A General Theory for Elastically Constrained

Ball and Radial Roller Bearings Under

A. B. JONES
Chief Research Engineer
Arbitrary Load and Speed Conditions
The Fafnir Bearing C o m p a n y
N e w Britain, Conn. A completely general solution is obtained, whereby the elastic compliances of a system
of any number of ball and radial roller bearings under any system of loads can be de-
termined. Elastic yielding of the shaft and supporting structure are considered as well
as centrifugal and gyroscopic loading of the rolling elements under high-speed opera-
tion. The solution defines the loading and attitude of each rolling element in each
bearing of the system as well as the displacement of each inner ring with respect to its
outer ring. For ball bearings the precise location of the load paths in each raceway are
found. Life estimates can be more accurately made since the fatigue effects can be
evaluated over known paths in the raceways. The solution, which is accomplished
numerically by iterative techniques, has been programmed for an IBM-704 digital com-
puter.

DIESPITE
. their mechanical simplicity, rolling-element define a bearing's internal load distribution lies in the complexity
bearings, and in particular ball bearings, present some very com- of the associated equations. Rolling element bearings constitute
plex problems when their actions under service conditions are a statically-indeterminate, nonlinear, elastic system and the as-
studied. sociated equations are not easily reducible to closed-form solu-
All calculations of rolling element bearing fatigue life require a tions without certain, simplifying assumptions.
knowledge of the bearing's internal load distribution. Closed- The general equations for the elastic equilibrium of a ball bear-
form solutions for the forces on the rolling elements of a bearing ing in three of the five possible degrees of freedom were given by
are known for relatively few cases of loading. Existing closed- the writer in Reference [l]. 1 All known, closed-form solutions
form solutions deal only with the case of parallel ring displace- for different cases of loading can be deduced from these equations
ment and do not properly account for the change in contact angle by making the necessary, simplifying assumptions. However,
found with ball bearings. Centrifugal ball loading and gyroscopic precise solutions could only be obtained by tedious, graphical or
moments, important in high-speed bearings, are usually neglected. numerical integration of the pertinent equations.
The precise determination of elastic yields, of extreme im- With the advent of the modern, high-speed, digital computer,
portance of the designer of precision inertial guidance system, is it became possible to quickly solve the most complex problem in
not possible with existing closed-form solutions. bearing load distribution by numerical means.
The reason for the inadequacy of existing solutions to properly This paper extends the scope of the original theory of Reference
Contributed by the Lubrication Division of T H E AMERICAN SOCIETY [1 ] so that an entire assemblage of bearings, shaft, and supporting
OP MECHANICAL ENGINEERS and presented at the ASLE-ASME structure is considered as a single, elastic system. The solution
Lubrication Conference, New York, N. Y., October 20-22, 1959. defines the elastic compliance of a point on the shaft with respect
NOTE: Statements and opinions advanced in papers are to be to the supporting structure in five degrees of freedom. Elastic
understood as individual statements of their authors and not those
of the Society. Manuscript received at ASME Headquarters, August yielding of the shaft and supporting structure are considered
5, 1959. ASME Paper No. 59—Lub-10. 1 Numbers in brackets designate References at end of paper.

-Nomenclature-
A = a fatigue constant for ball ing inner raceway or to Qc„ Q = capacity of a ball or roller
bearings point of force application; race, contact for 90 per
A' = a fatigue constant for roller L is positive when meas- cent probability of sur-
bearings ured left from point B, in. vival to 10' revolutions
B = total curvature factor bL = fatigue life for ball bearing, of inner race, lb
= f o + f i - 1 hr X, Y, Z orthogonal right-handed co-
(CF\ = centrifugal force on rolling RL = fatigue life for roller bear- ordinate system
element, lb ing, hr Oiq semimajor axes of outer and
E = pitch diameter, in. Mv, M, = moments about axes paral- inner-race pressure el-
F
L XI 1F Vt 1FM = forces parallel to X, Y, and lel to Y and Z, lb in. lipses, in.
Z, lb Mo, = gyroscopic moment acting K - semiminor axes of outer and
K0, Ki = outer and inner-race de- on ball, lb in. inner-race pressure el-
flection constants for ball N = speed of rotating race, rpm lipses, in.
bearings, in. 1 /' X l b - Pd = moimted diametral clear- d = ball diameter, in.
K„', Kt' - outer and inner-race deflec- ance in roller bearing, in. So, U = ratio of transverse radius of
tion constants for roller xP oqt ball race to ball diameter
*P-
iq = dynamic rolling-element
bearings; units depend loads at outer and inner- total number of bearings
j =

on roller design race contacts, lb and points at which shart

L - axial distance from point B = static rolling-element load, is loaded by external or
P,
on shaft to center of bear- lb body forces

