradle balancing
machine described in Figure 14.43. Mount the shaft to be balanced in the place of the shaft
shown in the figure. The hinge ‘A’ of the cradle may be located in such a way that the balance
plane A of the shaft passes through this hinge. The centrifugal forces due to RA will always be
in the plane containing the hinge A and they have no effect on creating oscillations to the
cradle. Thus the effect of unbalance in plane A is suppressed. The unbalance RB in plane B
causes oscillations of the cradle. This plane can be balanced by the procedures we learned
for single plane balancing. After placing appropriate balance mass in plane B, takeout the
shaft from the bearings, and reverse its orientation. That is, plane B of the shaft will now be
in the earlier location of plane A and plane A of the shaft will now occupy the earlier location
of the plane B. Repeat the procedure and determine the appropriate balance mass to be placed
in plane B. This is how we can also balance a shaft using cradle balancing machine. This is
very straight forward and we are able balance a shaft using single plane balancing concepts.
For small and portable shafts, a cradle balancing machine can be used in this manner. This is
the limitation of this approach. If we have large and heavy rotors, then we may not be able
use a cradle balancing machine. Such huge rotors though tested well for balancing in the
factory, it may get disturbed during transport, handling and installing in the new place. So
normally, after installation, the rotor is tested for balancing in the site itself. This is called
Field Balancing. Now we wish to learn the field balancing of a shaft.
Recall that when we used cradle balancing machine, we suppressed the effect of the
horizontal component of the centrifugal force by allowing the hinges to take up this load.
Only the vertical component was causing oscillations to the cradle. We also treated the
amplitude of oscillations as the magnitude of a vector; A1, A2, A3 and A4 in the four vector
method. But now the shaft is in bearings at P and Q and the vibrations at P and Q may be in
any manner. It may be shown typically as in the Figure 14.50. At P the vibrations are taking
place along a line making and angle θP with x-axis and at Q the vibrations are taking place
 42

along a line making and angle θQ with x-axis. Let the amplitude of vibrations at P and Q may
be XP and XQ , making angles θP and θQ , respectively. In the present discussion, it would be
convenient to use complex form of vectors. That is, XP and XQ may be represented as
vw = x ∠$ = x (cos $ + " sin $ ) (14.56a)
and vz = x ∠$ = x {cos $ + " sin $ | (14.56b)
We are using a notation, Bold form to represent the quantity as a vector and without bold to
represent only the magnitude. Thus XP is a vector and XP is its magnitude. In a similar
manner, the original unbalances may be represented as,
B_ = ] ∠$] and B} = 8 ∠$8 (14.57)
In the discussion to follow, we shall extend this notation with appropriate subscripts. In the
present days, sensors are available which can give us the values (XP , θP) and (XQ , θQ). The
field testing is done with three test runs, as follows.
Test Run 1 Run the rotor (shaft) as it is at certain speed. Measure XP and XQ .
These are due to the original unbalances RA and RB already existing in the
rotor.

Test Run 2 Add a trial mass ~_ = ] ∠$•] in plane A at certain radius eA. Therefore, the
unbalance created is €_ = I] ∠$•] , where I] = ] ] .
Now measure the amplitudes, XPA and XQA

vw_ = x ] ∠$ ] 4#h vz_ = x ] ∠$ ]

XPA means amplitude at P due to trial mass in plane A. Similarly, XQA means
amplitude at Q due to trial mass in plane A.

Test Run 3 Remove mA in plane A and add a trial mass ~} = 8 ∠$•8 in plane B at
certain radius eB. Therefore, the unbalance created is €} = I8 ∠$•8 ,
where I8 = 8 8 . Now measure the amplitudes XPB and XQB .

vw} = x 8 ∠$ 8 4#h vz} = x 8 ∠$ 8

XPB means amplitude at P due to trial mass in plane B. Similarly, XQB means
amplitude at Q due to trial mass in plane B.

