BMS INSTITUTE OF TECHNOLOGY & MGMT

DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

BALANCINGOFROTATING MASSES

INTRODUCTION:

When man invented the wheel, he very quickly learnt that if it wasn’t completely round
and if it didn’t rotate evenly about it’s central axis, then he had a problem!
What the problem he had?
The wheel would vibrate causing damage to itself and it’s support mechanism and in
severe cases, is unusable.
A method had to be found to minimize the problem. The mass had to be evenly
distributed about the rotating centerline so that the resultant vibration was at a minimum.

UNBALANCE:

The condition which exists in a rotor when vibratory force or motion is imparted to its
bearings as a result of centrifugal forces is called unbalance or the uneven distribution of
mass about a rotor’s rotating centerline.
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

Rotating centerline:
The rotating centerline being defined as the axis about which the rotor would rotate if not
constrained by its bearings. (Also called the Principle Inertia Axis or PIA).

Geometric centerline:
The geometric centerline being the physical centerline of the rotor.

When the two centerlines are coincident, then the rotor will be in a state of balance.
When they are apart, the rotor will be unbalanced.

Different types of unbalance can be defined by the relationship between the two
centerlines. These include:
Static Unbalance – where the PIA is displaced parallel to the geometric
centerline.(Shown above)
Couple Unbalance – where the PIA intersects the geometric centerline at the center
ofgravity. (CG)
Dynamic Unbalance – where the PIA and the geometric centerline do not coincide
ortouch.
The most common of these is dynamic unbalance.

Causes of Unbalance:
In the design of rotating parts of a machine every care is taken to eliminate any out of
balance or couple, but there will be always some residual unbalance left in the finished
part because of
1. slight variation in the density of the material or
2. inaccuracies in the casting or
3. inaccuracies in machining of the parts.

Why balancing is so important?

1. A level of unbalance that is acceptable at a low speed is completely unacceptable at
a higher speed.
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________
2. As machines get bigger and go faster, the effect of the unbalance is much more severe.
3. The force caused by unbalance increases by the square of the speed.
4. If the speed is doubled, the force quadruples; if the speed is tripled the force increases
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________
by a factor of nine!

Identifying and correcting the mass distribution and thus minimizing the force and
resultant vibration is very very important

BALANCING:

Balancing is the technique of correcting or eliminating unwanted inertia forces or

moments in rotating or reciprocating masses and is achieved by changing the location of
the mass centers.
The objectives of balancing an engine are to ensure:

1. That the centre of gravity of the system remains stationery during a complete
revolution of the crank shaft and
2. That the couples involved in acceleration of the different moving parts
balance each other.

Types of balancing:

a) Static Balancing:
i) Static balancing is a balance of forces due to action of gravity.
ii) A body is said to be in static balance when its centre of gravity is in the
axis of rotation.
b) Dynamic balancing:
i) Dynamic balance is a balance due to the action of inertia forces.
ii) A body is said to be in dynamic balance when the resultant moments or
couples, which involved in the acceleration of different moving parts is
equal to zero.
iii) The conditions of dynamic balance are met, the conditions of static
balance are also met.

In rotor or reciprocating machines many a times unbalance of forces is produced due to

inertia forces associated with the moving masses. If these parts are not properly balanced,
the dynamic forces are set up and forces not only increase loads on bearings and stresses
in the various components, but also unpleasant and dangerous vibrations.

Balancing is a process of designing or modifying machinery so that the unbalance is

reduced to an acceptable level and if possible eliminated entirely.

BALANCING OF ROTATING MASSES

When a mass moves along a circular path, it experiences a centripetal acceleration and a
force is required to produce it. An equal and opposite force called centrifugal force acts
radially outwards and is a disturbing force on the axis of rotation. The magnitude of this
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________
remains constant but the direction changes with the rotation of the mass.
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

In a revolving rotor, the centrifugal force remains balanced as long as the centre of the
mass of rotor lies on the axis of rotation of the shaft. When this does not happen, there is
an eccentricity and an unbalance force is produced. This type of unbalance is common in
steam turbine rotors, engine crankshafts, rotors of compressors, centrifugal pumps etc.

meω2

e
m

The unbalance forces exerted on machine members are time varying, impart vibratory
motion and noise, there are human discomfort, performance of the machine deteriorate
and detrimental effect on the structural integrity of the machine foundation.

Balancing involves redistributing the mass which may be carried out by addition or
removal of mass from various machine members
Balancing of rotating masses can be of
1. Balancing of a single rotating mass by a single mass rotating in the same plane.
2. Balancing of a single rotating mass by two masses rotating in different planes.
3. Balancing of several masses rotating in the same plane
4. Balancing of several masses rotating in different planes

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
DYNAMIC BALANCING;
When several masses rotate in different planes, the centrifugal forces, in addition to being
out of balance, also form couples. A system of rotating masses is in dynamic balance
when there does not exist any resultant centrifugal force as well as resultant couple.
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

CASE 1.
BALANCING OF A SINGLE ROTATING MASS BY A SINGLE
MASS ROTATING IN THE SAME PLANE

Consider a disturbing mass m1 which is attached to a shaft rotating at ω rad/s.

Let

r1 radius of rotation of the mass m1

 distance between the axis of rotation of the shaft and the centre
of gravity of the mass m1
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

The centrifugal force exerted by mass m1 on the shaft is given by,

Fc1 m1ω2 r1− − − − − − − − − − − − − − − − − − (1)

This force acts radially outwards and produces bending moment on the shaft. In order to
counteract the effect of this force Fc1 , a balancing mass m2 may be attached in the same
plane of rotation of the disturbing mass m1 such that the centrifugal forces due to the two
masses are equal and opposite.
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

Let,

r2 radius of rotation of the mass m2

 distance between the axis of rotation of the shaft and the centre
of gravity of the mass m2

Therefore the centrifugal force due to mass m2 will be,

Fc2m2 ω2 r2− − − − − − − − − − − − − − − − − − (2)

Equating equations (1) and (2), we get

F F
c1 c2

m ω2 r  m ω2 r or m r  m r − − − − − − − − − − − − − − − − (3)
1 1 2 2 1 1 2 2

The product m2r2 can be split up in any convenient way. As for as possible the radius
of rotation of mass m2 that is r2 is generally made large in order to reduce the balancing
mass m2.

