DAM 23803 MECHANICS OF MACHINE

3.0 Introduction

3.1 Balancing for rotating masses.

Increasing and decreasing of mass.

3. BALANCING
3.2 Dynamic forces of bearing.

3.3 Balancing for reciprocating body

HAIRUL MUBARAK BIN HASSIM

 DAM 23803 MECHANICS OF MACHINE

BALANCING
• The balancing of rotating bodies is important to avoid shaking forces and
shaking moments (vibrations).
• In heavy industrial machines such as steam turbines and electric generators,
vibration could cause catastrophic failure.
• Vibrations are noisy and uncomfortable and when a car wheel is out of
balance, the ride is quite unpleasant

.
TYPES OF BALANCING
1. Static Balance :
• occurs when there is no resultant centrifugal force and the center of
gravity is on the axis of rotation.

2. Dynamic Balance :
• occurs when there is no resultant centrifugal force and the center of
gravity is on the axis of rotation
• occurs when there is no resulting turning moment along the axis.
 DAM 23803 MECHANICS OF MACHINE

PRINCIPLE OF D’ALEMBERT
• Method of converting a dynamics problem into a ‘statics’ problem

• Replace ‘a’ with a force equal to ‘ma’ acting in the opposite direction of ‘a’
 DAM 23803 MECHANICS OF MACHINE

STATIC BALANCING
• Applies to things in motion even though the word ‘static’ is used
• Also known as single-plane balancing
• Applied to rotating masses that are in, or nearly in the same plabe (2D problem)

• Common feature : Objects that are in short in the axial direction compared to
the radial
• Masses almost line in a single plane
 DAM 23803 MECHANICS OF MACHINE

STATIC BALANCING
Requirement for static balancing :
∑ 𝐹=0
Problem Solution
Two mass and causing unbalance Add with value equal to resultant mass
and direction opposite to resultant direction.

𝐹1
𝐹2

∑𝐹

∑𝐹
𝑚3
 DAM 23803 MECHANICS OF MACHINE

STATIC BALANCING

↑∑ 𝐹 𝑦 =¿𝑚2 𝑅2 sin𝜃𝜔 +𝑚1 𝑅1 sin𝛼𝜔 −𝑚3 𝑅3 sin𝛽𝜔 =0¿

2 2 2

𝑚3 𝑅3 sin 𝛽=𝑚2 𝑅 2 sin 𝜃+𝑚1 𝑅1 sin 𝛼❶

𝛼 𝜃
→∑ 𝐹 𝑥=¿𝑚2 𝑅2 cos𝜃𝜔 −𝑚1 𝑅1 cos𝛼𝜔 −𝑚3 𝑅3 cos𝛽𝜔 =0¿
2 2 2 𝛽
𝑚3 𝑅3 cos 𝛽=𝑚2 𝑅2 cos 𝜃 −𝑚1 𝑅1 cos𝛼❷

❶❷
𝑚 2 𝑅 2 sin 𝜃+𝑚1 𝑅 1 sin 𝛼
tan 𝛽= ❸
𝑚 2 𝑅 2 cos 𝜃 −𝑚 1 𝑅1 cos 𝛼

Insert in❸ into ❶ to find

 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 1
EXAMPLE 1- SOLUTION
- Determine the location of the
added material

𝛼 𝜃
1.2 kg
𝛽
1.8 kg

1.135 m @ 113.4 ͦ

0.822 m @ 48.8 ͦ
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 1- SOLUTION

↑∑ 𝐹 𝑦 =¿𝑚2 𝑅2 sin𝜃𝜔 +𝑚1 𝑅1 sin𝛼𝜔 −𝑚3 𝑅3 sin𝛽𝜔 =0¿

2 2 2
(1.8)(0.822)
𝑚3 𝑅3 sin 𝛽=2.363 ❶ 𝛼 𝜃
→∑ 𝐹 𝑥=¿𝑚2 𝑅2 cos𝜃𝜔 −𝑚1 𝑅1 cos𝛼𝜔 −𝑚3 𝑅3 cos𝛽𝜔 =0¿
2 2 2 𝛽
(1.8)(0.822)
0.434 ❷

2.363
❶❷ tan 𝛽=
0.434 𝛽=79.6 ° ❸

Insert in❸ into ❶

2.402 Let kg 2.402 m
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 2

1.2 kg

1.8 kg
1.5 kg 𝛼 𝜃
1.135 m @ 113.4 ͦ
𝛽
0.822 m @ 48.8 ͦ

0.750 m @ 220 ͦ

Where is the location of the fourth mass to balance the system ?