Journal of Basic Engineering JUNE 1 9 60 / 3 0 9

Copyright © 1960 by ASME

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 through the use of influence coefficients. The exact, internal
load distribution is found for all of the bearings in the system.
Centrifugal forces acting on the rolling elements and gyroscopic
moments acting on the balls are considered. Bearing lives are
evaluated by summation of the fatigue effects of the rolling ele-
ments' passages over precisely determined paths in each bearing
raceway.
+ F,
The present work has been programmed for an IBM-704 digital SHAFT AXIS

computer and, in addition to the elastic yields of the bearings

and structural parts, and the bearings' fatigue lives, yields other + Fy /
pertinent data. Among these are contact area dimensions and
stresses at each ball position, locations of the pressure-ellipse
extremities, centrifugal force and gyroscopic moment at each O A
V 1l + My
rolling element position, theoretical fatigue life, frictional effects
due to rolling, and many other items of interest.
Numerous, special-purpose programs for specific problems
have also been developed using the basic theory outlined here. Fig. 1
In several of these, the elastic deformations of the bearing rings,
themselves, and their effect upon fatigue life have been con-
sidered.
The author wishes to acknowledge the assistance of Mr. George
M . Cooley of The Fafnir Bearing Company in bringing the theory
to its ultimate form.

Theoretical Development / y
/ SHAFT ^AXI5
Elastic Compliance of the System. Consider a system of p angular-
+ X
contact ball bearings and t radial roller bearings mounted on a
nonrigid shaft and supported in a nonrigid structure.
Let there be w points along the shaft where external loads or
body forces are applied.
Then the total number of points on the shaft where loads or
bearing reactions occur is j = p + t + w. The number of points
at which the supporting structure is loaded is u = p + t.
Forces and moments and bearing reactions acting on the shaft Fig. 2
can have components in accordance with the co-ordinate system
of Fig. 1.
to this reference line through influence coefficients. Deflections
A t each bearing position there will be structural yields and and slopes of the supporting structure are referred to the initial
bearing deflections. These are referred to a similar co-ordinate axis of the supporting structure through influence coefficients.
system, Fig. 2. z„ is the compliance of the inner ring of the bearing at u with
Fig. 3 shows a portion of the shaft and supporting structure in respect to its outer ring in the ^-direction.
their deflected state in XZ projection. A similar situation exists
The shaft deflection at any bearing position u due to forces and
in X Y projection.
moments in the .XZ-plane is, relative to the shaft reference line
In Fig. 3, u is any bearing location, B is a particular point on
the shaft reference line. Shaft deflections and slopes are referred A,„ = [A,„,.]{/g + [A (1)

-Nomenclature-
l = length of roller, in. ball's angular velocity iob, = angular velocity of ball
p — number of ball bearings in about its own center and about own center, rad X
system X-axis, radians sec-1
g = rolling-element position in- a„, a, = angular displacements angular velocity of spin of
dex parallel to Y, Z, radians ball with respect to outer
= subscript indicating ?th roll- P = initial contact angle of ball or inner race, rad X s e c - 1
ing-element position bearing after mounting WR0q, o>ff(? = angular velocity of rolling of
r = radius of locus of ball-bear- fioq) fitq ~ dynamic outer and inner- ball with respect to outer
ing inner-race curvature race operating contact or inner race, rad X s e c - 1
centers, in. 0 = angular velocity of rotating
t = number of roller bearings in static operating contact an- race, rad X s e c - 1
P, =
system gle SIe, = orbital angular velocity of
u = total number of bearings in 7 ratio d/E rolling element, rad X
system So,, Si, approach of rolling element sec-1
w = number of points at which to outer and inner races, Subscripts „ and < refer to conditions at
shaft is loaded b y exter- in. outer and inner race contacts, respec-
nal or b o d y forces = angular displacements of tively.
x, y, z = linear displacements paral- shaft at point B about Subscript , refers to conditions at the
lel to X, Y, Z axes parallel to F, and Z, </th rolling-element position.
a, = angle between vector of radians Other notations as defined in text.