CASE 2:
BALANCING OF A SINGLE ROTATING MASS BY TWO MASSES ROTATING
IN DIFFERENT PLANES.

There are two possibilities while attaching two balancing masses:

1. The plane of the disturbing mass may be in between the planes of the two
balancing masses.
2. The plane of the disturbing mass may be on the left or right side of two planes
containing the balancing masses.

In order to balance a single rotating mass by two masses rotating in different planes
which are parallel to the plane of rotation of the disturbing mass i) the net dynamic force
acting on the shaft must be equal to zero, i.e. the centre of the masses of the system must
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________
lie on the axis of rotation and this is the condition for static balancing ii) the net couple
due to the dynamic forces acting on the shaft must be equal to zero, i.e. the algebraic sum
of the moments about any point in the plane must be zero. The conditions i) and ii)
together give dynamic balancing.
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

CASE 2(I):

THE PLANE OF THE DISTURBING MASS LIES IN BETWEEN THE PLANES

OF THE TWO BALANCING MASSES.

Consider the disturbing mass m lying in a plane A which is to be balanced by two

rotating masses m1 and m2 lying in two different planes M and N which are parallel to
the plane A as shown.

Let r, r1 and r2 be the radii of rotation of the masses in planes A, M and N respectively.
Let L1, L2 and L be the distance between A and M, A and N, and M and N
respectively. Now,
The centrifugal force exerted by the mass m in plane A will be,

Fcm ω2 r − − − − − − − − − − − − − − − − − − (1)

Similarly,
The centrifugal force exerted by the mass m1 in plane M will be,
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

Fc1m1 ω2 r1− − − − − − − − − − − − − − − − − − (2)

 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

And the centrifugal force exerted by the mass m2 in plane N will be,

Fc2m2 ω2 r2− − − − − − − − − − − − − − − − − − (3)

For the condition of static balancing,

Fc Fc1 Fc2

or mω2 r  m ω2 r  m ω2 r
1 1 2 2

i.e. mr  m1 r1 m2 r2− − − − − − − − − − − − − − − − (4)

Now, to determine the magnitude of balancing force in the plane ‘M’ or the dynamic
force at the bearing ‘O’ of a shaft, take moments about ‘ P ’ which is the point of
intersection of the plane N and the axis of rotation.

Therefore,

Fc1 xL Fc xL2

or m ω2 r x L  mω2 r xL
1 1 2

Therefore,

m r L  mrL or m r  mr L2 −−−−−−−−(5)
1 1 2 1 1
L

Similarly, in order to find the balancing force in plane ‘N’ or the dynamic force at the
bearing ‘P’ of a shaft, take moments about ‘ O ’ which is the point of intersection of the
plane M and the axis of rotation.

Therefore,

Fc2 xL Fc xL1

or m ω2 r x L  mω2 r xL
2 2 1

Therefore,
L
m r L  mrL or m r  mr 1 −−−−−−−−(6)
2 2 1 2 2
L
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________
For dynamic balancing equations (5) or (6) must be satisfied along with equation (4).
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

CASE 2(II):

WHEN THE PLANE OF THE DISTURBING MASS LIES ON ONE END OF THE
TWO PLANES CONTAINING THE BALANCING MASSES.

For static balancing,

Fc1 Fc Fc2

or m ω2 r mω2 r  m ω2 r
1 1 2 2

i.e. m1 r1 mr m2 r2− − − − − − − − − − − − − − − − (1)

 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________
For dynamic balance the net dynamic force acting on the shaft and the net couple due to
dynamic forces acting on the shaft is equal to zero.
To find the balancing force in the plane ‘M’ or the dynamic force at the bearing ‘O’ of a
shaft, take moments about ‘P’. i.e.
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

Fc1 xL Fc xL2

or m ω2 r x L  mω2 r xL
1 1 2

Therefore,

m r L  mrL or m r  mr L2 − − − − − − − − (2)
1 1 2 1 1
L

Similarly, to find the balancing force in the plane ‘N’ , take moments about ‘O’, i.e.,

Fc2 xL Fc xL1

or m ω2 r x L  mω2 r xL
2 2 1

Therefore,

m r L  mrL or m r  mr L1 −−−−−−−−(3)
2 2 1 2 2
L

CASE 3:
BALANCING OF SEVERAL MASSES ROTATING IN THE SAME PLANE
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

Consider a rigid rotor revolving with a constant angular velocity ω rad/s. A number of
masses say, four are depicted by point masses at different radii in the same transverse
plane.
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DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
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If m1, m2, m3 and m4 are the masses revolving at radii r1, r2, r3 and r4 respectively in the
same plane.
The centrifugal forces exerted by each of the masses are Fc1, Fc2, Fc3 and Fc4
respectively. Let F be the vector sum of these forces. i.e.

F Fc1Fc2Fc3 Fc4
m1 ω2 r1 m2 ω2 r2 m3 ω2 r3 m4 ω2 r4− − − − − − − − − (1)

The rotor is said to be statically balanced if the vector sum F is zero. If the vector sum F
is not zero, i.e. the rotor is unbalanced, then introduce a counterweight ( balance weight)
of mass ‘m’ at radius ‘r’ to balance the rotor so that,

m ω2 r  m ω2 r  m ω2 r  m ω2 r  m ω2 r  0 − − − − − − − − − (2)
1 1 2 2 3 3 4 4

or
m1 r1 m2 r2 m3 r3 m4 r4 m r  0 − − − − − − − − − − − − − − − − (3)

The magnitude of either ‘m’ or ‘r’ may be selected and the other can be calculated. In
general, if ∑miri is the vector sum of m1r1 , m2r2 , m3r3 , m4r4 etc, then,

∑mirimr0− − − − − − − − (4)

The above equation can be solved either analytically or graphically.

