Balancing

Balancing of Rotating Masses

Most machines have rotating parts

e.g. Gas turbines (as in aircraft engines, power plants
etc.), multiple gear trains, rollers, flywheels, electric
motors, propellers, crank shafts etc…
 Turbine discs and blades Compressor discs and blades

Guide vanes

Heat resistant
tail cone
Titanium fan

bearings

Rolls Royce RB211 Turbo-Fan Gas Turbine Engine

Steam turbine
(being manufactured)
Turbine blade – single row
A shaft-rotor system
A turbine engine represented by a shaft-rotor system

The shaft carries several rotors and mounted in two

bearings
The rotors are fixed (keyed) onto the shaft
No relative rotations between the rotors.
If the system is not dynamically balanced, the inertia forces
and couples produced by the centripetal accelerations of the
rotor components cannot be avoided and must be taken into
account when designing the components, the bearing surfaces
and the foundations.

In high-speed machinery the severity of inertia loading often

results in vibrations, noise emission and premature failure of a
fatigue nature.
Reasons for the presence of rotary imbalance in
machinery.
•Manufacturing defects
•Non homogeneity in materials
•Improper mounting, assembling
•Asymmetrical components (due to design requirements)
•Unsymmetrical deflection during operation
•Uneven wear
•Corrosion, etc.
 Balancing of Rotating Masses
• For a body to be completely balanced, it must
have two things.
Static Balance:
When there is no resultant centrifugal force and
the centre of gravity is on the axis of rotation.
Dynamic Balance:
When there is no resulting turning moment along
the Axis.
 Balancing in One Plane: Static
Balancing
• If the system is a simple disc then only static
balancing is needed.
• Consider a thin disc or wheel on which the centre of
gravity is not the same as the centre of rotation.
• A simple test for static balance is to place the wheel
in frictionless bearings. The centre of gravity will
always come to rest below the centre of rotation (like
a pendulum).
• If it is balanced it will remain stationary no matter
which position it is turned to.
 Balancing of Rotating Masses

• The following cases are important from the

subject point of view:
• 1. Balancing of a single rotating mass by a
single mass rotating in the same plane.
• 2. Balancing of different masses rotating in the
same plane.
• 3. Balancing of different masses rotating in
different planes.
Single Rotor System
 Fc = meω2

P Q G
ω e
ω
O

m = the mass of the shaft-rotor system

ω = the angular speed of the shaft

e = OG = the radial eccentricity of the centre of mass of

the system from the centre of rotation

O ≡ the centre of rotation

G ≡ the centre of mass of the system
The single-rotor system is mounted on two bearings P and
Q

PQ = L

The dynamic (inertia) force developed due to the presence

of this radial eccentricity,

Fc = meω2

m.e = the out-of-balance of the shaft-rotor system

If the rotor has a negligible thickness (assuming a single plane of revolution), the
system can be completely balanced when the centre of mass of the rotor is brought
onto the axis of rotation. (assume there is no imbalance in the shaft).
Then the dynamic reactions on the bearings are zero.

FC=0
FC=meω2

G G
O O
O O

RP RQ RP =0 RQ=0

A single thin rotor

When O ≡ G , dynamic bearing
(gives a single plane of revolution)
reactions RP = RQ = 0 as FC=0
Balancing in One Plane
 Balancing in One Plane

• The disc is rotating at ω rad/s,

• Centrifugal force produced= m (ω2 r),
– where m is the mass of the disc.
• CF is also 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 m2 at a radius r2
(creating a CF= m2 (ω2 r2)).
• The two forces must have the same magnitudes.
mr = m2r2
 Balancing in One Plane: Multiple
Masses
Procedure
• Let us assume there are 3 masses attached to the
disc or a shaft.
• CF produced by each mass = mi (ω2 ri),
• First check whether there is any unbalanced force.
• Draw force vector diagram representing F1, F2 and
F3.
• If it is a close polygon, forces are balanced.
• Else, get the direction and magnitude of the
resultant force from the vector diagram.
 Balancing in One Plane
• Unbalanced force = Resultant force.
• Therefore a mass is added to give balancing force in
the opposite direction, such that
Fres = mb (ω2 rb)
 Balancing in One Plane
Example
• Three masses A, B and C are placed on a balanced disc
at radii of 120 mm, 100 mm and 80 mm 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.
 Balancing in One Plane