310 / JUNE 19 60 Transactions of the A S M E

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 {F„.} and [M } are columns of forces and moments and are of {F\,\ = {P„, - F'UiJ (17)
order j — p + t + w.
[Azui] and are square matrices of influence coefficients, {F'h\ = K - F\,J (18)
also of order j. {M'J = {MV1 - M'„_„} (19)
The slope of the shaft in the XZ-plane relative to the shaft
reference line is {M\] = {Mti - M'„.„} (20)

(2) The items F ' a n d so forth, are initial loads or moments

which exist at a bearing position u when the system is at rest and
The yield of the outer-race structure relative to the initial axis before the application of external load.
in the XZ-plane is If xb> Vb> zb> &vb, a t K ' a r e displacements of the shaft ref-

erence line at point B relative to its initial position and attitude,

tV, w ]{F„.} + [V Ml (3)
the relative displacements of an inner race with respect to its
and the slope of the outer-race supports relative to the initial axis outer race are
is, in the -XZ-plane s „ = xB+ A"Xu + [iA X u ,]{F' I f } (21)

p»u = [p„u,]{/'\-( + [p'„„,]{il/„,.} (4) 5'u = VB + A" V u + LJzb + [,A„ U ,.]{*"„,} + [iA'„„,]{il/',,.} ( 2 2 )
In the X F-pIane a similar situation exists, so that zu = zB + A",u + LJVb + [iA t u ,]{F't,} + [iA', 0 ,]{Jl/'„,.} ( 2 3 )
A„ u = [A„„,]{F„,) + [ A ' „ J { M . , . } (5) 5 „ „ = dVB + a\u + [iQi1/u,]{F'„.} + WVvi\{M'Vl] (24)
= K j K } + [ « ' . „ , ( 6 ) a. u = &, B + a " , u + [ i « , j { F ' w } + [ia' 2 „,]{*/'„.} (25)

V„„ = [V„uf]{Fw} + IV'^Hil/,,} (7) The items A" I U ) and so forth, are initial deflections within the
bearings as the result of preloading or the forcible application of
P>u = [PsjK,} + [p',ul){Mh} (8) initial constraints.
The interest is in the sum of the shaft and support structure Five, nonlinear, simultaneous equations define the equilibrium
yields so that of the system.

,A i u = A,„ + V*„ = [iA, u i ]{F„| + [iA', u ,]{il/„,} (9) + X =0 - <2«)

10 U

laVu = a V u + p„ u = [ia„„,]{F 2 ,} + [i c t ' m ] { M y s \ (10) F

Z «<° + Z =0 = (27)
10 U
.A„ u = A„ u + V„„ = [iA„„,]{F v .} + ^ A ' ^ . l f i l / , , ! (11)

,ct;u = ct!u + p,u = Ua,u, ]{^ „,} + [i a',ui]{M,,\ (12) X + X f'" - 0 - <28>
w u
where M L F M
X "+ Z - ~ + Z >» + Z L » F > « = 0 = ^ (29)
W W M M
[iA* w ] = [ A * J + [V«u(] and so forth. (13)
L F M L
Similarly, in the direction of the X-axis X + X " "» + Z >» + Z »F"u = 0= (30)
w w u u
.A,„ = [.AIa,]{F„} (14) These equations can be linearized and solved iteratively by the
where Newton-Raphson method.
[iA* u ,] = [ A . J + [Vx„,] (15) Let 5 m ° be initial estimates of the variables xB, yB, zB, 0 ,JB,
aud in that sequence in Equations (26) through (30). I m -
If there are initial preloads which are reactive on elastic struc-
proved values are S'm.
tural parts, then the columns of forces and moments must be ad-
justed accordingly. S'm = 5m° - [ « , „ ] - ' { ( 3 1 )

(16) where ipt are the error functions.