1. Analytical Method:

Procedure:
Step 1: Find out the centrifugal force or the product of mass and its radius of rotation
exerted by each of masses on the rotating shaft, since ω2 is same for each mass, therefore
the magnitude of the centrifugal force for each mass is proportional to the product of the
respective mass and its radius of rotation.
Step 2: Resolve these forces into their horizontal and vertical components and find their
sums. i.e.,

Sum of the horizontal components

n

 ∑miricos θim1r1cos θ1m2r2cos θ2m3r3cos θ3− − − − − − − −

i1

Sumof the vertical components

n
 BMS INSTITUTE OF TECHNOLOGY & MGMT
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V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
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 ∑mirisin θim1r1sin θ1m2r2sin θ2m3r3sin θ3− − − − − − − −
i1
 BMS INSTITUTE OF TECHNOLOGY & MGMT
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V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
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Step 3: Determine the magnitude of the resultant centrifugal force

n 2 n 2
 
R ∑mrii cos θi ∑mrii sinθi

i1 i1

Step 4: If θ is the angle, which resultant force makes with the horizontal, then
n
m r sin θ
∑ i i i

tanθin1
m r cos θ
∑ i i i
i1

Step 5: The balancing force is then equal to the resultant force, but in opposite
direction. Step 6: Now find out the magnitude of the balancing mass, such that

Rmr

Where, m = balancing mass and r = its radius of rotation

2. Graphical Method:

Step 1:
Draw the space diagram with the positions of the several masses, as shown.

Step 2:
Find out the centrifugal forces or product of the mass and radius of rotation exerted by
each mass.

Step 3:
Now draw the vector diagram with the obtained centrifugal forces or product of the
masses and radii of rotation. To draw vector diagram take a suitable scale.
Let ab, bc, cd, de represents the forces Fc1, Fc2, Fc3 and Fc4 on the vector diagram.
Draw ‘ab’ parallel to force Fc1 of the space diagram, at ‘b’ draw a line parallel to force
Fc2. Similarly draw lines cd, de parallel to Fc3 and Fc4 respectively.

Step 4:
As per polygon law of forces, the closing side ‘ae’ represents the resultant force in
magnitude and direction as shown in vector diagram.
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

Step 5:
The balancing force is then , equal and opposite to the resultant force.

Step 6:
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

Determine the magnitude of the balancing mass ( m ) at a given radius of rotation ( r ),

such that,

Fcmω2 r or

mrresultantofm1 r1 ,m2 r2 ,m3 r3 andm4 r4

CASE 4:

BALANCING OF SEVERAL MASSES ROTATING IN DIFFERENT PLANES

When several masses revolve in different planes, they may be transferred to a reference
plane and this reference plane is a plane passing through a point on the axis of rotation
and perpendicular to it.

When a revolving mass in one plane is transferred to a reference plane, its effect is to
cause a force of same magnitude to the centrifugal force of the revolving mass to act in
the reference plane along with a couple of magnitude equal to the product of the force
and the distance between the two planes.
In order to have a complete balance of the several revolving masses in different planes,
1. the forces in the reference plane must balance, i.e., the resultant force must be zero and
2. the couples about the reference plane must balance i.e., the resultant couple must be
zero.

A mass placed in the reference plane may satisfy the first condition but the couple
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________
balance is satisfied only by two forces of equal magnitude in different planes. Thus, in
general, two planes are needed to balance a system of rotating masses.
 BMS INSTITUTE OF TECHNOLOGY & MGMT
DEPARTMENT OF MECHANICAL ENGINEERING

V SEMESTER SUB: DYNAMICS OF MACHINERY

Staff: Yashavantha Kumar G A Sub Code : 15ME52
______________________________________________________________________

VTU EDUSAT PROGRAMME - 17

Example:
Consider four masses m1, m2, m3 and m4 attached to the rotor at radii r1, r2, r3 and r4
respectively. The masses m1, m2, m3 and m4 rotate in planes 1, 2, 3 and 4 respectively.

a) Position of planes of masses

Choose a reference plane at ‘O’ so that the distance of the planes 1, 2, 3 and 4 from ‘O’
are L1, L2 , L3 and L4 respectively. The reference plane chosen is plane ‘L’. Choose
another plane ‘M’ between plane 3 and 4 as shown.

Plane ‘M’ is at a distance of Lm from the reference plane ‘L’. The distances of all the
other planes to the left of ‘L’ may be taken as negative( -ve) and to the right may be taken
as positive (+ve).

The magnitude of the balancing masses mL and mM in planes L and M may be obtained
by following the steps given below.
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V SEMESTER SUB: DYNAMICS OF MACHINERY

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Step 1:
Tabulate the given data as shown after drawing the sketches of position of planes of
masses and angular position of masses. The planes are tabulated in the same order in
which they occur from left to right.
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Centrifugal Distance 2
Plane Mass (m) Radius (r) force/ω2 from Ref. Couple/ ω
1 2 3 (m r) plane ‘L’ (L) (m r L)
6
4 5
1 m1 r1 m1 r 1 - L1 - m1 r1 L1
L mL rL mL rL 0 0
2 m2 r2 m2 r2 L2 m2 r2 L2
3 m3 r3 m3 r 3 L3 m3 r3 L3
M mM rM mM rM LM mM rM LM
4 m4 r4 m4 r 4 L4 m4 r 4 L 4

Step 2:
Construct the couple polygon first. (The couple polygon can be drawn by taking a
convenient scale)
Add the known vectors and considering each vector parallel to the radial line of the mass
draw the couple diagram. Then the closing vector will be ‘mM rM LM’.
 BMS INSTITUTE OF TECHNOLOGY & MGMT
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V SEMESTER SUB: DYNAMICS OF MACHINERY

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The vector d ’o’ on the couple polygon represents the balanced couple. Since the
balanced couple CM is proportional to mM rM LM , therefore,
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C m r L  vector d' o'

M M M M
' '
or m  vector d o
M
r M LM

From this the value of mM in the plane M can be determined and the angle of inclination
φ of this mass may be measured from figure (b).

Step 3:
Now draw the force polygon (The force polygon can be drawn by taking a convenient scale)
by adding the known vectors along with ‘mM rM’. The closing vector will be ‘mL rL’. This
represents the balanced force. Since the balanced force is proportional to ‘mL rL’
,
mL rL  vector eo
or m  vector eo
L
rL

From this the balancing mass mL can be obtained in plane ‘L’ and the angle of
inclination of this mass with the horizontal may be measured from figure (b).

Problems and solutions

Problem 1.
Four masses A, B, C and D are attached to a shaft and revolve in the same plane. The
masses are 12 kg, 10 kg, 18 kg and 15 kg respectively and their radii of rotations are 40
mm, 50 mm, 60 mm and 30 mm. The angular position of the masses B, C and D are 60 0 ,
1350 and 2700 from mass A. Find the magnitude and position of the balancing mass at a
radius of 100 mm.

