Balancing

▪ Unbalance of forces is produced in rotary or

reciprocating machinery due to the inertia forces
▪ Balancing is done to reduce the unbalanced forces to
an acceptable level and if possible is eliminated
entirely.
▪ Example, in steam turbine rotors, engine crankshafts,
rotary compressors and centrifugal pumps.
▪ Most of the serious problems encountered in high-
speed machinery are the direct result of unbalanced
forces.
▪ These forces exerted on the frame by the moving
machine members are time varying, impart vibratory
motion to the frame and produce noise.
 Static Balancing
▪ A system of rotating masses is said to be in static balance if the
combined mass centre of the system lies on the axis of rotation.
▪ Let F be the vector sum of these forces,
𝐹 = 𝑚1 𝐫1 𝜔2 + 𝑚2 𝐫2 𝜔2 + 𝑚3 𝐫3 𝜔2
▪ The rotor is said to be statically balanced if the vector sum F is
zero.
▪ If F is not zero, the rotor is unbalanced, then a counterweight of
mass 𝑚𝑐 , at radius 𝐫𝑐 is introduced to balance the rotor so that
𝑚1 𝐫1 𝜔2 + 𝑚2 𝐫2 𝜔2 + 𝑚3 𝐫3 𝜔2 + 𝑚𝑐 𝐫𝑐 𝜔2 = 0
𝑚1 𝐫1 + 𝑚2 𝐫2 + 𝑚3 𝐫3 = 0
∑𝑚𝐫 + 𝑚𝑐 𝐫𝑐 = 0
 Static Balancing
▪ The equation can be solved either mathematically or graphically. To solve it
mathematically, divide each force into its x and z components,
∑𝑚𝑟cos𝜃 + 𝑚𝑐 𝑟𝑐 cos𝜃𝑐 = 0
∑𝑚𝑟sin𝜃 + 𝑚𝑐 𝑟𝑐 sin𝜃𝑐 = 0
𝑚𝑐 𝑟𝑐 cos𝜃𝑐 = −∑𝑚𝑟cos𝜃
𝑚𝑐 𝑟𝑐 sin𝜃𝑐 = −∑𝑚𝑟sin𝜃
2 2

𝑚𝑐 𝑟𝑐 = ෍ 𝑚𝑟cos𝜃 + ෍ 𝑚𝑟sin𝜃

− ∑ 𝑚𝑟sin𝜃
tan𝜃𝑐 =
− ∑ 𝑚𝑟cos𝜃
 Static Balancing
Q. Three masses of 8 kg, 12 kg and 15kg attached at radial distances of 80 mm, 100
mm and 60 mm respectively to a disc on a shaft are in complete balance. Determine
the angular positions of the masses of 12 kg and 15 kg relative to the 8kg mass.
640cos0∘ + 1200cos𝜃2 + 900cos𝜃3 = 0

1200cos𝜃2 = − 640 + 900cos𝜃3 (𝑖)

640sin0∘ + 1200sin𝜃2 + 900sin𝜃3 = 0

1200sin𝜃2 = −900sin𝜃3 (𝑖𝑖)

Squaring and adding (i) and (ii),

12002 = 6402 + 9002 cos 2 𝜃3 + 2 × 640 × 900 × cos𝜃3 + 9002 sin2 𝜃3
cos𝜃3 = 0.1913
 Static Balancing
𝜃3 = 79∘ or 281∘
When 𝜃3 = 79∘ , 1200sin𝜃2 = −900sin79∘

sin𝜃2 = −0.736, or 𝜃2 = −47.4∘ or 132.6∘ or 227.4∘

But as sin 𝜃2 is negative and cos 𝜃2 is also negative, the corresponding angle 𝜃3 =
227.4𝑜