• The resultant is 144.3 kg mm and is equal to

60mD.
• The mass required is 144.3/60 = 2.4 kg 208o
anticlockwise of A.
Single-rotor system
(when rotor thickness is significant)
The condition O ≡ G doesn’t guarantee complete balance for a single
rotor with significant thickness

FC=0 FC1=m1e1 ω2

O O O O
G G
1
RP RQ RP RQ

FC2=m2e2 ω2

A single thick rotor Portions 1 & 2 produce inertia forces. If FC1

(gives an infinite no. of planes of = -FC2 , then O ≡ G ; bearing reactions are
revolution) equal and opposite
 FC1=m1e1 ω2 FC1=m1e1 ω2

RQ = -RP
2
θ
O O
G
1
RP
l12
FC2=m2e2 ω2 FC2=m2e2 ω2

Although the net force is zero, the system is acted upon by a dynamic
couple, G = RPL = RQL = m1e1ω2 l12 = m2e2ω2 l12
This can only be balanced by adding (or removing) two masses mb1 and
mb2 at different radii rb1 and rb2 on two chosen planes (correction
planes)
 Balancing of Rotating Masses in
different Planes
• Consider two masses statically balanced as shown
but acting at different places along the axis.
• The centrifugal force produced is F = mrω2
• mArA = mBrB
 Balancing of Rotating Masses
• Centrifugal forces are balanced.
• The turning moment about the reference plane
TM = F x = mrω2 x
• Moment of masses about the centre of gravity may
not be balanced.
• (mArA) XA NE (mBrB) XB
 Balancing of Rotating Masses
• For dynamic and static balance, obtain the resultant
turning moment and add masses at appropriate
points to cancel it out.

• Example:
– 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.
Balancing of Rotating Masses
 Balancing of Rotating Masses
• Plane A is the reference plane. All values of x are
measured from plane A thus making mrx for A equal
to zero.
• It follows that it does not appear in the vector
diagram.
 Balancing of Rotating Masses

From the resultant unbalanced turning moment,

obtain mD.
Balancing of Rotating Masses
Balancing of Rotating Masses
• A circular disc mounted on a shaft carries three attached
masses of 4 kg, 3 kg and 2.5 kg at radial distances of 75
mm, 85 mm and 50 mm and at the angular positions of 45°,
135° and 240° respectively. The angular positions are
measured counterclockwise from the reference line along
the x-axis. Determine the amount of the countermass at a
radial distance of 75 mm required for the static balance.
• A shaft carries four masses A, B, C and D of magnitude
200 kg, 300 kg, 400 kg and 200 kg respectively and
revolving at radii 80 mm, 70 mm, 60 mm and 80 mm in
planes measured from A at 300 mm, 400 mm and 700
mm. The angles between the cranks measured
anticlockwise are A to B 45°, B to C 70° and C to D 120°.
The balancing masses are to be placed in planes X and
Y. The distance between the planes A and X is 100 mm,
between X and Y is 400 mm and between Y and D is
200 mm. If the balancing masses revolve at a radius of
100 mm, find their magnitudes and angular positions.
• A shaft carries four masses in parallel planes A, B, C and D
in this order along its length. The masses at B and C are 18
kg and 12.5 kg respectively, and each has an eccentricity of
60 mm. The masses at A and D have an eccentricity of 80
mm. The angle between the masses at B and C is 100° and
that between the masses at B and A is 190°, both being
measured in the same direction. The axial distance
between the planes A and B is 100 mm and that between B
and C is 200 mm. If the shaft is in complete dynamic
balance, determine:
• 1. The magnitude of the masses at A and D;
• 2. The distance between planes A and D; and
• 3. The angular position of the mass at D.
 BALANCING OF RECIPROCATING MASSES

a= w2r [ cosq + r cos 2q ]/n

If R is the mass of reciprocating parts such as piston, crosshead
at P, etc, then accelerating force to effect acceleration a,
= mass of piston X acceleration
= R X a = R X w2r [ cosq + cos 2q ]/n