Solution:
Given:

Mass(m) Radius(r) Centrifugal force/ω2

kg m (m r) Angle( θ )
kg-m
mA = 12 kg rA = 0.04 m mArA = 0.48 kg-m θ A  00
(reference mass)
mB = 10 kg rB = 0.05 m mBrB = 0.50 kg-m θ B  6 00
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V SEMESTER SUB: DYNAMICS OF MACHINERY

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mC = 18 kg rC = 0.06 m mCrC = 1.08 kg-m θ C 1350
mD = 15 kg rD = 0.03 m mDrD = 0.45 kg-m θ D  2700

To determine the balancing mass ‘m’ at a radius of r = 0.1 m.

The problem can be solved by either analytical or graphical method.

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Analytical Method:

Step 1:
Draw the space diagram or angular position of the masses. Since all the angular position
of the masses are given with respect to mass A, take the angular position of mass A as θ
A0 .
0

Tabulate the given data as shown. Since the magnitude of the centrifugal forces are
proportional to the product of the mass and its radius, the product ‘mr’ can be calculated
and tabulated.

Step 2:
Resolve the centrifugal forces horizontally and vertically and find their sum.
Resolving mArA, mBrB, mCrC and mDrD horizontally and taking their sum gives,
n

∑miricos θimArAcosθAmBrBcosθBmCrCcosθCmDrDcosθD
i1

 0.48 x cos 00 0.50 x cos 600 1.08 x cos1350 0.45 x cos 2700 0.48 0.25(− 0.764) 0− 0.034 kg− m
− − − − − − − − − (1)
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Resolving mArA, mBrB, mCrC and mDrD vertically and taking their sum gives,
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n

∑mirisin θimArAsinθAmBrBsinθBmCrCsinθCmDrDsinθD
i1

 0.48 x sin 00 0.50 x sin 600 1.08 x sin1350 0.45 x sin2700 0 0.433 0.764 (− 0.45) 0.747kg− m
− − − − − − − − − (2)

Step 3:
Determine the magnitude of the resultant centrifugal force

n 2 n 2
 
R ∑mrii cos θi ∑mrii sin θi

i1 i1

 − 0.03420.74720.748kg− m
Step 4:
The balancing force is then equal to the resultant force, but in opposite direction. Now
find out the magnitude of the balancing mass, such that

Rmr  0.748kg− m
R 0.748
Therefore, m  7.48kg Ans
r 0.1

Where, m = balancing mass and r = its radius of rotation

Step 5:
Determine the position of the balancing mass ‘m’.
If θ is the angle, which resultant force makes with the horizontal, then
n
m r sinθ
∑
tanθ i1
i i i


0.747 − 21.97
n
m r cos θ
∑ i i i − 0.034
i1

and θ− 87.4 0 or 92.60

Remember ALL STUDENTS TAKE COPY i.e. in first quadrant all angles
( sin θ , cos θ and tan θ ) are positive, in second quadrant only sin θ is positive, in
third quadrant only tanθ is positive and in fourth quadrant only cosθ is positive.

Since numerator is positive and denominator is negative, the resultant force makes with
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the horizontal, an angle (measured in the counter clockwise direction)
θ 92.6 0
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The balancing force is then equal to the resultant force, but in opposite direction.
The balancing mass ‘m’ lies opposite to the radial direction of the resultant force and the
angle of inclination with the horizontal is, θM87.40 angle measured in the clockwise
direction.

Graphical Method:

Step 1:
Tabulate the given data as shown. Since the magnitude of the centrifugal forces are
proportional to the product of the mass and its radius, the product ‘mr’ can be calculated
and tabulated.

Draw the space diagram or angular position of the masses taking the actual angles( Since
all angular position of the masses are given with respect to mass A, take the angular
position of mass A as θA00 ).
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Step 2:
Now draw the force polygon (The force polygon can be drawn by taking a convenient
scale) by adding the known vectors as follows.
Draw a line ‘ab’ parallel to force FCA (or the product mArA to a proper scale) of the
space diagram. At ‘b’ draw a line ‘bc’ parallel to FCB (or the product mBrB). Similarly
draw lines ‘cd’, ‘de’ parallel to FCC (or the product mCrC) and FCD (or the product
mDrD) respectively. The closing side ‘ae’ represents the resultant force ‘R’ in magnitude
and direction as shown on the vector diagram.
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Step 3:
The balancing force is then equal to the resultant force, but in opposite direction.

Rmr
R
Therefore, m  7.48 kg Ans
r

The balancing mass ‘m’ lies opposite to the radial direction of the resultant force and the
angle of inclination with the horizontal is, θM87.40 angle measured in the clockwise
direction.
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Problem 2:
The four masses A, B, C and D are 100 kg, 150 kg, 120 kg and 130 kg attached to a shaft
and revolve in the same plane. The corresponding radii of rotations are 22.5 cm, 17.5 cm,
25 cm and 30 cm and the angles measured from A are 450, 1200 and 2550. Find the
position and magnitude of the balancing mass, if the radius of rotation is 60 cm.

Solution:

Analytical Method:

Given:

Mass(m) Radius(r) Centrifugal force/ω2

(m r) Angle( θ )
kg m
kg-m
mA = 100 kg rA = 0.225 m mArA = 22.5 kg-m θ A  00
(reference mass)
mB = 150 kg rB = 0.175 m mBrB = 26.25 kg-m θ B  450
mC = 120 kg rC = 0.250 m mCrC = 30 kg-m θ C 1200
mD = 130 kg rD = 0.300 m mDrD = 39 kg-m θ D  2550
m =? r = 0.60 θ ?