 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 2- SOLUTION
① Add the fourth mass at any quadrant (we choose 1st Quadrant)
② Solve
↑𝑚 2 𝑅 2 sin 𝜃+𝑚1 𝑅1 sin 𝛼 −𝑚3 𝑅3 sin 𝛽+𝑚4 𝑅 4 sin 𝛾=0 𝑚4 𝑅 4 𝜔
𝛼 𝜃 𝛾
𝛽
Value is – re, direction is reverse
will be either in 3rd of 4th Quadrant
→𝑚 2 𝑅 2 cos 𝜃 −𝑚 1 𝑅1 cos 𝛼− 𝑚3 𝑅3 cos 𝛽+𝑚 4 𝑅4 cos 𝛾=0

𝑚4 𝑅 4 cos𝛾=0 . 428
Value is + re, direction is correct
will be either in 1st or 4th Quadrant
will be in 4th Quadrant
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 2- SOLUTION
③ Rearrange
❶
𝑚4 𝑅 4 cos𝛾=0.428 ❷
𝛼 𝜃
④ Solve
1.238
𝛽 𝛾
❶❷ tan 𝛾=
0.428 𝛾=70.93 ° ❸
𝑚4 𝑅 4 𝜔

Insert in❸ into ❶

Let kg 1.31 m
 DAM 23803 MECHANICS OF MACHINE

DYNAMIC BALANCING
• Also known as two-plane balancing

• Applied to rotating objects that are relatively longer in the axial direction
compared to the radial direction

12
 DAM 23803 MECHANICS OF MACHINE

DYNAMIC BALANCING
Setup no. 1 Setup no. 2

Initial Condition Add 2 correction planes Add balancing weight at

separated by some distance each of the plane
( Plane A and B ) ( and )
 DAM 23803 MECHANICS OF MACHINE

REQUIREMENT FOR DYNAMIC BALANCING

1. Set up requirements :
a. Requires 2 correction planes separated by some distance ( Plane A and B )

b. Requires balancing weight at each of the plane ( and )

2. Theory
𝐿4
𝐿3
a. Y 𝐿2
𝐿1
b. at plane = 0 𝑚1 𝑚2
c. at plane = 0 Z
Plane A
𝑚3 Plane B

𝑚𝐵 𝑚𝐵
X Y
𝑚2
𝑚𝐵

𝑚𝐴 𝑚𝐵
𝑚𝐴
𝜃
𝛽

𝜃
Z
𝛽 Z
𝑚3
𝑚1 𝑚𝐴 𝑚𝐴
 DAM 23803 MECHANICS OF MACHINE

REQUIREMENT FOR DYNAMIC BALANCING

at plane = 0
𝑀 𝐴𝑌 =−𝑚1 𝑅1 𝑠𝑖𝑛 𝛼 𝐿1 −𝑚2 𝑅2 sin 𝛾 𝐿2+𝑚 3 𝑅 3 𝑠𝑖𝑛𝜗 𝐿3 −𝑚 𝐵 𝑅 𝐵 sin 𝜃 𝐿 𝐵=0
− 𝑚1 𝑅 1 𝑠𝑖𝑛𝛼 𝐿1 −𝑚 2 𝑅 2 sin 𝛾 𝐿2 +𝑚3 𝑅3 𝑠𝑖𝑛𝜗 𝐿3
𝑚 𝐵 𝑅 𝐵 sin 𝜃=
𝐿𝐵
at plane = 0
𝑀 𝐴𝑋 =𝑚1 𝑅1 𝑐𝑜𝑠𝛼 𝐿1 − 𝑚2 𝑅 2 cos𝛾 𝐿2+𝑚 3 𝑅 3 𝜗 𝐿3 − 𝑚𝐵 𝑅 𝐵 cos 𝜃 𝐿𝐵 =0
𝑚1 𝑅1 𝑐𝑜𝑠 𝛼 𝐿1 − 𝑚2 𝑅 2 cos 𝛾 𝐿2+𝑚 3 𝑅 3 𝜗 𝐿3
𝑚 𝐵 𝑅 𝐵 cos 𝜃=
𝐿𝐵