The elements alm of the matrix are

an = V —' (32)
< ^r
DEFLECTED SHAFT
i>Flu
ai2 = Z (33)
u
bFx
°I3 = 2 , -TT- (34)

an (35)

a i5 (36)

INITIAL AXES OF SHAFT AND

= v —>'
SUPPORTING STRUCTURE
Oil (37)
Fig. 3 d.r„

Journal of Basic Engineering JUNE 1 9 6 0 / 311

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 curvature center and ball center with respect to the outer-
an = (38) race curvature center at the gth ball position of a ball bearing at

(AF)t and (RF) q are axial and radial functions which relate the
a 23 = (39) ring displacements to the ball forces and contact angles.
V
2tt q _ 2nq
(.AF) = Bd sin p + xu + aUuru cos h aturu sin •— (57)
at4 (40) n n
da„ B .
2irq 2irq A PD
(RF), = Bd cos j3 + yu sin — + 2„ cos — —1- (58)
an U _ 1
dyu
(41) n n 2
M U

where A P D is any increase in diametral clearance of the mounted

«31 = (42) bearing.
V If centrifugal forces and the friction forces arising from gyro-
scopic effects are considered, the forces and moments acting on the
a 32 = (43) ball are shown in Fig. 7.
V The ball loads are related to the normal approaches of the ball
to the races through
= 2-1
V hr.
—" (44) Po„ = K„K'h (59)

(45)

035 (46)

^ r sr., <w„l
a« (47)

aa (48)

a,3 (49)

an

(50)

at 6

Fig. 4
O51 (52)

05I (53)

a 53 (54)

an
u \L &2u J da„. &a„„ /

a s5

(56)

Forces a n d Moments in a Bail Bearing Under High-Speed Conditions.

Fig. 4 shows an angular-contact ball bearing in its initial attitude
and the five displacements the inner ring may have with respect
to the outer.
Fig. 5 shows the convention of the ball position index q.
Fig. 6 shows the initial and final positions of the inner-race Fig. 5

312 / JUNE 19 60 Transactions of the A S M E

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 2rt<j 2 fro
ysin—+3 cos—
n <
fu n

and Piq = K
A t each ball position it is necessary to determine S0qJ 8iql jSo,,
and Since the iterative techniques of the Newton-Raphson
method will be used to solve the associated nonlinear equations
the angles j3„, and /3ia are best stated in terms of the co-ordinates,
V and IF, in Fig. 6.

sin /3„, =
[ ( / „ - 0 . 5 ) d + 5 o ,]

V Fig. 7
cos /30q =
Kfo — 0.5)d + 5 0 ,] (62)
If Sh° are initial estimates of the variables F „ TF„, 5„q, and 8iq
in that order, improved values are S k ', where
^F), - W,
sin /?,-, =
[(/, - 0.5)d + « „ ] V = V - [acir{6,} (69)

e, are the error functions, ei, ti, t 3 , and e4, in that order, from
Equations (65) through (68).

The elements, aw of the matrix are

From Figs. 6 and 7 and Equations (61) through (64)
an = -2{(RF)„ - Vq] (70)
[(AF), - IF,]* + [(Bf), - 7,]»
Oi2 = - 2 [ ( A F ) , - IF,] (71)
- [(/,• - 0.5)<2 + 5.-,]' = 0 = €l (65)
an = 0 (72)
F , ! + IF, 2 - [(/„ - 0.5)d + 5 0 ,] 2 = 0 = e2 (66)
a.4 = — 2[(/,- - 0.5)d + 5,] (73)

an = 2 F , (74)
[(/„ - 0.5)d + So,]
an = 2 IF, (75)

- Vg] - ^ [(AF), - TP,]J = -2[(/0 - 0.5)d + 5„,] (76)

[(/,. - 0.5)d + 5,-„] au = 0 (77)

- ( C F ) , = 0 = e3 (67)
031 =
[(/„ - 0.5)d + S 0 ,]
+ [(/, - 0.5)d + Sig]
(78)

[ W I F , +

[(/„ - 0.5)d + 5„,] «3! _ r i + 1 -i (79)

d L [(/„ - 0.5)d + SJ T [(/< - 0.5)d + 5,-,]J

^A,' 7 '!!^), - IF,] + ^ [(flF), - F,]J
a3a = | K0VqKq'/'[(/„ - 0.5)d + « „ ] - K.Vji.* + IF,
~ [(/.- - 0.5)d + 5 . J [ ( / . - 0.5)d +
= 0 = e, (68) (80)