Step 1:
Draw the space diagram or angular position of the masses. Since all the angular position
of the masses are given with respect to mass A, take the angular position of mass A as θ
A0 .
0

Tabulate the given data as shown. Since the magnitude of the centrifugal forces are
proportional to the product of the mass and its radius, the product ‘mr’ can be calculated
and tabulated.
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______________________________________________________________________
 BMS INSTITUTE OF TECHNOLOGY & MGMT
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______________________________________________________________________

Step 2:
Resolve the centrifugal forces horizontally and vertically and find their sum.
Resolving mArA, mBrB, mCrC and mDrD horizontally and taking their sum gives,

∑miricos
θ
i  m A rA cosθA  m B rB cosθB mC rC cosθC m D rD cosθD
i 1

 22.5 x cos 00 26.25 x cos 450  30 x cos 1200 39 x cos 2550
 22.5  18.56  (−15)  (−10.1)  15.97 kg −
m −−−−−−−−− (1)

Resolving mArA, mBrB, mCrC and mDrD vertically and taking their sum gives,
n

∑mirisinθi  m A rA sin θA  m B rB sinθB mC rC sinθC m D rD sinθD

i 1

 22.5 x sin 00  26.25 x sin 450 30 x sin 1200 39 x sin 2550

 0  18.56  25.98  (−37.67)  6.87 kg −
m −−−−−−−−− (2)

Step 3:
Determine the magnitude of the resultant centrifugal force

n n
R ∑m r cosθ
2
 ∑m r sinθ
2

i 1 i i i i 1 i i i

 15.97 6.87  17.39 kg − m

2 2

Step 4:
The balancing force is then equal to the resultant force, but in opposite direction. Now
find out the magnitude of the balancing mass, such that

R  m r  17.39 kg − m
R 17.39
Therefore, m    28.98 kg Ans
r 0.60

Where, m = balancing mass and r = its radius of rotation

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Step 5:
Determine the position of the balancing mass ‘m’.
If θ is the angle, which resultant force makes with the horizontal, then
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∑ mi r i sin θi
6.87  0.4302
tan θ i 1

mr
n

∑ cos θi 15.97
i i
i 1

and θ23.280

The balancing mass ‘m’ lies opposite to the radial direction of the resultant force and the
angle of inclination with the horizontal is, θ203.280 angle measured in the
counter clockwise direction.

Graphical Method:

Step 1:
Tabulate the given data as shown. Since the magnitude of the centrifugal forces are
proportional to the product of the mass and its radius, the product ‘mr’ can be calculated
and tabulated.
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______________________________________________________________________
 BMS INSTITUTE OF TECHNOLOGY & MGMT
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______________________________________________________________________

Step 2:

Draw the space diagram or angular position of the masses taking the actual angles (Since
all angular position of the masses are given with respect to mass A, take the angular
position of mass A as θA00 ).

Draw a line ‘ab’ parallel to force FCA (or the product mArA to a proper scale) of the
space diagram. At ‘b’ draw a line ‘bc’ parallel to FCB (or the product mBrB). Similarly
draw lines ‘cd’, ‘de’ parallel to FCC (or the product mCrC) and FCD (or the product
mDrD) respectively. The closing side ‘ae’ represents the resultant force ‘R’ in magnitude
and direction as shown on the vector diagram.

Step 4:
The balancing force is then equal to the resultant force, but in opposite direction.

Rmr
R
Therefore, m  29kg Ans
r

The balancing mass ‘m’ lies opposite to the radial direction of the resultant force and the
angle of inclination with the horizontal is, θ2030 angle measured in the counter
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clockwise direction.
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Problem 3:
A rotor has the following properties.

Axial distance
Mass magnitude Radius Angle
from first mass

1 9 kg 100 mm θ A  00 -
2 7 kg 120 mm θ B  6 00 160 mm
3 8 kg 140 mm θ C 1350 320 mm
4 6 kg 120 mm θ D  2700 560 mm

If the shaft is balanced by two counter masses located at 100 mm radii and revolving in
planes midway of planes 1 and 2, and midway of 3 and 4, determine the magnitude of the
masses and their respective angular positions.

Solution:

Analytical Method:

Centrifugal Distance ω2 Angle

Mass (m) Radius (r) force/ω2 from Ref. Couple/
Plane (m r L) θ
1 kg m (m r) plane ‘M’ kg-m2
2 3 kg-m m 6 7
4 5
1 9.0 0.10 m1 r1 = 0.9 -0.08 -0.072 00
M mM = ? 0.10 mM rM = 0.1 mM 0 0 θM ?
2 7.0 0.12 m2 r2 = 0.84 0.08 0.0672 600
3 8.0 0.14 m3 r3 = 1.12 0.24 0.2688 1350
N mN = ? 0.10 mN rN = 0.1 mN 0.36 mN rN lN = 0.036 mN θN ?
4 6.0 0.12 m4 r4 = 0.72 0.48 0.3456 2700

For dynamic balancing the conditions required are,

∑mrmMrMmNrN0 ----------(I) for force balance

∑mrlmNrNlN0 --------------(II) for couple balance

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______________________________________________________________________
 BMS INSTITUTE OF TECHNOLOGY & MGMT
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15ME52
______________________________________________________________________

Step 1:
Resolve the couples into their horizontal and vertical components and find their sums.

Sum of the horizontal components gives,

∑mrl cosθmNrNlNcosθN0Onsubstitution
we get
− 0.072 cos 00 0.0672 cos 600 0.2688cos1350
 0.3456cos2700 0.036 mN cosθN 0 i.e. 0.036 mN cosθN
0.2285− − − − − (1)

Sum of the vertical components gives,

∑mrl sin θmNrNlNsinθN0On

substitution we get
− 0.072 sin 00 0.0672 sin 600 0.2688sin1350
 0.3456 sin2700 0.036 mN sinθN 0 i.e. 0.036 mN sin θN
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0.09733− − − − − (2)

Squaring and adding (1) and (2), we get

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mN rN lN 0.228520.097332i.e.,
0.036mN 0.2484
0.2484
Therefore, mN  6.9kg Ans 0.036

Dividing (2) by (1), we get

tanθ  0.09733 and θ 23.070

N 0.2285 N

Step 2:
Resolve the forces into their horizontal and vertical components and find their

sums. Sum of the horizontal components gives,

∑mr cosθmMrMcosθMmNrNcosθN0On substitution we get

0.9 cos 00 0.84 cos 6001.12 cos1350 0.72 cos2700
 mM rM cosθM 0.1x6.9xcos23.070 0 i.e. mM rM cosθM
− 1.1629 − − − − − (3)

Sum of the vertical components gives,

∑mr sin θmMrMsin θMmNrNsinθN0On substitution we

get
0.9 sin00 0.84 sin 6001.12 sin1350 0.72sin2700
 mM rM sinθM 0.1x6.9xsin23.070 0 i.e. mM rM sinθM
− 1.0698 − − − − − (4)

Squaring and adding (3) and (4), we get

mM rM − 1.16292− 1.06982i.e.,

0.1mM1.580
1.580
Therefore, m  15.8 kg Ans
M 0.1

Dividing (4) by (3), we get

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tanθ  − 1.0698 and θ 222.610 Ans
M − 1.1629 M
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_______

Graphical Solution:
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Problem 4:
The system has the following data.

m 1.2 kg r  1.135 m @∠ 113.40

1 1
m 1.8 kg r 0.822 m @ ∠48.80
1 2

m  2.4 kg r  1.04 m @∠ 251.40

1 3

The distances of planes in metres from plane A are:

l1 0.854, l2 1.701,l3 2.396,lB 3.097

Find the mass-radius products and their angular locations needed to dynamically balance
the system using the correction planes A and B.