In a similar way by taking 𝜃3 =281𝑜 , 𝜃2 can be found to be 132.6𝑜

 Dynamic Balancing
▪ When several masses rotate in different planes, the centrifugal forces, in
addition to being out of balance, also form couples.
▪ BALANCING OF SEVERAL MASSES IN DIFFERENT PLANES
 Dynamic Balancing
For complete balancing of the rotor, the resultant force and the resultant couple
both should be zero
𝑚1 𝐫1 𝜔2 + 𝑚2 𝐫2 𝜔2 + 𝑚3 𝐫3 𝜔2 = 0
𝑚1 𝐫1 𝑙1 𝜔2 + 𝑚2 𝐫2 𝑙2 𝜔2 + 𝑚3 𝐫3 𝑙3 𝜔2 = 0
If the above equations are not satisfied, then there are unbalanced forces and
couples.
To balance it, introduce two counter-masses 𝑚𝑐1 and 𝑚𝑐2 at radii 𝒓𝑐1 and 𝒓𝑐2
respectively. The resultant force can be written as:
𝑚1 𝐫1 𝜔2 + 𝑚2 𝐫2 𝜔2 + 𝑚3 𝐫3 𝜔2 + 𝑚𝑐1 𝐫𝑐1 𝜔2 + 𝑚𝑐2 𝐫𝑐2 𝜔2 = 0
𝑚1 𝐫1 + 𝑚2 𝐫2 + 𝑚3 𝐫3 + 𝑚𝑐1 𝐫𝑐1 + 𝑚𝑐2 𝐫𝑐2 = 0
∑𝑚𝐫 + 𝑚𝑐1 𝐫𝑐1 + 𝑚𝑐2 𝐫𝑐2 = 0
 Dynamic Balancing
The resultant couple (taking moments about O ) can be written as:
𝑚1 𝐫1 𝑙1 𝜔2 + 𝑚2 𝐫2 𝑙2 𝜔2 + 𝑚3 𝐫3 𝑙3 𝜔2 + 𝑚𝑐2 𝐫𝑐2 𝑙𝑐2 𝜔2 = 0
𝑚1 𝐫1 𝑙1 + 𝑚2 𝐫2 𝑙2 + 𝑚3 𝐫3 𝑙3 + 𝑚𝑐2 𝐫𝑐2 𝑙𝑐2 = 0
Σ𝑚𝐫𝑙 + 𝑚𝑐2 𝐫𝑐2 𝑙𝑐2 = 0

Dividing the equation into components

Σ𝑚𝐫𝑙cos𝜃 + 𝑚𝑐2 𝐫𝑐2 𝑙𝑐2 cos𝜃𝑐2 = 0
Σ𝑚𝐫𝑙sin𝜃 + 𝑚𝑐2 𝐫𝑐2 𝑙𝑐2 sin𝜃𝑐2 = 0

𝑚𝑐2 𝐫𝑐2 𝑙𝑐2 cos𝜃𝑐2 = −Σ𝑚𝐫𝑙cos𝜃

𝑚𝑐2 𝐫𝑐2 𝑙𝑐2 sin𝜃𝑐2 = −Σ𝑚𝐫𝑙sin𝜃

 Dynamic Balancing
Squaring and adding the above two eq(s), we get:
𝑚𝑐2 𝑟𝑐2 𝑙𝑐2 = (Σ𝑚𝑟𝑙cos𝜃)2 + (Σ𝑚𝑟𝑙sin𝜃)2

and by dividing we get:

−Σ𝑚𝑟𝑙sin𝜃
tan𝜃𝑐2 =
−Σ𝑚𝑟𝑙cos𝜃
Similarly by solving the force eq. by taking its components we get:
𝑚𝑐1 𝑟𝑐1 = Σ𝑚𝑟cos𝜃 + 𝑚𝑐2 𝑟𝑐2 cos𝜃𝑐2 2 + Σ𝑚𝑟sin𝜃 + 𝑚𝑐2 𝑟𝑐2 sin𝜃𝑐2 2