The first part of the force i.e. R w2r cosq is called the primary
accelerating force denoted by FP where as the second part i.e.
R w2r cos 2q/n is called the secondary accelerating force which
is denoted by FS.
From the expression of primary and secondary accelerating forces it may be observed
that:
i. Maximum value of the secondary accelerating force is only 1/n time the maximum
value of that of primary.
ii. Maximum value of secondary force occurs 4 times a revolution as compared with
twice per revolution for maximum primary force i.e. the frequency of secondary
force is twice that of primary.
The resultant of all forces acting on the body of the engine due to inertia forces only is
known as unbalanced force or shaking force.
Even though we balance unbalanced forces by balancing inertia forces, there is
possibility to have unbalance couple (shaking couple).
Thus the purpose of balancing the reciprocating masses is to eliminate the shaking
force and a shaking couple .in most of the mechanism, we can reduce the shaking
force and a shaking couple by appropriate balancing mass, but it is usually not
practical to eliminate them completely. In other words, the reciprocating masses
are not fully balanced.
 Partial Balance of Locomotives
• Most of the locomotives used in our country are of two cylinders of the
same dimensions, which are symmetrically placed either between or
outside the pair of driving bogie wheels.
• To increase adhesion between locomotive and rails, two or three pairs of
wheels are coupled with driving wheels with the help of coupling rods and
the locomotive is known coupled locomotive.
• In uncoupled locomotives there is only one pair of driving wheels and as
far as balancing problem is concerned there are four planes only which
masses are rotating viz; two planes of a pair driving wheels and two planes
containing crank pins.
Then equivalent mass at each crank pin =M+ CR
• The magnitude of each can be found out by applying usual balance
equations from rotating masses
S Mr=0 and S Mr x=0
• Generally remember that in two cylinder locomotives the cranks are at
right angles to each other.
 Effect of Partial Balancing of Reciprocating Parts of
Two Cylinder Locomotives

• Due to this partial balancing of reciprocating parts, there is an

unbalanced primary force along the line of stroke and also an
unbalanced primary force perpendicular to the line of stroke.
• The effect of an unbalanced primary force along the line of
stroke is to produce:
Variation in tractive force along the line of stroke; and swaying
couple
• The effect of an unbalanced primary force perpendicular to
the line of stroke is to produce variation in pressure on the
rails, which results in hammering action on the rails. The
maximum magnitude of the unbalanced force along the
perpendicular to the line of stroke is known as hammer blow.
• The resultant unbalanced force due to the two cylinders, along the line of stroke, is known as
tractive force. Let the crank for the first cylinder be inclined at angle q with the line of stroke,
as shown in fig. Since the crank for the second cylinder is at right angle to the first crank,
therefore the angle of inclination for the second crank will be (90°+ q)
• Let m = mass of the reciprocating parts per cylinder and
• C = fraction of the reciprocating parts to be balanced
We know that unbalanced force along the line of stroke for cylinder 1
= (1-c) m w2 .r cosq
Similarly unbalanced force along the line of stroke for cylinder 2,
• = (1-c) m w2 .r cos (90°+q)
as per definition , the tractive force,
FT = resultant unbalanced force along the line of stroke
= (1-c) m w2 .r cosq + (1-c) m w2 .r cos (90°+q)
= (1-c) m w2 .r (cosq-sinq)

Thus the tractive force is maximum or minimum when q =135 ° or 315°.

Maximum and minimum value of the tractive force or the variation in tractive force
=±(1-c) m w2 .r (cos135°-sin135°) = ±2(1-c) m w2 .r
Swaying Couple
The unbalanced forces along the line of stroke for the two cylinders about the center
line YY between the cylinders as shown in fig.

This couple has swaying effect about a vertical axis and tends to sway the engine
alternately in clockwise and anticlockwise directions. Hence the couple is known
as swaying couple.
Let a = distance between the center lines of the two cylinders
Swaying Couple
= (1-c) m w2 .r cos q X a/2 –(1-c) m w2 .r cos (90°+q) a/2
= (1-c) m w2 .r x a/2 (cos q +sin q)
Thus the swaying couple is maximum or minimum when q =45° or 225°
Maximum and minimum value of the swaying couple
= ± (1-c) m w2 .r cos q X a/2 (cos 45° + sin 45°)
= ±a/ 2(1-c) m w2 .r
Hammer Blow
The maximum magnitude of the unbalanced force along the perpendicular to the line
of stroke is known as hammer blow.
We know that that the unbalanced force along the perpendicular to the line of stroke
due to the balancing mass B, at a radius b, in order to balance reciprocating parts
only is Bw2 b sin q. This force will be maximum when sin q is unity, i.e. q =90° or
270°.
Hammer blow = Bw2 b
• The effect of hammer blow is to cause variation in pressure between the wheel
and the rail. This variation is shown in fig. for one revolution of the wheel.