Journal of Basic Engineering JUNE 1 9 6 0 / 313

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 J Ki[(RF)q - F,]5,,'/«[(/, - 0-5)d + 5,-g] - Kt[{EF\ - Vq]8iq'/> + ^ [(AF), - Wq]
<134 = — (81)
[(/,• - 0.5)d + 5,J 2

K<8iq
an r 1 . i 1 f82) 042 =
K„S0t'/2
+ (83)
[(/„ — 0.5)d + 8 0{( ] [ ( / , , - 0 . 5 ) d + 5,-J
d I [(/. - 0.5)d + SoJ [(/., - 0.5)d + 5 , j J
MG.
2 K 0 W q S 0 q '/n(L - 0.5)d + S.,] - K0Wq80q'/* -
3 7,

a 4 3 = [(/. - 0.5)d + 8 oq ]° (84)

| K&AF), - WjSt^Ufi - 0.5 )d + 5,-,] - KMAF), - W,]8iq'/> - ^f \{RF\ - Vq]

an — — (85)
' [(/,• - 0.5)d +

The forces and moments with which the inner race acts on the
shaft at its center are

Mr KiKAF), - TP,]*,/'* + ^ f KRF), ~ V q )

n \ KA(AF)
K, q - W„]8iq'/> + - p [(RF\
MVu = r ^
^ = E L 9= 1 ~ [(/, - 0.5)rf + 5,,]
9=1 [(/.- - 0.5)d + 8 i q ]
(86)
2wq ,
- — MGq cos — (89)
MG„ r„ n
Kd(.RF)q - 7JS.-,'/' - [(.IF), - Wq]

[(/,. - 0.5)d + 8iq] Mo,

8=1 Kd(AF)q - Wq]8iq''°- + - p [{RF)q - Vq]

sin — ^ (87) ^ = [(/,• - 0.5)d + 8iq]

9=1

Ma.
KA(RF)q - V,]8<,'" - - p [(.IF), - Wq] - f Ma, sin — (90)
n
[(/,• - 0 . 5 V + 5„
9=1
For brevity let 8U = (£„, yu, zu, aVu, asu) as the case may be.
27rg ,
cos — (88)
n

Then

d8u -E9 = 1
L+ ^ - - [(/,- - 0.5)d + 5,„I2
- +^ ^ - frJ (91)

[(/,. - 0.5), + 5 , ] { Ki8iq'/2 - f ^ ) + } W [W - Vq] £

dF»
dS,. - E
l- ^ c ^ - m - [(/,• - 0.5)d + « l f ] »
- ^-H^ - sin2^
n
(92)
9=1

(biRFJ^ dVq\
[(/,. - 0.5)d + 5, J | Kfiiq^ y— + | K&V'KRF), - V,]

Afa, Z d ( A F ) „ &TF,
'/«[(RF)q - Vq] -
Mg„
[(AF)q - W,] \ ***
= V d V Mu f d 5 j 2irg ,
cos — (93)
a*. [(/,. - 0.5)d + n
94l

i>M„ 27rg
cos — (94)
9=1 [(/,• - 0.5)d + 8 i q P n

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 [(/,. - 0.5)d + - + f W K A F ) , - IF,

- + ^ - ^ t J sin^? (95)
Kfi ~ 0.5)d + 8,„]2 n

The derivatives of ( A F ) q and {RF)q with respect to the 5„ are The elements, b,„ of the matrix are
b(AF), [&„ = (RF)q - Vq] (107)
= 1 (96)
bn = [(AF)f - Wq] (108)
d(AF)q 6u = 0 (109)
(97)
i>yu bu = Of, - 0.5)d + «.-,] (110)
i>(AF), b» = Vq (111)
= 0 (98)
teu
bv = Wq (112)
b(AF\ 2trq
= r cos — (99) b23 = - [(/„ - 0.5)d + 5„q] (113)
n
b2t = 0 (114)
djAFX 2?r q
(100) The remaining elements bn, 632, 633, b3i, bn, bw, and 644 are, re-
spectively, identical to a31, a32, a33, a34, an, an, ai3, and 044, Equa-
tions (78) through (85).
= 0 (101) The centrifugal force and the gyroscopic moment are

2irq
n
(102)
(CF\ = C^EW |
(i): (115)

2irq Mo.-C& I^ ) fl2 sin a„ (116)