− Σ𝑚𝑟sin𝜃 + 𝑚𝑐2 𝑟𝑐2 sin𝜃𝑐2

tan𝜃𝑐1 =
− Σ𝑚𝑟cos𝜃 + 𝑚𝑐2 𝑟𝑐2 cos𝜃𝑐2
 Balancing of Reciprocating Mass
Acceleration of the reciprocating mass
of a slider-crank mechanism :
cos2𝜃
𝑓= 𝑟𝜔2 cos𝜃 +
𝑛

Therefore, the force required to

accelerate mass m is
cos2𝜃
𝐹= 𝑚𝑟𝜔2 cos𝜃 +
𝑛
2 2
cos2𝜃
= 𝑚𝑟𝜔 cos𝜃 + 𝑚𝑟𝜔
𝑛
 Balancing of Reciprocating Mass
Maximum value of the primary force =𝑚𝑟𝜔2

Maximum value of the secondary force = (𝑚𝑟𝜔2 )/𝑛

To minimize the effect of the unbalanced force, a compromise is, usually, made, i.e.,
2/3 of the reciprocating mass is balanced (or a value between one-half and three-
quarters). If c is the fraction of the reciprocating mass

Primary force balanced by the mass =𝑐𝑚𝑟𝜔2 cos 𝜃

Primary force unbalanced by the mass = 1 − 𝑐 𝑐𝑚𝑟𝜔2 cos 𝜃

Vertical component of centrifugal force which remains unbalanced = 𝑐𝑚𝑟𝜔2 sin 𝜃

Resultant unbalanced force at any instant = (1 − 𝑐)𝑚𝑟𝜔 2 cos𝜃 2 + 𝑐𝑚𝑟𝜔 2 sin𝜃 2

 Effects of Partial Balancing in Locomotives
Locomotives usually have two cylinders.
The cranks of the two cylinders are set at 90° to each other so that the engine can be
started easily after stopping in any position.
1.Hammer-blow - Hammer-blow is the maximum vertical unbalanced force caused by
the mass provided to balance the reciprocating masses. Its value is 𝑚𝑟 𝜔2 .
2.Variation of Tractive Force - A variation in the tractive force (effort) of an engine is
caused by the unbalanced portion of the primary force which acts along the line of
stroke of a locomotive engine.
3. Swaying Couple - Unbalanced primary forces along the lines of stroke are
separated by a distance 𝑙 apart and Thus, constitute a couple. This tends to make the
leading wheels sway from side to side
 Balancing of Inline Engines
▪ If a reciprocating mass is transferred to the crankpin, the axial
component parallel to the cylinder axis of the resulting
centrifugal force represents the primary unbalanced force.
▪ Consider a shaft consisting of three equal cranks
unsymmetrically spaced. The crankpins carry equivalents of
three unequal reciprocating masses.
Primary force = ∑𝑚𝑟𝜔2 cos 𝜃
Primary couple = ∑𝑚𝑟𝜔2 𝑙cos 𝜃
Secondary for= ∑𝑚𝑟( 2𝜔 2 )/4𝑛 cos 2𝜃 = ∑𝑚𝑟𝜔2 /𝑛 cos 2𝜃
(2𝜔)2 𝜔2
Secondary couple == ∑𝑚𝑟 𝑙cos2𝜃 = ∑𝑚𝑟 𝑙cos2𝜃
4𝑛 𝑛
 Balancing of Inline Engines
Some multi-crank arrangements
1. In-line Two-cylinder Engine
Consider a two-cylinder engine, cranks of which
are 180° apart and have equal reciprocating masses.
Primary force
= 𝑚𝑟𝜔2 cos𝜃 + cos 180∘ + 𝜃 =0
Primary couple
2 𝑙 𝑙
=𝑚𝑟𝜔 cos𝜃 + − cos 180∘ + 𝜃
2 2
2
= 𝑚𝑟𝜔 𝑙cos 𝜃
 Balancing of Inline Engines
Maximum values are 𝑚𝑟𝜔2 𝑙 at 𝜃 = 0∘ and 180∘
𝑚𝑟𝜔2
Secondary force = cos2𝜃 + cos 360∘ + 2𝜃
𝑛
𝑚𝑟𝜔2
=2 cos2𝜃
𝑛
2𝑚𝑟𝜔2
Maximum values are when 2𝜃 = 0∘ , 180∘ , 360∘ and 540∘ 𝑜𝑟
𝑛
𝜃 = 0∘ , 90∘ , 180∘ , 𝑎𝑛𝑑 270∘
𝑚𝑟𝜔2 𝑙 𝑙
Secondary couple = cos2𝜃 + − cos 360∘ + 2𝜃 =0
𝑛 2 2
 Balancing of Inline Engines
𝑙 𝑙 1
𝑥−component = 𝑚𝑟𝜔2 cos120 + − cos 180∘ + 120∘
∘ = − 𝑚𝑟𝜔2 𝑙
2 2 2
𝑙 𝑙 3
𝑦−component = 𝑚𝑟𝜔2 sin120 + − sin 180∘ + 120∘
∘ = 𝑚𝑟𝜔2 𝑙
2 2 2