• Let P be the downward pressure between the wheel and the rail = P ± Bw2 b
If (P- Bw2 b) is negative, then the wheel will be lifted from the rails. Therefore the
limiting condition in order that the wheel does not lift from the rails is given by P=
Bw2 b
And the permissible value of the angular speed, w =  ( P/B .b)
 BALANCING OF RECIPROCATING MASS

• DERIVATION OF ACCELERATION EQUATION

• PRIMARY FORCE FOR MULTIPLE CYLINDERS

• The primary inertia forces produced by reciprocating

pistons may be thought of as simply the inline component
of the centrifugal force produced by a rotating mass. Each
piston may be represented by a rotating mass at the crank
radius and angle. This leads us to using the same graphical
techniques as for rotating masses except that we must
remember it is not the centrifugal force but the component
in line with the piston motion that we are finding.
• Problems are easier to solve when the radii and masses of
all the pistons are the same but the graphical method can
be used quite easily with any combination
• The magnitude and direction of the balancing masses may be
determined graphically :
• draw the space diagram to show the positions of the planes of
the wheels and the cylinders,
• Two reciprocating pistons have equal mass and crank radii and are placed 180o
apart. Determine the primary force.

The force for each piston is F Mω2Rcos(θ )

p = so what ever the angle of the crank, the vertical components of the forces will be
equal and opposite so Fp = 0.
 • SECONDARY FORCE FOR MULTIPLE CYLINDERS

If the crank rotates angle θ, the mass representing the secondary component has
rotated 2θ so it needs to rotate at twice the crank speed. The centrifugal force of
the mass will be Ms(2ω)2 Rs. The suffix s refers to the secondary quantities. If this
is to represent the piston then we equate

The rotating mass will be Ms = M (R/4Rsn) and if the radii are the same Ms = M/4n This is
only needed if we are working out the balancing masses.
• A machine has three reciprocating masses A, B and C
with cranks located as shown in the diagram.
• Determine the primary and secondary forces produced
at 600 rev/min.
• PRIMARY FORCE Fp = Mω2R cos θ The solution is best done
with a table.
• We only need to draw the MR vectors as the relationship is
the same for all values of ω.
• The resultant vector is R = √(2.22 + 24.72) = 24.8 kg mm
and φ = tan-1(2.2/24.7) =5.1o
• The resultant force in line with the pistons is 24.7 x 10-3
x ω2 = 97.5 N.
• For any other angle of crank A, the force is 97.5 cos θ

SECONDARY FORCE
Fs = Mω2(R/n) cos 2θ (or msω2 cos 2θ)
• A machine has three reciprocating masses A, B and C with cranks located
as shown in the diagram.
• Determine the primary and secondary moments produced at 600 rev/min
about plane X – X.
• RECIPROCATING BALANCE
• We know from the first balancing tutorial that in
order to balance rotors we need to place
balancing masses on two planes.
• Reciprocating machines can be balanced by
placing two reciprocating masses on two planes.
• To balance primary components these would
rotate at the crank speed. To balance secondary
components, they would have to rotate at double
the crank speed in order to produce double
angles in a given period of time.
• The method so far used is easily adapted to solve
the balance.
• Two lines of reciprocating masses at A and B are to be
balanced for PRIMARY forces and couples by two lines of
reciprocating pistons at C and D. Given MA = 0.5 kg and MB =
0.75 kg and that crank B is rotated 70o relative to A, determine
the masses MC and MD and the angle of their cranks. All crank
radii are the same.
• MD= 0.521 kg and it must be placed at 203.9o
to crank A.
• An inside cylinder locomotive has its cylinder centre lines
0.7 m apart and has a stroke of 0.6 m. The rotating masses
per cylinder are equivalent to 150 kg at the crank pin, and
the reciprocating masses per cylinder to 180 kg. The wheel
centre lines are 1.5 m apart. The cranks are at right angles.
• The whole of the rotating and 2/3 of the reciprocating
masses are to be balanced by masses placed at a radius of
0.6 m.
• Find the magnitude and direction of the balancing masses.
• Find the fluctuation in rail pressure under one wheel,
variation of tractive effort and the magnitude of swaying
couple at a crank speed of 300 r.p.m.
• Given : a = 0.7 m; LB = LC = 0.6 m or
• rB = rC = 0.3 m; m1 = 150 kg; m2 = 180 kg;
• c = 2/3; rA = rD = 0.6 m; N = 300 r.p.m. or
• ω = 2π.300 / 60 = 31.42 rad/s
• Equivalent mass of the rotating parts to be
balanced per cylinder at the crank pin,
• m = mB = mC = m1 + c.m2 = 150 + 2/3 × 180 =
270 kg
• Since the cranks of the cylinders are at right angles, therefore
assuming the position of crank of the cylinder B in the
horizontal direction, draw OC and OB at right angles to each
other as shown in Fig. (b).
• To determine the angular position of the balancing mass D, draw
OD in Fig. (b) parallel to vector c’o ′ . By measurement, θD = 250°