Solution: Analytical Method

Centrifugal Distance ω2 Angle

Mass (m) Radius (r) force/ω2 from Ref. Couple/
Plane (m r L) θ
1 kg m (m r) plane ‘A’ kg-m2
2 3 kg-m m 6 7
4 5

A mA rA mA rA =? 0 0 θA ?
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1 1.2 1.135 1.362 0.854 1.163148 113.40
2 1.8 0.822 1.4796 1.701 2.5168 48.80
3 2.4 1.04 2.496 2.396 5.9804 251.40
B mB rB mB rB =? 3.097 3.097 mB rB θB ?
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Step 1:

Resolve the couples into their horizontal and vertical components and find their sums.

Sum of the horizontal components gives,

∑mrl cosθmBrBlBcosθB0Onsubstitution
we get

1.163148 cos113.4 0 2.5168 cos 48.805.9804 cos251.40 3.097 mB rB cosθB 0

i.e. m r cosθ  0.71166 − − − − − (1)

BB B 3.097

Sum of the vertical components gives,

∑mrl sinθmBrBlBsinθB0Onsubstitution
we get

1.163148 sin113.4 0 2.5168 sin 48.805.9804 sin251.40 3.097 mB rB sinθB 0

i.e. m r sinθ  2.7069 − − − − − (2)

BB B 3.097

Squaring and adding (1) and (2), we get

0.71166 2 2.7069 2
mB rB  
3.097 3.097
 0.9037kg− m

Dividing (2) by (1), we get

tanθ  2.7069 and θ  75.270 Ans

B 0.71166 B

Step 2:
Resolve the forces into their horizontal and vertical components and find their
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sums. Sum of the horizontal components gives,
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∑mr cosθmArAcosθAmBrBcosθB0On substitution we get

1.362 cos113.4 0 1.4796 cos 48.80 2.496 cos251.40

 mA rA cosθA 0.9037 cos75.270 0 Therefore

mA rA cosθA 0.13266− − − − − − − − − (3)

Sum of the vertical components gives,

∑mr sinθmArAsinθAmBrBsinθB0On substitution we get

1.362 sin113.4 0 1.4796 sin 48.80 2.496 sin 251.40

 mA rA sinθA 0.9037 sin75.270 0 Therefore

mA rA sinθA− 0.87162− − − − − − − − − (4)

Squaring and adding (3) and (4), we get

mA rA 0.132662− 0.871622

 0.8817 kg− m

Dividing (4) by (3), we get

tanθ
A
 − 0.87162 and θ
A
− 81.350 Ans
0.13266

Problem 5:
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 450, B to C 700 and C to D 1200. 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.
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______________________________________________________________________
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______________________________________________________________________

Graphical solution:

Let, mX be the balancing mass placed in plane X and mY be the balancing mass placed in
plane Y which are to be determined.

Step 1:
Draw the position of the planes as shown in figure (a).

Let X be the reference plane (R.P.). The distances of the planes to the right of the plane X
are taken as positive (+ve) and the distances of planes to the left of X plane are taken as
negative(-ve). The data may be tabulated as shown

Since the magnitude of the centrifugal forces are proportional to the product of the mass
and its radius, the product ‘m r’ can be calculated and tabulated. Similarly the magnitude
of the couples are proportional to the product of the mass , its radius and the axial
distance from the reference plane, the product ‘m r l’ can be calculated and tabulated as
shown.
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Centrifugal Distance ω2 Angle

Mass Radius (r) force/ω2 from Ref. Couple/
Plane (m r L) θ
(m) kg m (m r) plane ‘X’ 2
1 kg-m
2 3 kg-m m 6 7
4 5
A 200 0.08 mA r A = 16 -0.10 -1.60 -
X mX =? 0.10 mX rX = 0.1 mX 0 0 θ X ?
B 300 0.07 mB rB = 21 0.20 4.20 A to B 450
C 400 0.06 mC rC = 24 0.30 7.20 B to C 700
Y mY =? 0.10 mY rY = 0.1 mY 0.40 mY rY lY = 0.04 mY θ Y ?
D 200 0.08 mD rD = 16 0.60 9.60 C to D 1200

Step 2:

Assuming the mass A as horizontal draw the sketch of angular position of masses as
shown in figure (b).

Step 3:
Draw the couple polygon to some suitable scale by taking the values of ‘m r l’ (column
no. 6) of the table as shown in figure (c).

Draw line o’a’ parallel to the radial line of mass mA. At

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a’ draw line a’b’ parallel to radial line of mass mB.
Similarly, draw lines b’c’, c’d’ parallel to radial lines of masses mC and mD
respectively. Now, join d’ to o’ which gives the balanced couple.
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We get, 0.04 mY vector d'o'7.3kg− m2

or mY182.5 kg Ans

Step 4:
To find the angular position of the mass mY draw a line omY in figure (b) parallel to d’o’
of the couple polygon.

By measurement we get θY120 in the clockwise direction from mA.