2 2
1 3
Primary couple = − 𝑚𝑟𝜔 2 𝑙 + 𝑚𝑟𝜔 2 𝑙 = 𝑚𝑟𝜔2 𝑙
2 2

The graphical solution has also been shown.

 Balancing of Inline Engines
2. In-line Four-cylinder
Engine

The angular positions for the

cranks are 𝜃 for the first,
(180 + 𝜃) for the second,
(180 + 𝜃) for the third, 𝜃 for
the fourth. Graphical solution
 Balancing of Inline Engines
Primary force
= 𝑚𝑟𝜔2 cos𝜃 + cos 180∘ + 𝜃 + cos 180∘ + 𝜃 + cos𝜃 = 0
Primary couple
2
3𝑙 𝑙 ∘
𝑙 ∘
3𝑙
= 𝑚𝑟𝜔 cos𝜃 + cos 180 + 𝜃 + − cos 180 + 𝜃 + − cos𝜃 = 0
2 2 2 2

𝑚𝑟𝜔2
Secondary force= cos2𝜃 + cos 360∘ + 2𝜃 + cos 360∘ + 2𝜃 + cos2𝜃
𝑛
4𝑚𝑟𝜔2
= cos2𝜃
𝑛
4𝑚𝑟𝜔2
Maximum value= at2𝜃 = 0∘ , 180∘ , 360∘ and 540∘ or 𝜃 = 0∘ , 90∘ , 180∘ and
𝑛
270∘
 Balancing of Inline Engines
Secondary couple
𝑚𝑟𝜔2 3𝑙 𝑙 𝑙
= ቈ cos2𝜃 + cos 360 + 2𝜃 + − cos 360∘ + 2𝜃
∘
𝑛 2 2 2
3𝑙
+ − cos2𝜃቉ = 0
2
 Balancing of V-Engines
Let θ be the angle moved by the crank from the x-axis.
Primary force
Primary force of 1 along line of stroke 𝑂𝐵1
= 𝑚𝑟𝜔2 cos(𝜃 − 𝛼)
Primary force of 1 along x-axis =𝑚𝑟𝜔2 cos(𝜃 − 𝛼)cos 𝛼
Primary force of 2 along line of stroke 𝑂𝐵2 =𝑚𝑟𝜔2 cos(𝜃 + 𝛼)
Primary force of 2 along the x-axis =𝑚𝑟𝜔2 cos(𝜃 + 𝛼)cos 𝛼
Total primary force along x-axis =𝑚𝑟𝜔2 cos 𝛼[cos(𝜃 − 𝛼) + cos(𝜃 + 𝛼)]
= 𝑚𝑟𝜔2 cos 𝛼[(cos 𝜃cos 𝛼 + sin 𝜃sin 𝛼) + (cos 𝜃cos 𝛼 − sin 𝜃sin 𝛼)]
= 𝑚𝑟𝜔2 cos 𝛼2 cos 𝜃 cos 𝛼 = 2𝑚𝑟𝜔2 cos 2 𝛼cos 𝜃
 Balancing of V-Engines
Similarly, total primary force along the z-axis
𝑚𝑟𝜔2 [cos(𝜃 − 𝛼)sin 𝛼 − cos(𝜃 + 𝛼)sin 𝛼]
= 𝑚𝑟𝜔2 sin𝛼[(cos𝜃cos𝛼 + sin𝜃sin𝛼) − (cos𝜃cos𝛼 − sin𝜃sin𝛼)]
= 𝑚𝑟𝜔2 sin𝛼2sin𝜃sin𝛼
= 2𝑚𝑟𝜔2 sin2 𝛼sin𝜃
Resultant primary force
= 2𝑚𝑟𝜔 2 cos 2 𝛼cos𝜃 2 + 2𝑚𝑟𝜔 2 sin2 𝛼sin𝜃 2