(103)

Ci and C2 depend on material density, ft is the angular velocity

= 0 (104) of the rotating race.
da„„
The ratios (fl E /Q) and (co B /Q) depend upon which race is
rotating and upon the type of ball "control." In angular-contact
= 0 (105) ball bearings it is found that the ball will roll on one race without
dot,,,
spin and that all spin occurs with respect to the other race. If
If now Equations (65) through (68) are differentiated with re- no spin occurs at a race contact the ball is said to be controlled
spect to the 5U, four simultaneous equations result which are linear by that race. If gyroscopic slip of the ball is prevented, the
. &Ft bWq d5„ bSiq ball's angular-velocity vector lies in the plane of the bearing's
in ——, —r", — a n d —~ and from which the latter can be rotational axis and its attitude depends on the type of control.
d5u dSu ddu ddu
For outer-race control
found. The solutions are

sin p 0q
tan a„ = (117)
\ l ( A F X - W q ] ^ + l ( R F ) q - V q ] ^ cos j8„, + 7
Mu
For inner-race control
&TF,
0
sin ft,-,
tan a = - (118)
cos p i q — 7
= [ M"1 3/, ?>(RF)q MGq d(AF) q (106)
as,, /fiA
dSu d ddu Table 1 shows values of J
Kfi - 0.5)d + Siq]

K s „. W ) . , Moq 0(RF)q
' " as„ 1 d c>«„
The ratio
[(/,• - 0.5)d + 8,,]

Gf). •
±1
(119)
|~cos (S0q + tan aq sin (30q ^ cos f$iq + tan aq sin j3,g"j
7 cos a q
L 1 + 7 cos /?„, 1 - 7 cos /?,-, J
Journal of Basic Engineering JUNE 1 9 6 0 / 315

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 Table 1

Vaiue of ( | ) a

Outer-race control Inner-race control

cos (Pi, - Po,) + y cos Pi, 1 + 7 cos Po,
Outer rotating
1 + cos (piq - p„,) 1 + cos (piq - p0,)
1 - 7 cos Pi, cos (pi, - Po,) - y cos Po,
Inner rotating
1 + COS (Pi, - Pa,) 1 + COS (Pi, - Po.)

The upper sign is used with outer-race rotation; the lower sign The ball load is
with inner-race rotation.
It is necessary to make an assumption as to the type of control. P, = K8,'" (128)
A check on the correctness of the assumption is given by the fol- where
lowing relations obtained from consideration of the moment re-
quired to spin a ball relative to a raceway about the normal to the
(129)
pressure area at its center. K \_Kj" + K,'"]
Outer-race control exists at a ball position q if
The forces and moments with which the inner race acts on the
P0,a0,E(e)0, cos (Pi, - P0q) > P , , a , ^ ( e ) „ (120) shaft at its center are

Inner-race control requires that

F*u sin ft (130)
9=1
Pi,ai,E(t)i, cos (Piq - Po,) > Po,ao^(€)0, (121)
. 2iTrq
E(e) is the complete elliptic integral of the second kind having F„ u = X I P " 003 ft sin (131)
the modulus sin e where 9 - 1
n

b 2irq
cos e = — (122) F.u = Y^ P, cos P, (132)
a n
9 = 1

b and a are the semiaxes of the pressure ellipse at a race con-

27rq
tact, calculated in accordance with the Hertz theory. MUu = r £ P, sin 0, cos (133)
Under certain conditions of operation a ball may be com- 9=1
n
pletely out of contact with the inner race. At that time the outer-
race contact angle fi„q and the gyroscopic moment Maq are zero. 2ir q
M. u = sin p, (134)
The force P0, is equal to the centrifugal force.
9 = 1
Loss of inner-race contact will occur when
The associated derivatives are
(AF)\ + [(RF), - (f„ - 0.5)d - K„-,'\CF)q,"V

<k [(/, - 0.5)dP (123) = * £ lU, + V,suSP,] (135)