Step 5:
Now draw the force polygon by considering the values of ‘m r’ (column no. 4) of the
table as shown in figure (d).
Follow the similar procedure of step 3. The closing side of the force polygon i.e. ‘e o’
represents the balanced force.

mX rX vectoreo35.5kg− m
or mX355kg Ans

Step 6:
The angular position of mX is determined by drawing a line omX parallel to the line ‘e o’
of the force polygon in figure ( b). From figure (b) we get,
θX1450, measured clockwise from mA. Ans

Problem 6:
A, B, C and D are four masses carried by a rotating shaft at radii 100 mm, 125 mm, 200
mm and 150 mm respectively. The planes in which the masses revolve are spaced 600
mm apart and the mass of B, C and D are 10 kg, 5 kg and 4 kg respectively. Find the
required mass A and relative angular settings of the four masses so that the shaft shall be
in complete balance.
Solution:

Graphical Method:

Step 1:
Let, mA be the balancing mass placed in plane A which is to be determined along with
the relative angular settings of the four masses.
Let A be the reference plane (R.P.).
Assume the mass B as horizontal
Draw the sketch of angular position of mass mB (line omB ) as shown in figure (b). The
data may be tabulated as shown.
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Centrifugal force/ω2 Distance Couple/ ω2 Angle

Plane Mass Radius (r) (m r) from Ref. (m r L) θ
1 (m) kg m kg-m plane ‘A’ kg-m2
2 3 4 m 6 7
5
A
(R.P.)
mA= ? 0.1 mA rA = 0.1 mA 0 0 θA ?
B 10 0.125 mB rB = 1.25 0.6 0.75 θB 0
C 5 0.2 mC rC = 1.0 1.2 1.2 θC ?
D 4 0.15 mD rD = 0.6 1.8 1.08 θD ?

Draw a line o’b’ equal to 0.75 kg-m2 parallel to the line omB. At point o’ and b’ draw
vectors o’c’ and b’c’ equal to 1.2 kg-m2 and 1.08 kg-m2 respectively. These vectors
intersect at point c’.

For the construction of force polygon there are four options.

Any one option can be used and relative to that the angular settings of mass C and D
are determined.
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θD  1000 and θ C
 2400 Ans

Step 4:
In order to find mA and its angular setting draw the force polygon as shown in figure (d).
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Closing side of the force polygon od represents the product mA rA . i.e.

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mA rA 0.70kg-m
Therefore, mA  0.70 7kg Ans
r
A

Step 5:

Now draw line omA parallel to od of the force polygon. By measurement, we get,

θA 1550 Ans

Problem 7:
A shaft carries three masses A, B and C. Planes B and C are 60 cm and 120 cm from A.
A , B and C are 50 kg, 40 kg and 60 kg respectively at a radius of 2.5 cm. The angular
position of mass B and mass C with A are 900 and 2100 respectively. Find the
unbalanced force and couple. Also find the position and magnitude of balancing mass
required at 10 cm radius in planes L and M midway between A and B, and B and C.

Solution:

Case (i):

Centrifugal force/ω2 Distance Couple/ ω2 Angle

Plane Mass Radius (r) (m r) from Ref. (m r L) θ
1 (m) kg m kg-m plane ‘A’ kg-m2
2 3 4 m 6 7
5
A 50 0.025 mA rA = 1.25 0 0 θ A  00
(R.P.)
B 40 0.025 mB rB = 1.00 0.6 0.6 θ B  900
C 60 0.025 mC rC = 1.50 1.2 1.8 θ C  2100

Analytical Method

Step 1:
Determination of unbalanced couple
Resolve the couples into their horizontal and vertical components and find their sums.

Sum of the horizontal components gives,

∑mrl cosθ0.6 cos 9001.8cos 2100− 1.559− − − − − (1)

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Sum of the vertical components gives,

∑mrlsinθ0.6 sin9001.8 sin2100− 0.3− − − − − (2)

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Squaring and adding (1) and (2), we get

Cunbalanced -1.5592-0.32
 1.588 kg− m2

Step 2:
Determination of unbalanced force

Resolve the forces into their horizontal and vertical components and find their sums.

Sum of the horizontal components gives,

∑mr cosθ1.25 cos 001.0 cos 9001.5 cos2100

1.25 0 (− 1.299) − 0.049− − − − − − − − − (3)

Sum of the vertical components gives,

∑ mr sinθ  1.25 sin 0 0 1.0 sin 9001.5 sin 2100

 01.0  (− 0.75) 0.25− − − − − − − − − (4) 

Squaring and adding (3) and (4), we get

Funbalanced -0.04920.252
 0.2548 kg− m

Graphical solution:
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b’ b
`

1.50
c
1.8 0.6
o’ 1.00
o’ Unbalanced force
1.25
c’ Unbalanced couple o a
Force polygon
Couple polygon

Case (ii):

To determine the magnitude and directions of masses mM and mL.

Let, mL be the balancing mass placed in plane L and mM be the balancing mass placed in
plane M which are to be determined.

The data may be tabulated as shown.

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Centrifugal Distance ω2 Angle

Mass Radius (r) 2
from Ref. Couple/
θ
force/ω
Plane (m r L)
1 (m) kg m (m r) plane ‘L’ kg-m2
2 3 kg-m m 6 7
4 5
A 50 0.025 mA rA = 1.25 -0.3 -0.375 θ A  00
L
(R.P.) mL = ? 0.10 0.1 mL 0 0 θL ?
B 40 0.025 mB rB = 1.00 0.3 0.3 θ B  900
M mM = ? 0.10 0.1 mM 0.6 0.06 mM θM ?
C 60 0.025 mC rC = 1.50 0.9 1.35 θ C  2100

Analytical Method:

Step 1:
Resolve the couples into their horizontal and vertical components and find their sums.

Sum of the horizontal components gives,

∑mrl cosθmMrMlMcosθM0On substitution we

get

-0.375 cos 0 0 0.3 cos 900 0.06 mM cosθM1.35 cos 2100 0 i.e. -0.375  0 0.06 mM cosθM (− 1.16913) 0

0.06 mM cosθM1.54413
1.54413
mM cosθM 25.74 − − − − − (1) 0.06

Sum of the vertical components gives,

∑mrl sinθmMrMlMsinθM0On substitution we

get

-0.375 sin 0 0 0.3 sin 900 0.06 mM sinθM1.35 sin 2100 0 i.e. 0  0.3 0.06 mM sinθM (− 0.675) 0