= 2𝑚𝑟𝜔2 cos 2 𝛼cos𝜃 2 + sin2 𝛼sin𝜃 2

It will be at an angle β with the x-axis, given by

sin2 𝛼sin𝜃
tan𝛽 =
cos 2 𝛼cos𝜃
 Balancing of V-Engines
If 2𝛼 = 90∘ , resultant force
= 2𝑚𝑟𝜔2 cos2 45∘ cos𝜃 2 + sin2 45∘ sin𝜃 2

= 𝑚𝑟𝜔2
sin2 45∘ sin𝜃
tan𝛽 = 2 ∘
= tan𝜃
cos 45 cos𝜃
i.e., β=θ or it acts along the crank and, therefore, can be completely balanced by a mass
at a suitable radius diametrically opposite to the crank such that m_r r_r=mr.
For a given value of α, the resultant primary force is maximum when
cos2 𝛼cos𝜃 2 + sin2 𝛼sin𝜃 2 is maximum
or cos 4 𝛼cos 2 𝜃 + sin4 𝛼sin2 𝜃 is maximum
 Balancing of V-Engines
or
𝑑
cos4 𝛼cos 2 𝜃 + sin4 𝛼sin2 𝜃 = 0
𝑑𝜃
−cos 4 𝛼. 2cos𝜃sin𝜃 + sin4 𝛼. 2sin𝜃cos𝜃 = 0
−cos 4 𝛼 ⋅ sin2𝜃 + sin4 𝛼 ⋅ sin2𝜃 = 0
sin2𝜃 sin4 𝛼 − cos 4 𝛼 = 0
As α is not zero, therefore, for a given value of α, the resultant primary force is
maximum when θ is zero degree.
Secondary force
𝑚𝑟𝜔2
Secondary force of 1 along𝑂𝐵1 = cos2(𝜃 − 𝛼)
𝑛
 Balancing of V-Engines
𝑚𝑟𝜔2
Secondary force of 1 along 𝑥-axis = cos 2(𝜃 − 𝛼)cos 𝛼
𝑛
𝑚𝑟𝜔2
Secondary force of 2 along 𝑂𝐵2 = cos 2(𝜃 + 𝛼)
𝑛
𝑚𝑟𝜔2
Secondary force of 2 along 𝑥-axis = cos 2(𝜃 + 𝛼)cos 𝛼
𝑛
Total secondary force along x-axis
𝑚𝑟𝜔2
= co s 𝛼 co s 2 𝜃 − 𝛼 + co s 2 𝜃 + 𝛼
𝑛
𝑚𝑟𝜔2
= co s 𝛼 co s 2 𝜃co s 2 𝛼 + si n 2 𝜃si n 2 𝛼 + co s 2 𝜃co s 2 𝛼 − si n 2 𝜃si n 2 𝛼
𝑛
2𝑚𝑟𝜔2
= co s 𝛼 co s 2 𝜃co s 2 𝛼
𝑛
 Balancing of V-Engines
2𝑚𝑟𝜔2
Similarly, secondary force along z-axis= sin𝛼sin2𝜃sin2𝛼
𝑛

