MAE 364

Kinematics and
Dynamics of Machines
Dr. Jagadeep Thota

Chapter 19:
Balancing of Rotating Masses

Introduction
In the previous chapter, we studied that a body in angular motion
can be defined by the Newtons second law,

= =
The force (moment OR torque) obtained from the above equation
is the inertia force.
As the body is rotating at high speeds, there is a tendency for the
inertia forces to introduce undesirable shaking (vibrational) forces
in the body.

The above phenomenon occurs when the inertia forces acting on

the body are not in equilibrium OR balanced.
The best way to overcome this is adding additional mass to the
body to counteract the unbalanced inertia forces, thus balancing
the overall dynamic system (or body with the masses).
MAE 364: Balancing

JT

Crankshaft
Crankshaft is a dynamic component (body) found in automobiles which
converts the reciprocating motion of the engine pistons to rotating
motion.
This rotating motion of crankshaft drives the wheels of the automobile.
If the crankshaft is not balanced for the inertia forces it will be subjected
to, when rotating at high speeds, there will be vibrational problems in
the handling of the car and can also result in catastrophic failure of the
engine parts.

MAE 364: Balancing

JT

Static Balancing
To illustrate the principles involved in balancing, we
will begin with a shaft supporting a single
concentrated mass m at radius r.
m

Front View

End View

The angle is the orientation of the mass

from the horizontal axis in the end view.
The angle is taken as positive in the counterclockwise direction
and negative in the clockwise direction.
MAE 364: Balancing

JT

Static Balancing a Single Mass

In order to balance this static system (shaft with
concentrated mass), i.e., no tendency of the mass-shaft
system to rotate, another mass m is added at some radius
r along the same plane as the earlier mass.
m

r'

m'

Using the below formula, we can figure out the value of m

needed to balance the above static system.

=
MAE 364: Balancing

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Static Balancing Multiple Masses (on same plane)

Balancing (or equilibrium) means no net moment in the
system.

Taking the sum of the horizontal and vertical moment

components for each of the masses about the horizontal
(shaft) axis, we get

= 0

cos = 0
=1

=1

Horizontal component

= 0

sin = 0
=1

=1

Vertical component

Vector Equation
MAE 364: Balancing

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Dynamic Balancing of Masses on Same Plane

The masses and the shaft are rotating.
Effect of gravity is neglected (from static balance we found
that it does not have any effect on the final equation).
Angular velocity (speed) needs to be accounted for since
the system is now dynamic.

2 cos = 0
=1

=1

Horizontal component

= 0

2 sin = 0
=1

2 = 0

=1

Vertical component

MAE 364: Balancing

Vector Equation
JT

Example 1: Balancing Masses Rotating on Same Plane

For the rotor assembly shown, the values of the masses and their
angular positions are given in the table. How much mass needs to be
added to balance the rotor assembly? Also, determine the angular
position of this added mass if the radius of rotation is maintained at 88.9
mm.
#

Mass
m (kg)

Radius
r (mm)

Orientation
(deg)

0.907

102

30

2.27

127

80

1.36

76.2

160

MAE 364: Balancing

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Example 1: Analytical Approach

Solution:
Expand the given table as shown,

(deg)

( )

0.866

0.5

92.51

80.11

46.26

80

0.174

0.985

288.29

50.16

284.0

76.2

160

-0.94

0.342

103.63

-97.41

35.44

88.9

32.86

365.7

m
(kg)

r
(mm)

0.907

102

30

2.27

127

1.36

From balancing component equations,

4

cos = 0

32.86 + 4 4 cos 4 = 0

sin = 0

365.7 + 4 4 sin 4 = 0

=1
4

=1

MAE 364: Balancing

JT

4 4 sin 4
365.7
=
4 4 cos 4
32.86

Example 1: Analytical Approach

Solution:
tan 4 = 11.13 4 = 84.87
Check if the above angle falls in the right quadrant:
In the present problem,
sin 4 =
cos 4 =

4 has to be in
the 3rd quadrant

tan 4 = +
But, 4 = 84.87 falls in the 1st quadrant.
Need to move the angle from 1st to 3rd
quadrant.
Add (or subtract) in the increments of 90
till you reach the quadrant the angle is
supposed to be in.
4 = 84.87 + 180 = 264.87
MAE 364: Balancing

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Example 1: Analytical Approach

Solution:
Now, compute the unknown added mass by picking
any one of the earlier component equations:
365.7 + 4 4 sin 4 = 0
365.7
365.7
4 =
=
= 4.13
4 sin 4
88.9 sin(264.87)

4 = 4.13
4 = 264.87

MAE 364: Balancing

JT

Example 2: Graphical Approach

On white board in-class

MAE 364: Balancing

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Rotating Masses on Same Transverse Plane

Previously, we studied balancing multiple rotating masses
which were lying on the same transverse plane.
m2
m2
m1

m1
m3

m3

The above system should satisfy the below vector equation

in order to be balanced,

mi ri 0
n

i 1
MAE 364: Balancing

JT

Rotating Masses on Several Transverse Planes

Now, we will study how to balance multiple rotating masses lying on several
transverse planes.

m2

m2

m1

m1
m3

m3
Choose any two transverse planes A and B.

m2

m2

m1

m1
m3
m3
MAE 364: Balancing

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Rotating Masses on Several Transverse Planes