0.06 mM sinθM 0.375

m sinθ  0.375  6.25 − − − − − (2)
M M 0.06

Squaring and adding (1) and (2), we get

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(m M
cosθ M
)2  (mM sinθ M
)2  (25.74)2 (6.25)2 701.61

i.e. m2  701.61 and m  26.5 kg Ans

M M

Dividing (2) by (1), we get

tanθ  6.25 and θ 13.650 Ans

M 25.74 M

Step 2:
Resolve the forces into their horizontal and vertical components and find their

sums. Sum of the horizontal components gives,

∑mr cosθmLrLcosθLmMrMcosθM0On substitution we get

1.25 cos 0 0 0.1mL cosθL1.0 cos 900 2.649 cos13.650 1.5cos 2100 0 1.25 0.1mL cosθL 0 2.5741 (− 1.299)  0

Therefore
0.1mL cosθL 2.5251  0
and m cosθ  − 2.5251 − 25.251− − − − − − − − − (3)
L L
0.1

Sum of the vertical components gives,

∑mr sinθmLrLsinθLmMrMsinθM0
On substitution we get
1.25 sin 0 0 0.1m sinθ 1.0 sin 900 2.649 sin13.650  1.5sin 2100 0
L L

0 0.1mL sinθL 1 0.6251 (− 0.75)  0

Therefore
0.1mL sinθL 0.8751  0
and m sinθ  − 0.8751 − 8.751− − − − − − − − − (4)
L L
0.1

Squaring and adding (3) and (4), we get

(mL cosθL )2 (mL sinθL )2 (-25.251)2 (-8.751)2 714.193

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i.e. m2  714.193 and m  26.72 kg Ans
L L

Dividing (4) by (3), we get

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− 8.751
tanθ L
 and θ L
19.110 Ans
-25.251

The balancing mass mL is at an angle 19.110 + 1800 = 199.110 measured in counter

clockwise direction.

Graphical Method:

0.3

1.35 0.375

0.06 mM

COUPLE POLYGON

0.1 mM

1.5

1.0
0.1 mL

1.25
FORCE POLYGON
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Problem 8:

Four masses A, B, C and D are completely balanced. Masses C and D make angles of 90 0
and 2100 respectively with B in the same sense. The planes containing B and C are 300
mm apart. Masses A, B, C and D can be assumed to be concentrated at radii of 360 mm,
480 mm, 240 mm and 300 mm respectively. The masses B, C and D are 15 kg, 25 kg and
20 kg respectively. Determine i) mass A and its angular position ii) position of planes A
and D.

Solution: Analytical Method

Step 1:
Draw the space diagram or angular position of the masses. Since the angular position of
the masses C and D are given with respect to mass B, take the angular position of mass B
as θ B  00.

Tabulate the given data as shown.

Centrifugal force/ω2 Distance Couple/ ω2 Angle

Plane Mass Radius (r) (m r) from Ref. (m r L) θ
1 (m) kg m kg-m plane ‘A’ kg-m2
2 3 4 m 6 7
5
A
(R.P.)
mA= ? 0.36 mA rA = 0.36 mA 0 0 θA ?
B 15 0.48 mB rB = 7.2 lB = ? 7.2 lB θB 0
C 25 0.24 mC rC = 6.0 lC = ? 6.0 lC θ C  900
D 20 0.30 mD rD = 6.0 lD = ? 6.0 lD θ D  2100
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Step 2:
Mass mA be the balancing mass placed in plane A which is to be determined along with
its angular position.

Refer column 4 of the table. Since mA is to be determined ( which is the only unknown) ,resolve
the forces into their horizontal and vertical components and find their sums.

Sum of the horizontal components gives,

∑mr cosθmArAcosθAmBrBcosθBmCrCcosθCmDrDcosθD0
On substitution we get
0.36 m A cos θA 7.2 cos 00 6.0 cos 900 6.0 cos 2100 0
Therefore
0.36 m A cos θA - 2.004 − − − − − − − − − (1)

Sum of the vertical components gives,

∑mr sin θmArAsinθAmBrBsinθBmCrCsinθCmDrDsinθD0On substitution we get

0.36 mA sinθA 7.2 sin00 6.0 sin900 6.0 sin2100 0 Therefore

0.36 mA sinθA -3.0− − − − − − − − − (2)

Squaring and adding (1) and (2), we get

0.362 (mA)2(− 2.004)2 (− 3.0)2 13.016

13.016
mA  10.02 kg Ans 0.362

Dividing (2) by (1), we get

tanθ  − 3.0 and Resutltant makes an angle  56.26 0

A -2.004
The balancing mass A makes an angle of θA236.260 Ans
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Step 3:

Resolve the couples into their horizontal and vertical components and find their sums.

Sum of the horizontal components gives,

θ θ  θ θ  θ 
∑mr l cos mArAlAcos A mBrBlBcos B mCrClCcos C mDrDlDcos D 0
On substitution we get
0  7.2 l B cos 00 6.0 lC cos 900 6.0 l D cos 2100
0 7.2 l B− 5.1962 l D 0 - - - - - - - - - - - (3)

Sum of the vertical components gives,

∑mr l sinθmArAlAsinθAmBrBlBsinθBmCrClCsinθCmDrDlDsinθD0
On substitution we get
0  7.2 lB sin 00 6.0 lC sin 900 6.0 l D sin 2100 0
0 0 6.0 lC− 3 l D 0 - - - - - - - - - - - (4)

But from figure we have, lC lB0.3

On substituting this in equation (4), we get
6.0 ( l B0.3)− 3 l D 0
i.e. 6.0 l B− 3 l D 1.8 - - - - - - - - - -(5)

Thus we have two equations ( 3) and (5), and two unknowns l B, l

D 7.2 lB− 5.1962 l D 0 - - - - - - - - - - - (3)

6.0 l B− 3 l D 1.8 - - - - - - - - - -(5)

On solving the equations, we get
l D− 1.353 m and l B− 0.976 m

As per the position of planes of masses assumed the distances shown are positive (+ ve )
from the reference plane A. But the calculated values of distances lB and lD are negative.
The corrected positions of planes of masses is shown below.
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References:

1. Theory of Machines by S.S.Rattan, Third Edition, Tata McGraw Hill Education

Private Limited.
2. Kinematics and Dynamics of Machinery by R. L. Norton, First Edition in SI units, Tata
McGraw Hill Education Private Limited.
3. Primer on Dynamic Balancing “Causes, Corrections and Consequences” By
Jim Lyons International Sales Manager IRD Balancing Div. EntekIRD International
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