" X " 9=1

Forces and Moments in a Ball Bearing Under Static Loading. I f t h e c e n -

trifugal force and the gyroscopic moment acting on a ball are . 2irq
^P = K T , V, sin p, cos ft sin (136)
negligible, the assumption fi = 0 in the foregoing will yield a n
solution for the case of static loading. However, the computa-
tions are unnecessarily long since many of the equations become
redundant. = IC £ V, sin P, cos Pq cos — (137)
dzu
The solution for static loading can be obtained from considera- 9 = 1

tion of the potential energy in a deflected bearing. Here, how-

ever, to preserve continuity the static case is deduced from the OF
da = [U, + V, sin2 p,] cos ^ (138)
dynamic case as follows 9 = 1
W i t h f l = 0:
dF
Po, — Pi, — P, (124) 3 s = rK V [U, + V, sin» P,1 sin (139)
doc,
»'« »

P°q = Pi, (125) i>F. ^ v) 1 iV,Tr sm r ''

-—vu = K • p,
a cos p,
f) sin
• / 7—
= ft
(140)
and
0x« 9=1 n
(AF),
tan/3, (126)
(RF),
~ = K £ [U, + 7 , COS' P,1 sin' ( ^ j (141)
The total approach of inner and outer races at a ball position is
dF,
= K V [U,+ V, cos2 P,] sin — 1 cos (i42)
S, = [(AF)' + (RF•)»]'/» - B d > 0 (127) dz, 9=1
' n n

316 / J U NE 19 6 0 Transactions of the A S M E

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 bF, . 2717/ 27T(/ when mounted, the total compression at a rolling element is
= rK V V sin ft cos ft sin —
—9 C cos
OS ^— (143)
oa,- ! 71.
re n . 2trq 2irq PE
9=1
= yu s ' n — + cos — — — > o (162)

^ = rK V F , sin ft cos ft sin2 (144)

da, 5, must be positive since the roller cannot take tension.
0= 1 \ n /
There exists no precise formula for calculating the approach of
2irq a roller to a raceway as this depends somewhat on the nature
(145) and degree of the crowning of the roller or raceway. However,
bx,
9=1
an expression of the form

rP On —
— K °On
'ft b (163)
= W , + F , cos2 ft] sin ^ cos (146)
yu 9=1 71 U P- -- K.'ft- * (164)

= K £ 11/, + F , cos2 ft] cos2 ( ^ f ) (147) can be fitted to experimental data.

The centrifugal force on a roller is

(CF), = c,dHE&[ 1 =T= 7]2 (165)

~ = r K Y ] F, sin ft cos ft cos2 ( — ' ) (148)
0a»u rr[ \ re / The upper sign applies to inner-race rotation; the lower to outer.
The total compression of a rolling element is the sum of the
&P compressions at the inner and outer-race contacts.
= r/C V F , sin ft cos ft sin ^ cos — ' (149)
da.
9=1
5, = + Sf, (166)
bMv
= r/C V [17, + F , sin2 ft] cos — (150) also
bxu < n
9 = 1
Po, = P<, + (CF), (167)
Z>M„ -Av 27r? 2lr?

— = rX X sia ft cos ft sin IT C°S T (151) and

byu 9= 1
K'o(bq - S,,)' - K'{Siq" - (CF), = 0 = A, (168)

if (CF), Z K0'8,b, Po, = (CF\, and 5,-, and P , , are zero.

i t =r7f Z sin ftft ° os2 ( v ) (152)
If 6 is other than unity, establish the error function A,. If
is an estimate of 5,„ a better estimate is where
£>il/„
^ = r'K V [I/. + F , sin2 cos2 (153)
30f»u 9= i \ n /
S'" = ^ + M / m ~ ^ + > ° < 169 >
^ = r'/f V [(7, + F , sin2 /3,] sin ^ cos ^ (154) and so forth.
9=1 If b is unity
bM„ [K'0hq - (CP),]
= rK X + sin2 ft! sin — (155) > 0 (170)
bau 9=1 \K\ + K't]

[K'QS, - (CP),]
= rK V F , sin ft cos /S. sin2 ( ( 1 5 6 ) (171)
^u <Fl \ n /

dAf, . 2irr/ 2irq

= rK V F , sin ft cos ft sin
—— —' cos ——7 (157)
02. ; «.
n n The forces with which the roller bearing acts on the shaft are
9=1
Fxu = 0 (172)
. 2x5 2xg
^ = r'tf X IU, + V, sin2 ft] sin ^— cos ^— (158)
nrv..
ba » 7i
n nn 2wq
9= 1 Fyu = K't Y , sin (173)
9=1
re
bM.
^ = r 2 if V It/, + F, sin2 ft] sin2 (159) n
da
"««
; o=i \ n / 2irq
Fru = K'i J2 * (174)
where 9=1