↑∑ 𝐹 =¿ ¿ ¿
𝑦 𝑅 sin 𝛾+𝑚 𝑅 sin 𝜃 −𝑚 𝑅 sin𝜗
𝑚 𝐴 𝑅 𝐴 sin 𝛽=𝑚1 𝑅1 sin 𝛼+𝑚2 2 𝐵 𝐵 3 3

→∑ 𝐹 𝑋 =−𝑚1𝑚𝑅1 cos𝛼+𝑚 2 𝑅 2 cos𝛾+𝑚 𝐵 𝑅 𝐵 cos𝜃−𝑚3 𝑅 3 cos𝜗+𝑚 𝐴 𝑅

𝑅 cos 𝛽=𝑚 𝑅 cos𝛼 − 𝑚 𝑅 cos𝛾 −𝑚 𝑅 cos 𝜃+𝑚 𝑅 cos 𝜗 𝐴 cos𝛽 = 0
𝐴 𝐴 1 1 2 2 𝐵 𝐵 3 3
 DAM 23803 MECHANICS OF MACHINE

m m
EXAMPLE 3 m m

kg Y
𝑚1
kg 𝑚2
kg

m Z
@ 𝐿1
m 𝐿2 𝑚3
@ Plane A 𝐿3
Plane B
m
@ X 𝐿𝐵
𝑚2

Z
𝑚3
𝑚1
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 3
𝑚𝐵 𝑚𝐵
Y 𝑚1
𝑚2

𝜃 Z
𝛽
𝐿1
𝐿2
𝑚𝐴 𝑚𝐴 𝐿3 𝑚3

X 𝐿𝐵
𝑚𝐴 𝑚2 𝑚𝐵
𝑚𝐵

𝑚𝐴
𝛽
𝜃

𝑚1 𝑚3
 DAM 23803 MECHANICS OF MACHINE

m m
EXAMPLE 3 m m
𝑚𝐵 𝑀𝐴 𝑚𝐵
kg Y 𝑚1
kg 𝑚2
kg

m
𝜃 Z
𝛽
@ 𝐿1
m 𝐿2
@
𝑚𝐴 𝑚𝐴 𝐿3 𝑚3
m
@ X 𝐿𝐵

𝑀 𝐴𝑦=− 𝑚1 𝑅 1 sin (66.6¿°)𝐿1 − 𝑚2 𝑅2 sin(48.8°) 𝐿2+𝑚 3 𝑅 3 sin (71.4¿¿°) 𝐿3 −𝑚 𝐵 𝑅 𝐵 sin 𝜃 𝐿𝐵=0¿¿¿

𝑚 𝐵 𝑅 𝐵 sin 𝜃=0.874 ❶
 DAM 23803 MECHANICS OF MACHINE
m m
EXAMPLE 3 m m
X 𝑀𝐴
kg 𝑚𝐴
𝑚𝐵 𝑚2 𝑚𝐵

𝑚𝐴
kg

𝛽
𝜃
kg
Z
m
𝑚1 𝑚3
@
𝐿1
m 𝐿2
@ 𝐿3
𝐿𝐵
m
@

𝑀 𝐴𝑋 =𝑚1 𝑅1 cos(66 .6¿°)𝐿1 −𝑚 2 𝑅 2 cos(48 .8°) 𝐿2+𝑚 3 𝑅 3 cos(71 .4¿¿°)𝐿3 − 𝑚 𝐵 𝑅 𝐵 cos 𝜃 𝐿𝐵 =0¿¿¿
¿ ( 1. 2 ) ( 1 .135 ) cos ( 66 . 6 ° ) ( 0 . 854 ) − (1 . 8 )( 0 . 822 ) cos(48 . 8 °)(1 .701)
+ ( 2 . 4 )( 1 . 04 ) cos ( 71. 4 ° ) ( 2 .396 ) − 𝑚𝐵 𝑅 𝐵 cos 𝜃 ( 3 . 097 )=0
𝑚 𝐵 𝑅 𝐵 cos𝜃=0 .2297 ❷
 DAM 23803 MECHANICS OF MACHINE