• In order to find the balancing mass A, draw the force polygon from
the data given in Table (column 4), to some suitable scale, as shown
in Fig. (d), The vector do represents the balancing force and it is
proportional to 0.6 mA. Therefore by measurement, 0.6 mA = vector
do = 63 kg-m or mA = 105 kg

• To determine the angular position of the balancing mass A, draw OA

in Fig. (b) parallel to vector do. By measurement, θA = 200°
• The three cranks of a three cylinder locomotive are all on
the same axle and are set at 120°. The pitch of the cylinders
is 1 metre and the stroke of each piston is 0.6 m. The
reciprocating masses are 300 kg for inside cylinder and 260
kg for each outside cylinder and the planes of rotation of
the balance masses are 0.8 m from the inside crank.
• If 40% of the reciprocating parts are to be balanced, find :
• 1. the magnitude and the position of the balancing masses
required at a radius of 0.6 m ; and
• 2. the hammer blow per wheel when the axle makes 6 r.p.s.
• B2 = 57.5 kg, θ2 = 24°
• B1 = 57.5 kg, θ1 = 215°
• We know that hammer blow per wheel =
• B1.ω2 .b1 = 57.5 (37.7)2 20.6 = 49 035 N
• Balancing of Radial Engines
• (Direct and Reverse Cranks Method )
• The method of direct and reverse cranks is used in balancing of
radial or V-engines, in which the connecting rods are Connected to
a common crank. Since the plane of rotation of the various cranks
(in radial or V-engines) is same, therefore there is no unbalanced
primary or secondary couple.
• Consider a reciprocating engine mechanism as shown in Fig.
• Let the crank OC (known as the direct crank) rotates uniformly at ω
radians per second in a clockwise direction. Let at any instant the
crank makes an angle q with the line of stroke OP.
• The indirect or reverse crank OC' is the image of
the direct crank OC, when seen through the
mirror placed at the line of stroke.
• A little consideration will show that when the
direct crank revolves in a clockwise direction, the
reverse crank will revolve in the anticlockwise
direction.
• primary and secondary forces due to the mass (m)
of the reciprocating parts at P need to be
considered.
• Considering the primary forces
• We have already discussed that primary force is mw2r
cos(q)
• This force is equal to the component of the centrifugal
force along the line of stroke, produced by a mass (m)
placed at the crank pin C.
• Now let us suppose that the mass (m) of the reciprocating
parts is divided into two parts, each equal to m/2.
• It is assumed that m/2 is fixed at the direct crank (termed
as primary direct crank) pin C and m/2 at the reverse crank
(termed as primary reverse crank) pin C', as shown in Fig
• Note :
• The component of the centrifugal forces of the
direct and reverse cranks, in a direction
perpendicular to the line of stroke, are each
equal to m/2 w2r sin(q), but opposite in
direction.
• Hence these components are balanced
• In the similar way as discussed above, it will be seen that
for the secondary effects, the mass (m) of the reciprocating
parts may be replaced by two masses (each m/2) placed at
D and D‘ such that OD = OD’ = r/4n.
• The crank OD is the secondary direct crank and rotates at
2ω rad/s in the clockwise direction, while the crank OD' is
the secondary reverse crank and rotates at 2ω rad/s in the
anti CW direction as shown in Fig. .
• The position of three cylinders is shown in Fig.
Let the common crank be along the inner
dead centre of cylinder 1. Since common
crank rotates clockwise, therefore θ is positive
when measured clockwise