Resultant secondary force

2𝑚𝑟𝜔2
= (co s 𝛼 co s 2 𝜃co s 2 𝛼)2 +(si n 𝛼 si n 2 𝜃si n 2 𝛼)2
𝑛
′
si n 𝛼 si n 2 𝜃si n 2 𝛼
ta n 𝛽 =
co s 𝛼 co s 2 𝜃co s 2 𝛼
If 2𝛼 = 90∘ or 𝛼 = 45∘ ,

2𝑚𝑟𝜔2 sin2𝜃 2 𝑚𝑟𝜔2

Secondary force = = 2 sin2𝜃
𝑛 2 𝑛
tan𝛽′ = ∞, 𝛽 ′ = 90∘
This means that the force acts along z-axis and is a harmonic force and special
methods are balance it.
V-Engines (V8 Example)
 Balancing of Radial-Engines
▪ A radial engine is a multicylinder
engine in which all the connecting
rods are connected to a common
crank.
▪ The analysis of forces in such type
of engines is much simplified by
using the method of direct and
reverse cranks.
▪ As all the forces are in the same
plane, no unbalance couples exist
▪ In a reciprocating engine, primary
force = 𝑚𝑟𝜔2 cos 𝜃 (along line of
stroke)
 Balancing of Radial-Engines
▪ In the method of direct and reverse cranks, a force identical to this force is
generated by two masses :
▪ A mass 𝑚/2, placed at the crank pin A and rotating at an angular velocity ω in
the given direction
▪ A mass m/2, placed at the crank pin of an imaginary crank OA^' at the same
angular position as the real crank but in the opposite direction of the line of
stroke. This imaginary crank is assumed to rotate at the same angular velocity
ω in the opposite direction to that of the real crank.
▪ The components of centrifugal force due to rotating masses along line of
stroke are
𝑚
▪ Due to mass at 𝐴 = 𝑟𝜔2 cos𝜃
2
𝑚
▪ Due to mass at 𝐴 = 𝑟𝜔2 cos𝜃
′
2
 Balancing of Radial-Engines
▪ Thus, total force along line of stroke = 𝑚𝑟𝜔2 cos 𝜃 which is equal to the
primary force.
▪ The components of the centrifugal forces of these two masses normal to the
line of stroke will be equal and opposite.
▪ The crank rotating in the direction of engine rotation is known as the direct
crank and the imaginary crank rotating in the opposite direction is known as
the reverse crank.
cos2𝜃
Secondary accelerating force = 𝑚𝑟𝜔2
𝑛
cos2𝜃
= 𝑚𝑟(2𝜔)2
4𝑛
𝑟
= 𝑚 (2𝜔)2 cos2𝜃
4𝑛
 Balancing of Radial-Engines
▪ This force can also be generated by two masses in a similar way as follows:
▪ A mass 𝑚/2, placed at the end of direct secondary crank of length 𝑟/(4𝑛) at
angle 2𝜃 and rotating at an angular velocity 2𝜔 in the given direction
▪ A mass 𝑚/2, placed at the end of reverse secondary crank of length 𝑟/(4𝑛) at
angle −2𝜃 rotating at an angular velocity 2𝜔 in the opposite direction
▪ Centrifugal force due to rotating masses along line of stroke are
𝑚 𝑟 𝑚𝑟𝜔2
Due to mass at 𝐶 = (2𝜔)2 cos2𝜃 = cos2𝜃
2 4𝑛 2𝑛
𝑚 𝑟 𝑚𝑟𝜔2
Due to mass at 𝐶′= (2𝜔)2 cos2𝜃 = cos2𝜃
2 4𝑛 2𝑛
𝑚 𝑟 𝑚𝑟𝜔2
Thus total force along line of stroke = 2 × (2𝜔)2 cos2𝜃 = cos2𝜃
2 4𝑛 𝑛
which is equal to the secondary force.
 Balancing of Reciprocating Machines