① Rearrange
𝑚 𝐵 𝑅 𝐵 sin 𝜃=0.874 ❶ Value is + re, direction is correct
1st Quadrant
𝑚 𝐵 𝑅 𝐵 cos𝜃=0.2297 ❷ Value is + re, direction is correct

② Solve
0.874
❶❷ tan 𝜃= 𝜃=75.3 ° ❸
0.2297

③ Insert in❸ into ❶

𝑚 𝐵 𝑅 𝐵 sin 75.3=0.874
𝑚 𝐵 𝑅 𝐵 =0.9036
Let kg 1.81 m
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 3
𝑚𝐵
↑∑ 𝐹 𝑦 =𝑚1 𝑅1sin66.6 °(𝜔 )+𝑚2 𝑅2 sin48.8°(𝜔¿ ¿2)+𝑚𝐵 𝑅𝐵sin75.3 °(𝜔¿ ¿2)¿¿
2
=0
(1.2)(1.135)sin 66.6 °+(1.8)(0.822)sin 48.8 °+(0.5)(1.81)sin 75.3 ° 𝜃
=0 𝛽
𝑚𝐴

→∑ 𝐹 𝑋 =−𝑚1 𝑅1 cos66.6°(𝜔 )+𝑚2 𝑅2 cos48.8°(𝜔¿¿2)+𝑚𝐵 𝑅𝐵 cos75.3°(𝜔 ¿¿2)¿¿

2
=0

−(1.2)(1.135)cos66.6 °+(1.8)(0.822)cos 48.8 °+(0.5)(1.81)cos75.3 °

=0
= 0.1328
 DAM 23803 MECHANICS OF MACHINE

① Rearrange

❹ Value is + re, direction is correct

4th Quadrant
= 0.1328 ❺ Value is + re, direction is correct

② Solve
0 .873
❹❺ tan 𝛽= 𝛽=81. 35 ° ❻
0 .1328

③ Insert in❻ into ❹

𝑚 𝐴 𝑅 𝐴=0 . 883
Let kg 1.77 m
 DAM 23803 MECHANICS OF MACHINE

ROTOR BALANCING - PLANAR

• If the system is a simple disc then static balance is
all that is needed. Consider a thin disc or wheel on
which the center of gravity is not the same as the
center of rotation.

• If the center of gravity is distance r from the center of rotation then when it spins at
rad/s, centrifugal force is produced. This has a formula where m is the mass of the
disc. This is the out of balance force. In order to cancel it out an equal and opposite
force is needed. This is simply done by adding a mass at a radius as shown. The two
force must have the same magnitude

• Placing a suitable mass at a suitable radius

moves the center of gravity to the center of
rotation This balance holds true at all
speeds down to zero hence it is balanced so
long as the products of M and r are equal
and opposite.
 DAM 23803 MECHANICS OF MACHINE

ROTOR BALANCING - PLANAR

• Consider that a disc is out of balance because there are three masses attached to
it as shown. The 3 masses are said to be coplanar and they rotate about a
common center. Adding a fourth mass is required to make the disc balance.

Add additional mass

to balance the disc

RESULTANT FORCE
These are vector quantities and we can add them up to find the resultant force as
shown
𝐹3 𝐹2 𝐹3 𝐹2

𝐹1 𝐹1
Resultant Force
Balancing Force
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 4
Three masses A, B and C are placed on a balanced
disc as shown at radius of 120 mm, 100mm and
80mm respectively. The masses are 1 kg, 0.5 kg and
0.7 kg respectively. Find the 4th mass which should
be added at a radius of 60 mm in order to statically
balance the system.