It is to be noted that mA need not be same as mB and θmA need not be same as θmB . It would
be pleasant if these angles are taken as some nice angles such as 0, 900 , 1800 and 2700. It is
because these angles are in our hands and we are free to give any values as we like.
Otherwise also we can proceed with balancing problem. This is not a hurdle at all. Further, it
would be nice if we take eA = eB = unity.
 43

Before we proceed further, let us see the term flexibility influence coefficient. If we apply a
force F at its free end A, of a linear spring, as shown in Figure 14.51(a), the spring extends
and the end A moves through a linear distance x. Then x and F are related as x = f F . Where
f is called flexibility influence coefficient (mm/N) of the spring; it is like reciprocal of
stiffness. It may be defined as displacement caused by a unit force. Figure 14.51(b) shows a
cantilever beam. Beam is also a spring. When force is applied it deflects. When force is
removed it regains its original shape. Hence, a beam can also be considered as a spring. In
Figure 14.51(b) the force is applied at point P and the deflection is measured at point Q.
These two may also be related through a flexibility influence coefficient fQP , as in the case of
a linear spring. The flexibility influence coefficient fQP may viewed as deflection at Q due to
unit force applied at P. In this case, fQP may be called beam flexibility. If the locations of P
and Q are changed, then fQP will also change.

Just as we have seen relating force and deflection in the case of a beam spring through
appropriate beam flexibility influence coefficient, we wish to relate the amplitude of
vibration with the unbalance, through a similar term. Here, both the amplitude of vibration
and the unbalance have not only the magnitude but also orientation. Our flexibility
coefficients must be able to relate both simultaneously. Let fPA be the flexibility coefficient
which can relate the unbalance in plane A and amplitude of vibration at P. It is to be read as,
amplitude of vibration at P due to unit unbalance in plane A. We make use of four such
flexibility coefficients which may be listed as follows.
fPA amplitude of vibration at P due to unit unbalance in plane A
fQA amplitude of vibration at Q due to unit unbalance in plane A
fPB amplitude of vibration at P due to unit unbalance in plane B
fQB amplitude of vibration at Q due to unit unbalance in plane B

It is to be noted that all the above four flexibility coefficients are complex quantities.
Using these flexibility coefficients, we may write the following relations.
vw_ = vw + •w_ €_ vz_ = vz + •z_ €_ (14.58a, b)
vw} = vw + •w} €} vz} = vz + •z} €} (14.58c, d)
XP is the amplitude of vibration at P due to original unbalance already existing in the rotor.
This is from the first test run.
Now assume that the shaft is perfect and there is no unbalance at all.
 44

If a unit unbalance is created in plane A then the amplitude of vibration at P is fPA . Then for
an unbalance of uA created in plane A, the amplitude of vibrations at P would be fPA uA .
In the second test run, an unbalance uA is created in plane A and amplitude of vibrations at P
was measured as XPA . This amplitude of vibrations is not only due to the original unbalance
but also due to the unbalance uA created in plane A.
Therefore, XPA must be sum of XP and fPA uA . This is what we have shown in Equation
(14.58a). We can understand the other three relations in Equation (14.58) in similar manner.
It is to be observed that the relations in Equation (14.58a,b) are connecting the readings in
test runs 1 and 2 and relations in Equation (14.58c,d) are connecting the readings in test runs
1 and 3. It is also to be observed that these are not algebraic additions. Since all the
quantities are in complex numbers, it may be treated as vector summation.
Now from the Equations (14.58) solve for flexibility coefficients as,
vw_ − vw vz_ − vz
•w_ = •z_ = (14.59a, b)
€_ €_
vw} − vw vz} − vz
•w} = •z} = (14.59c, d)
€} €}
RA and RB are the original unbalances existing on the shaft and they are the ones which gave
vibrations at P and Q in the first test run. Hence, XP and XQ may be expressed using the
flexibility coefficients as
vw = •w_ B_ + •w} B} (14.60a)
vz = •z_ B_ + •z} B} (14.60b)
These two equations may now be solved for RA and RB as
∆ƒ ∆i
B_ = and B} = (14.61)
∆ ∆