• Reciprocating unbalance arises due to the inertial forces associated with a translating
mass.
• Evident in piston engines and compressors.
• Leads to:
• - Shaking Force → translational vibration
• - Shaking Couple → rotational vibration
 Slider-Crank Mechanism
• Figure 1(a) shows a slider-crank mechanism with crank length ′𝑟′, connecting
rod length ′𝑙 ′and reciprocating mass ′𝑚′.
• 𝑚 consists of the piston mass plus part of the connecting-rod mass based on a
lumped-mass approximation.
• In what follows, it will be assumed that the angular velocity of the crank is
constant.
• It will also be assumed that the rotating unbalance associated with the
mechanism being examined is balanced by a counterweight mounted on the
crank.
• Figure 1(b) shows a free-body diagram of the frame.
 • Based on the foregoing assumptions, the forces transmitted to
the mechanism supports are obtained as follows

The net effects of these forces are a shaking force 𝐹10𝑥 and a
shaking couple consisting of equal and opposite forces 𝐹10𝑦 and
𝐹30𝑦. The shaking force produces translational vibration of the
frame, whereas the shaking couple results in rotational vibration
about an axis parallel to the crankshaft.
• The largest, and probably the most critical, of the three forces just defined is
𝐹10𝑥 . We will therefore restrict our attention to the balancing of this shaking
force, which, upon substitution of ∅ = 𝜔𝑡 is rewritten as

• The shaking force has variable magnitude and sense, but its line of action is
always along the cylinder centerline thus, the translational vibration induced
will be in that direction. The first term in the above equation, which is the
larger of the two terms, is called the primary part of the shaking force and
has a frequency 𝜔 equal to the rotational frequency of the crank. The second
term is referred to as the secondary part of the shaking force and has a
frequency 2𝜔 twice that of the crank.
 Partially balance forces in single-cylinder
engines
• Figure 2(a) shows the mechanism of Figure 1(a) with a
counterweight of mass 𝑚𝑐 mounted on the crank at a radial
distance 𝑟𝑐 from main bearing 𝑂1 and at an angular position
equal to ∅ + 180°. This mass will create a constant-magnitude
centrifugal force at 𝑂1 that rotates with speed 𝜔.
 Total Shaking Force

• The total shaking force will then be the vector sum of the centrifugal force and the
shaking force , as shown in Figure 2(b). In terms of x and y unit vectors,
Polar plot of the shaking force
• Clearly, this counterweight cannot eliminate the shaking force
entirely, because it introduces a nonzero y component.
However, by properly sizing the correction 𝑚𝑐𝑟𝑐 the maximum
magnitude of the shaking force can be reduced considerably.
• Correction amounts typically used range from 𝑚𝑐𝑟𝑐 = 𝑚𝑟/2 to
𝑚𝑐𝑟𝑐 = 2𝑚𝑟/3.
 Multi-cylinder Machines

• Many applications of the slider-crank mechanism in

1. Engines,
2. Pumps, and
3. Compressors
• These multi-cylinder systems facilitate one of the more effective means of reducing
the consequences of shaking forces.
• By a proper arrangement of the individual mechanisms, the shaking forces will
partially, and perhaps totally, cancel one another.
 Shaking-force-balancing relationships
for multi-cylinder machines

N= total number of cylinder (only three cylinders are shown in the figure)
Assumptions:
1. All slider-crank mechanisms have same crank length 𝑟, connecting-rod length 𝑙, and
reciprocating mass 𝑚 and crank angular velocity 𝜔 is constant
2. The cylinder orientation are defined by 𝜃𝑛, 𝑛 = 1,2, … . , 𝑁
3. The angular crank throw spacings with respect to crank 1 are represented
by angles 𝜓𝑛, 𝑛 = 2,3, … . . 𝑁 which do not vary with time
 Shaking-force-balancing relationships
for multi-cylinder machines

• Each slider-crank mechanism will generate a shaking force with a

line of action along that particular cylinder’s centerline (i.e., at
angle 𝜃𝑛 with respect to the y-axis).