Let the distance in the axial (horizontal) direction from plane A to the masses
y
be a1, a2, etc.

mb

mb

m2

m2

m1

ab
m3

m1
m3

a1

a3

x
ma

ma
Distances to the right of the plane A are considered +ve, while those to the left
of plane A are considered ve.

a1 = Positive
a3 = Negative
a2 = ?
MAE 364: Balancing

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Rotating Masses on Several Transverse Planes

Balance moments about plane A by adding a mass mb in
plane B so that the sum of moments about the x-axis and yaxis are zero,

mi ri ai sin 0

mi ri ai 0
n

i 1

i 1

mi ri ai cos 0

Vector Equation

i 1

Component Equations
MAE 364: Balancing

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Rotating Masses on Several Transverse Planes

To balance all the forces in the x and y directions, add a
mass ma in the plane A,

mi ri sin 0

mi ri 0
n

i 1

i 1

mi ri cos 0

Vector Equation

i 1

Component Equations
MAE 364: Balancing

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Dynamic Balance of Rotating Masses

Hence, conditions that must be satisfied to achieve
a dynamic balance are,

mi ri ai 0

Obtained by balancing the

moments about A plane.

mi ri 0

Obtained by balancing the

forces in the x-y plane.

i 1

i 1

MAE 364: Balancing

JT

Example 2: Masses on Multiple Planes

Consider the rotor assembly shown. Find the values and
angular positions of the two masses which, if added at a 76
mm radius, will balance the system statically and
dynamically.

Mass
m (kg)

Radius
r (mm)

Orientation
(deg)

0.454

50.8

30

1.36

76.0

60

0.907

63.5

150

MAE 364: Balancing

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Example 2: Analytical Method

Solution:
Tabulate the known parameters and evaluated terms as shown:
#

m
(kg)

r
(mm)

(deg)

a
(mm)

0.454

50.8

30

0.866

0.5

1.36

76.0

60

-102

0.5

0.866

0.907

63.5

150

76

-0.866

0.5

76

76

76

20

11.5

51.7

89.5

-5271

-9130

-49.9

28.8

-3792

2189

21.8

129.8

-9063

-6941

MAE 364: Balancing

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Example 2: Analytical Method

Solution:
5

cos = 0

9063 + cos = 0

sin = 0

6941 + sin = 0

=1

= 0

=1

=1

sin
6941
=
cos
9063

= 37.4

tan = 0.7659

Angle check (or manipulation):

has to be in the 1st quadrant
= 37.4

sin = +
cos = +

Using one of the above component equations:

tan = +

MAE 364: Balancing

=
JT

6941
= 1.98 kg
76 76 sin 37.4

Example 2: Analytical Method

Solution:
5

cos = 0

21.8 + (1.98 76 cos 37.4) + cos = 0

sin = 0

129.8 + (1.98 76 sin 37.4) + cos = 0

=1

= 0

=1
=1

sin
221.1
=
cos
141.3

= 57.34

tan = 1.56

Angle check (or manipulation):

has to be in the 3rd quadrant
= 57.34 + 180 = 237.34

sin =
cos =

Using one of the above component equations:

tan = +

MAE 364: Balancing

=
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141.3
= 3.44 kg
76 cos 237.34

Example 2: Graphical Method

On White Board In-Class

MAE 364: Balancing

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Lab Balancing Experiment Apparatus

Drive Motor

Masses

Shaft
Angular
Position
Scale

Axial Position Scale

MAE 364: Balancing

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Lab Solution Procedure

Solve static balancing equation to determine the angles of
the balancing masses.

mi ri 0
n

i 1

Solve the dynamic balancing equation to determine the axial

positions (a terms) of the balancing masses.

mi ri ai 0
n

i 1

MAE 364: Balancing

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Lab Solution Procedure Using Vectors

Static balancing:

mi ri 0

Solve for 3 and 4

i 1

Known magnitude

m3r3

m4r4

m2r2

Known magnitude and

direction

m1r1
Dynamic balancing:

mi ri ai 0
n

Solve for a3 and a4

m4r4a4

m3r3a3
m2r2a2

i 1

m1r1a1
MAE 364: Balancing

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Known direction
Known magnitude and
direction

Static Balancing Using Vectors

3. Make an arc centered at tip of
#2 with the radius of #3.

4. Make an arc centered at tail

of #1 with the radius of #4.

5. Arc intersection
specifies the required
directions of #3 and #4

2. Add mr vector
#2 to mr vector
#1. (head to tail)
1. Draw known mr vector #1.

MAE 364: Balancing

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Dynamic Balancing Using Vectors

3. Draw the
direction of #3
through the tip of
#2.
4. Draw the direction of #4
through the tail of #1.
2. Add vector #2
to vector #1.
(head to tail)

5. The line intersection of

vectors #3 and #4
determines their length.
1. Draw known vector #1.

MAE 364: Balancing

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mri ai
ai
mri

Static Balancing of Wheels

g mi ri 0
n

i 1

MAE 364: Balancing

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Dynamic Balancing of Wheel

mi ri 0
2

i 1

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Conclusions

Next Class, Chapter 1: Fundamental Concepts

Introduction to kinematics
Degrees of freedom of a kinematic chain
Review of vector diagrams

HW 2 is due on September 9 th, 2014.

Text book problems, 19-1, 2 & 3 (pages 406 & 407)

MAE 364: Balancing

JT