vw •w} •w_ vw •w_ •w}

where, ∆ƒ = h 3 „ … , ∆i = h 3 „ … and ∆= h 3 „ … (14.62)
vz •z} •z_ vz •z_ •z}

vw •z} − vz •w} vz •w_ − vw •z_

Therefore, B_ = and B} = (14.63)
•w_ •z} − •z_ •w} •w_ •z} − •z_ •w}
 45

After getting RA and RB , the magnitudes RA and RB and the angles θA and θB can be found
out. However, sufficient care must be taken to decide proper quadrant for the angles θA and
θB. The following problem illustrates the procedure of calculations.

Example 14.7
The readings taken in a field testing of a rotor are as follows.

Test Run 1: XP = 8.6 ∠630 XQ = 6.5 ∠2060 (in mm)

Unbalances used: uA = 10.0 ∠2700 uB = 12.0 ∠1800 (in kg.mm)

Test Run 2: XPA = 5.9 ∠1230 XQA = 4.5 ∠2280 (in mm)

Test Run 3: XPB = 6.2 ∠360 XQB = 10.4 ∠1620 (in mm)
Determine the unbalances present in the shaft.
Solution
Let us first write various quantities in the usual complex number form.

XP = 8.6 ∠630 = 8.6(cos 630 + i sin630 ) = 3.9043 + i 7.6627 (mm)

XQ = 6.5 ∠206 0 0 0
= 6.5(cos206 +i sin206 ) = –5.8422 – i 2.8494 (mm)
uA = 10.0 ∠2700 = 10.0(cos2700+i sin2700) = – i10.000 (kg.mm)
uB = 12.0 ∠180 0 0 0
= 12.0(cos180 +i sin180 ) = –12.000 (kg.mm)
XPA = 5.9 ∠123 0 0 0
= 5.9(cos123 +i sin123 ) = – 3.2134+ i 4.9482 (mm)
XQA = 4.5 ∠228 0 0 0
= 4.5(cos228 +i sin228 ) = – 3.0111– i 3.3442 (mm)
XPB = 6.2 ∠36 0
= 0 0
6.2(cos 36 + i sin36 ) = 5.0159+i 3.6443 (mm)
XQB =10.4 ∠162 0 0 0
= 10.4(cos162 +i sin162 ) = – 9.8910+i 3.2138 (mm)

Let us next calculate various flexibility coefficients.

vw_ − vw ( – 3.2134 + C 4.9482) − (3.9043 + C 7.6627)
•w_ = = = 0.2714 − C0.7118
€_ – C 10

vz_ − vz ( – 3.0111– C 3.3442) − (– 5.8422 – C 2.8494)

•z_ = = = 0.0495 + C0.2831
€_ – C 10

vw} − vw ( 5.0159 + C 3.6443) − (3.9043 + C 7.6627)

•w} = = = −0.0926 + C0.3349
€} – 12

vz} − vz ( – 9.8910 + C 3.2138) − (– 5.8422 – C 2.8494)

•z} = = = 0.3374 − C0.5053
€} – 12
 46

Units of all these influence coefficients are kg–1. We shall now calculate RA and RB .
∆ƒ = vw •z} − vz •w}
= (3.9043 + C 7.6627)(0.3374 − C0.5053) − (– 5.8422 – C 2.8494)(−0.0926 + C0.3349)
= (5.1890 + C 0.6127) − (1.4953 − C1.6924)
= (3.6937 + C 2.3051) ( / )
∆i = vz •w_ − vw •z_
= (– 5.8422 – C 2.8494)(0.2714 − C0.7118) − (3.9043 + C 7.6627)(0.0495 + C0.2831)
= (−3.6140 + C 3.3848) − (−1.9762 + C1.4844)
= (−1.6378 + C 1.9004) ( / )