• Substituting the angle relationships from the Figure, we can

rewrite this equation as

• Where 𝜓1 = 0 from the previous definition of angle 𝜓𝑛.

 Shaking-force-balancing relationships
for multi-cylinder machines
• The resultant shaking force will be the vector sum of all of the
individual shaking forces:
[1]

• For the forces to be completely balanced in the arrangement, the

y and z components of the above equation must be identically
zero; that is,
[1(a)]

[1(b)]
 Shaking-force-balancing relationships
for multi-cylinder machines
• Substituting the equation, we see that the conditions become
Shaking-force-balancing relationships
for multi-cylinder machines
 Shaking-force-balancing relationships
for multi-cylinder machines
• The only way that these expressions can be identically zero is if the
individual coefficients of the time-dependent sine and cosine functions
are all zero. This yields the following eight necessary conditions for
complete balance of the shaking forces:
• The first four conditions account for the primary parts of the
shaking forces, and if these are all satisfied, then the primary
shaking forces are balanced.
• The last four conditions represent the secondary parts, and if
those conditions are satisfied, then the secondary shaking
forces are balanced.
• Note that the eight conditions are in terms of the cylinder
orientations 𝜃𝑛 and the angular crank spacing 𝜓 , and it follows
that some arrangements of these parameters may balance the
forces.
• A set of conditions for balancing shaking moment can be
established by imposing the requirement that the sum of
shaking-force moments about any arbitrary axial location must
be zero.
• Taking moments about the axial location of cylinder 1 yields
• In order for this equation to be satisfied, the individual j and k
components of the second factor in the cross product must be
identically zero; that is,
• These equations are similar to Eqs [1(a)] and [1(b)] and lead to the
following similar set of conditions for balancing shaking moments.

• The first four conditions guarantee primary shaking-moment balance,

while the last four conditions yield secondary shaking-moment
balance.
• Taken together, the eight equations account for the axial configuration
of the cylinders, as well as for their angular orientation and the
angular crank spacing.
 In-Line Engines

Figure : An in-line two-cylinder engine with 180°

• Consider an engine, all of whose cylinders lie in a single plane and on one side of the
crank axis.
𝜋
• Suppose that these locations are given by 𝜃1 = 𝜃2 = 𝜃3 = ⋯ = 𝜃𝑁 =
2
• Suppose further that the cylinders are equally spaced axially with a spacing 𝑠;
then,𝑠𝑛 = 𝑛 − 1 𝑠, where the cylinders are numbered consecutively from one end of
the crankshaft to the other.
• Substituting this information, we see that the equations reduce to:
• Figure shows a two-cylinder, in-
line arrangement with 180° cranks;
that is,𝑁 = 2, 𝜓1 = 0, 𝑎𝑛𝑑 𝜓2 = 𝜋
and Substituting into the foregoing
equations, we obtain
• Thus, the primary parts of the shaking forces are always equal and
opposite; therefore, they cancel, but because they are offset axially, they
form a nonzero couple.
• On the other hand, the secondary parts of the shaking forces are always
equal with the same sense, and they therefore combine to produce a net
force and also cause a net moment.
• The net shaking force is

• With maximum magnitude of 2𝑚𝑟𝜔2 (𝑟/𝑙).

 Opposed Engines
In an opposed engine, all the cylinders lie in the same plane, with half on each side of
the crank axis.

(a) (b)

(a) An opposed two-cylinder engine 180°with cranks. (b) Double connecting rods for cylinder 1.
Consider the two-cylinder opposed engine of Figure (a), with 180° cranks,
where
𝑁 = 2, 𝜃1 = 𝜋/2, 𝜃2 = 3𝜋/2, 𝜓1 = 0, 𝜓2 = 𝜋, 𝑠1 = 0, 𝑎𝑛𝑑 𝑠2 = 𝑠
• The net shaking force is zero, because both parts of the
individual shaking forces cancel.
• This is an improvement over the two-cylinder, in-line engine
but there will be a significant shaking couple (both primary and
secondary) due to the staggering of the crank throws.