Draw table to find the value of mass x radius (MR)

Mass (kg) Radius (mm) MR (kgmm) Angle
A 1 120 120 0
B 0.5 100 50 30
C 0.7 80 56 100
D 60 60
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 4
Measure
Draw the MR diagram
From table :
60
C = 56
Measure kg
D = 144.3 100 °

B = 50
30°
A = 120
Mass (kg) Radius (mm) MR (kgmm) Angle
A 1 120 120 0
B 0.5 100 50
C 0.7 80 56
D 2.4 kg 60 60
144.3 208 °
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 4
Alternative shape of MR diagram

Measure C = 56
(a) D = 144.3

A = 120
B = 50
A = 120
B = 50

(b)
Measure
D = 144.3
C = 56
 DAM 23803 MECHANICS OF MACHINE

ROTOR BALANCING – MULTI PLANAR

• Consider 2 masses statically balanced as shown
but acting at different places along the axis
• For static balance

• It is clear that even with static balance,

centrifugal force will produce a turning moment
about the center of gravity for the system. In this
simple case, the problem is solved by adding
equal and opposite forces at the two points as
shown.
 DAM 23803 MECHANICS OF MACHINE

ROTOR BALANCING – MULTI PLANAR

• The centrifugal force produced is
• The turning moment about the reference plane, TM

• For dynamic and static balance we must work out the resultant turning
moment and add masses at appropriate points to cancel it out. The
appropriate points will be on two planes not coplanar with any of the
original masses. This involves drawing two vector diagrams and since ω is
common to all vectors we can again take ω =1 and draw vectors
representing and .
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 5
Find the mass and the angle at which it should be positioned in planes A and D
at a radius of 60 mm in order to produce complete balance of the system shown

Draw table to find the value of MR and MRL

Mass (kg) Radius (mm) Length (mm) MR MRL Angle (x)
A 60 0 0
B 5 75 200 375 75000 90
C 2 50 300 100 30000 60
D 60 375
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 5
Draw the MRL diagram ( minimum unknown )

Measure From table :

C = 30 000
30° 22 500

Measure kg
D = 94 000
B = 75 000 60
¿ 250.67

Mass (kg) Radius (mm) Length (mm) MR MRL Angle (x)

A 60 0 0
B 5 75 200 375 75 000
C 2 50 300 100 30 000
D 4.178 60 375 250.67 94 000 254 °
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 5
C = 100
Draw the MR diagram
D = 260.67
Measure From table :
60

B = 375 Measure 𝑚 𝐴 =3.25 𝑘𝑔

A = 195

Mass (kg) Radius (mm) Length (mm) MR MRL Angle (x)

A 3.25 60 0 195 0 274 °
B 5 75 200 375 7 5000
C 2 50 300 100 30 000
D 4.178 60 375 94 000
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 6
Four masses A, B, C and D are carried by rotating shaft at radius of 10cm, 20cm, 15cm
and 15cm respectively. The planes which the mass revolve are spaced 50cm apart.
Given the masses of B, C and D are 12kg, 8kg and 3kg respectively, find the required
mass A and the angular settings relative to a plane so that the shaft is in complete
balance.

Mass (kg) Radius (m) Length (m) MR MRL Angle (x)

A 0.1 0 0
B 12 0.2 0.5 2.4 1.2
C 8 0.15 1.0 1.2 1.2
D 3 0.15 1.5 0.45 0.675
 DAM 23803 MECHANICS OF MACHINE

EXAMPLE 6
Because the shaft is rotating, each of the masses will experience at angle or 270 at
certain point. 𝜃𝐷
We set
Measure
Draw the MRL diagram

C = 1.2
D = 0.675
Measure

𝜃𝐶 B = 1.2

Mass (kg) Radius (m) Length (m) MR MRL Angle (x)

A 0.1 0 0
B 12 0.2 0.5 2.4 1.2 180°
C 8 0.15 1.0 1.2 1.2 31.5 °
D 3 0.15 1.5 0.45 0.675 286 °
 DAM 23803 MECHANICS OF MACHINE

Draw the MR diagram

D = 0.45 Measure From table :

0.1
B = 1.2 𝜃𝐴
Measure kg
A = 1.28
B = 2.4

Mass (kg) Radius (m) Length (m) MR MRL Angle (x)

A 12.8 0.1 0 1.28 0 372 °
B 12 0.2 0.5 2.4 1.2
C 8 0.15 1.0 1.2 1.2
D 3 0.15 1.5 0.45 0.675