∆ = •w_ •z} − •z_ •w}

= (0.2714 − C0.7118)(0.3374 − C0.5053) − (0.0495 + C0.2831)(−0.0926 + C0.3349)
= (−0.2680 − C 0.3773) − (−0.0994 − C0.0097)
= (−0.1687 − C 0.3677) ( 5
)

Therefore,
∆ƒ 3.6937 + C 2.3051
B_ = = = −8.9873 + C 5.9238 ( . )
∆ −0.1687 − C 0.3677

∆i −1.6378 + C 1.9004
B8 = = = −2.5819 − C 5.6392 ( . )
∆ −0.1687 − C 0.3677

We now wish to express RA and RB in the form,

B_ = ] ∠$] 4#h B} = 8 ∠$8
B_ = −8.9873 + C 5.9238 Therefore, ] = 0(−8.9873) + (5.9238) = 10.764 kg. m
We have, RA cosθA = – 8.9873 and RA sinθA = 5.9238
Since sin is positive and cos is negative, θA = tan-1{5.9238/(-8.9873)}+1800 = 146.60
Therefore,
B_ = −8.9873 + C 5.9238 = ƒŒ. •Ž• ∠ƒ•Ž. ŽŒ ( . ) Answer
Similarly,
B8 = −2.5819 − C 5.6392 = Ž. iŒi∠i••. •Œ ( . ) Answer

The calculations are tedious and there is every possibility of making calculation mistakes. A
computer code may be written to calculate the unbalance masses and their location. This is to
be done after doing at least one problem with hand calculator. An excel sheet may be
prepared to do the same job. See Problems P14.14 and P14.15.
 47

14.11 Closure
In this chapter we first explained how the dynamic reactions are produced in a rotor.
We have learned the concepts of static balancing and dynamic balancing of a rotor. Then we
learned the principle of balancing. How a rotor with known unbalances can be balanced was
explained with examples. Then we learned the balancing of reciprocating machinery. We
introduced the concepts of primary balancing and secondary balancing. Finally, we explained
how a rotor with unknown unbalances can be balanced using balancing machines. The
concept and procedure of field balancing is also discussed.

Summary
What we learned may be summarized as follows.
• The bearings supporting a rotor develop dynamic reactions which are meant for
supporting the centrifugal forces generated by the unbalances.
• The problem of balancing of a rotor is how to make the bearings free from supplying
dynamic reactions.
• The dynamic reactions are proportional to the square of the speed of rotation of the
shaft.
• A rotor can be balanced completely, by attaching two balance masses in two different
planes at appropriate orientations. This is the principle of balancing.
• If the unbalances are known, then it is possible to obtain the balancing masses either
by analytical method or by graphical method.
• If the unbalances are not known which is usually the case, then the required balancing
masses may be determined by using balancing machines.
• The next aspect of balancing is balancing of the crankshaft of reciprocating machines.
The pistons move inside the cylinders with accelerations.
• These cause vibrations (shaking) of the body of the engine.
• The concept of primary forces, secondary forces and partial balancing are explained.
• The problem of balancing is how to reduce the vibrations of the frame of the engine.
• The field balancing of a rotor is also explained.
 48

Questions for Review

Q14.1 Distinguish static and dynamic reactions
Q14.2 What is the balancing problem associated with a rotor shaft?
Q14.3 Why centrifugal forces are referred as inertia forces?
Q14.4 Distinguish single plane balancing and two plane balancing.
Q14.5 Give examples of single plane balancing.
Q14.6 Distinguish static and dynamic balancing of rotors.
Q14.7 Prove that a shaft which is dynamically balanced is also balanced statically but the
reverse may not be true.
Q14.8 State the principle of balancing.
Q14.9 What are primary and secondary forces?
Q14.10 What are shaking forces?
Q14.11 What is partial balancing of reciprocating machines?
Q14.12 Sketch the crankshaft of a four cylinder inline engine and deduce the required firing
order(s).
Q14.13 Describe the cradle balancing machine. Explain how it can help to balance a given
rotor whose unbalances are not known.
Q14.14 What is field balancing? When is it done?
Q14.15 Explain the procedure of field balancing.
Q14.16 Why balancing is extremely important for high speed rotors?

Problems for Practice

P14.1 A shaft of length 5m is supported on bearings at its ends. It is carrying a wheel of
weight 500 N at a distance of 2 m form one bearing. The center of mass of the
wheel is at a distance of 5 mm from its geometric center. Neglect the weight of the
shaft. The shaft rotates at 200 rpm. Calculate (a) static reactions and (b) dynamic
reactions.

P14.2 A shaft of length 3.5 m is supported on two bearings A and B. A rotor weighing
400 N and having its center of mass at a distance of 8 mm from its geometric center
is mounted on the shaft at a distance of 0.5 m from the bearing A. The shaft is also
carrying another rotor weighing 700 N which has its center of mass at a distance of
10 mm from its geometric center, at a distance of 1 m from bearing B. The two
eccentricities are diametrically opposite. The shaft rotates at 450 rpm. Calculate the
unbalanced force and unbalanced couple. Calculate also the dynamic reactions.

P14.3 A un balanced couple of magnitude 387 N.m was noticed on a shaft of length 3m.
Determine the dynamic reactions.

P14.4 A shaft carries three masses, all being in one plane only, at different distances from
the axis of rotation as follows.

Masses, kg m1 = 12 m2 = 10 m3 = 17
Distances from the axis of the shaft, mm e1 = 100 e2 = 125 e3 = 50

The masses m2 and m3 are at angular positions 600 and 1350 , both being measured
in the same direction, respectively, with respect to the mass m1. In order to balance
this group of three masses, it is desired to attach another mass m4 in the plane of the
 49

three masses, at 100 mm distance from the axis of rotation. What should be the
mass m4 and what is its angular orientation with respect to m1 ? Solve the problem
by analytical method and also by graphical method.

P14.5 Five masses mk , k = 1 to 5 revolve in the same plane at 15 mm radii. The angular
positions of m2 , m3 , m4 and m5 with respect to m1 are, 600 , 1350 , 2100 and 2700 ,
respectively, all being measured in the same direction. If m1 = 5 kg , m2 = 2.5 kg
and m3 = 4 kg, determine the masses m4 and m5 , in order to balance this group of
five masses. Solve the problem by both analytical and graphical methods.

P14.6 A shaft carries two masses M1 and M2 ,which are, respectively, 3.63 kg and 9.07 kg.
The axial distance between them is 355 mm The eccentricities of these masses are
r1 = 127 mm and r2 = 191 mm. The angular position of M2 with respect to M1 is
1500. It is proposed to place two balance masses M3 and M4 both at eccentricities of
102 mm. It is also proposed to have the mass M3 in the plane containing M2 itself
and the plane containing the mass M4 to be in between the planes containing M2 and
M1, at a distance of 152 mm from the plane containing M2. For achieving complete
balancing, what should be the masses M3 and M4 and what are their angular
locations with respect to M1 ?

P14.7 A rotating shaft carries four rotors P, Q, R and S. Their centers of mass are at
distances, 30 mm, 38 mm, 40 mm and 35 mm, respectively, from the axis of the
shaft. The masses of rotors P, R and S are, respectively, 7.5 kg, 5 kg and 4 kg. The
axial distance between the rotors P and Q is 400 mm and that between the rotors Q
and R is 500 mm. The eccentricities of P and R perpendicular to each other. For
achieving complete balance, determine
(i) Angular positions of the eccentricities of rotors Q and S, with respect to the
eccentricity of rotor P,
(ii) Axial distance between the rotors R and S, and
(iii) The mass of the rotor Q.

P14.8 Show that if a shaft is balanced dynamically, it is also balanced statically but the
reverse may not be true.

P14.9 A single cylinder horizontal oil engine has crank and connecting rod of lengths,
respectively, 180 mm and 900 mm, respectively. The mass revolving parts are
equivalent to 55 kg at crank radius. The mass of piston and gudgeon pin is 45 kg.
The mass of connecting rod is 58 kg and its mass center is located at 260 mm from
the crank pin center. Revolving balance mass is to be placed at a distance of
210 mm on the extensions of the crank webs. If it is desired to balance the revolving
parts completely and balance 2/3 of reciprocating mass, what should be the balance
mass?

P14.10 Show that the crankshaft of a four cylinder inline engine is totally balanced for
primary forces.
P14.11 In the field testing of the propeller of an aircraft, the following experimental
readings are observed with a trial mass of 250 grams.
A1= 6.8 mm, A2= 12 mm, A3= 3.5 mm and A4= 7 mm. Determine the required
balance weight and its location.
 50

P14.12 Write a general computer program for calculating the required balance weight and
its location, in single plane balancing.

P14.13 The readings taken in a field testing of a rotor are as follows.

XP = 6.5 ∠720 XQ = 8.4 ∠420 (in mm)
uA = 10.0 ∠2700 uB = 10.0 ∠900 (in kg.mm)
XPA = 8.7 ∠62 0
XQA = 2.9 ∠28 0
(in kg.mm)
XPB =16.0 ∠56 0
XQB = 9.4 ∠12 0
(in kg.mm)
Determine the unbalances present in the shaft.

P14.14 Write a general computer program for calculating the required balance masses and
their locations, in two plane (field) balancing.

P14.15 Use an excel sheet for calculating the required balance masses and their locations, in
two plane (field) balancing. Make it most general.

References
1. Thomas Bevan, Theory of Machines, Pearson Publishers, 2011\
2. Shigley, J.E. and Uicker, J.J. (Jr), Theory of Machines and Mechanisms, McGraw Hill
Publishing Company, New York, 1995.
3. Mabie, H.H. and Ocvirk, F.W., Mechanisms and Dynamics of Machinery, John Wiley
and Sons, New York, 1978.
4. Venkatachalam, R. and Satyanarayana, A., An Experimental Study of Balancing of
Rotors, Invention Intelligence, National Research and Development Corporation,
India, Vol. 22, No. 7, July 1987, pp. 274 - 278.
5. Thearle, E.L., Dynamic Balancing in the Field, Transactions of ASME, 1934, pp. 745.
 51

Blaise Pascal
Born on 19 June, 1623 Died on 19 August, 1662

Blaise Pascal was a French mathematician, physicist, inventor,

writer and Catholic theologian. He was a child prodigy. His
earliest work was in the natural and applied sciences where he
made important contributions to the study of fluids, and clarified
the concepts of pressure and vacuum by generalizing the work
of Evangelista Torricelli. In 1642, while he was still a teenager, he
started some pioneering work on calculating machines and
established himself as one of the first two inventors of
the mechanical calculators.
Pascal wrote a significant treatise on the subject of projective
geometry and probability theory at the age of 16. He also wrote an
important treatise on the arithmetical triangle, and on the
cycloid and its use in calculating the volume of solids.
The unit of Pressure (Pascal, Pa) was named in his honor. One
high level computer language Pascal, was also named in his honor.

Richard Edler von Mises

Born on 19 April, 1883 Died on 14 July, 1953

Richard Edler von Mises was a scientist and mathematician who

worked on solid mechanics, fluid mechanics, aerodynamics, aero-
nautics, theory of probability and statics. He held the position of
Gordon-McKay Professor of Aerodynamics and Applied Mathe-
matics at Harvard University. In aerodynamics, von Mises made
notable advances in boundary-layer-flow theory and airfoil design.
He developed the distortion energy theory of stress, which is one
of the most important concepts used by engineers in material
strength calculations. In solid mechanics, von Mises made an
important contribution to the theory of plasticity by formulating
what has become known as the von Mises yield criterion.
In probability theory, he was the person who originally proposed
the now famous birthday problem. He also defined the impossi-
bility of a gambling system.