5 (175)
{/ = (160)
' [5, + (*<*)! M.u = 0 (176)

_ g,V'[8, + 3(Bd)] The associated derivatives are

F„ = (161)
2 [8, + (Bd)]
bF xu
= 0 (177)
Forces in a Radial Roller Bearing Under High-Speed Conditions. b(xu, yu, z„, aUw alu)
A radial roller bearing can be loaded only by the displacements
y u and zu if misalignment effects are small. bFUu
= 0 (178)
For a radial roller bearing with initial diametral clearance P D b(Zu, auu, ot,u)

Journal of Basic Engineering JUNE 1 9 6 0 / 317

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 I I K ~ Fr
= T W w n

K,r K-, <-) Ml:)]

n sin"

U - S. J
= (195)

M I T P
.. . . 2irg 2irq „— 1

1
n o 1 ., sin cos

1r.-vr
° - K S"J -
= ^ y
M ^ + ' »
(196)

dF*" = 0 (181)

i>yu
. , . 27to 2ir}

K,
o,, 6 " 1 sin — cos
^ _ h V 71 n f1821

_ r - ^ - T " 1 ^ ^ y sin cos (198)

1 + K ' 0 U - 6 J 5zu ^ + Q p y j h » *
•« cos2 ( ? )
V w / M831 ~ = r / \ ./6-16 Z 5 »shl cos 1")

'>'"•• - o (184)
!» . e y ,,,,
> ; » - . « • • I ? I <™>

If 6 is unity
= 0 (185)
£>(*„, yul z—
u, —•
cxyu, a,
—u) K\ v—* * • 2lrS
Fvu = f ^Tn 5» sln V (201)

If 6 is unity h + iL* 9=1 71

(202)

= 5 - ^ sin 2 f (186) = g9 * cos 2 f

U'.- J 2ttq . ,.
L 1 +
The associated derivatives are given b y Equations (188)
i d 1

through (191).
Special Cases of Initial Constraint. Up to this point it was as-
sumed that all outer rings were rigidly attached to a flexible sup-
Qp g, n (2irq\
/2irq\ structure, There
porting structure. m e r e are many instances wnere
where one or more
'
- . ^ ^ sin2 ( — J (188) outer rings are free from constraint in one or more degrees of free-
i>yu
1 11 -1
_| J 1 9*= 1- \ n / do in or where the constraints are different than those dictated
K'J by
by the
the structural
structural flexibilities.
flexibilities.
Some of the more common cases are treated in the following.
d^tu = K'i -yy 2?rg ^ 2rq Bearings With Axially Floating OD's. In a system hav-
S i n g | e Ba||
dz„ (" n n ing u bearings let the vth ball bearing be so mounted that its O D
I K' I is free to slide axially without restraint.
The matrix of influence coefficients [iA I u f ] should contain
dF,u K'i 27rg 2irq zeros in the i>th row and column.
= r K'-~[ S'n n C ° S 11 (I®®) Let there have been made an assumption of the five displace-
• 10 = 1 ments xB, yB, zB, and from which have been obtained
y u -i; Zu-t, and a,„_„. Then the value of $„=» is that which
satisfies the relation
y cos,
( l9i) Flu_„ = 0 = $ (203)

If x°u-v is an initial estimate of xu-v, an improved estimate is

x' u ., t , where
Forces in a Radial Roller Bearing Under Static Load. Under static eg,
load *«-»' = - ^ (204)

(CF)q = 0 (192) { d x i j

Po, = Pi, = P, (193) The derivative required in Equation (204) is given by Equa-

318 / JUNE 1960 Transactions of the A S M E

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 tion (91) with 5U = for the dynamic case or by Equation Calculation of Ball Bearing Fatigue Life. T h e Lundberg-Palmgren
(135) for the static case. theory, Reference [2], is the basis for the A F B M A standard
The converged value of £„=,„, together with yu-v, Zu-», auu-v, method for evaluating load ratings of ball bearings and is used
and a,u-v are used to obtain new estimates of xB, yB, zB> $VB, and by most bearing manufacturers in establishing catalog ratings.
During the latter process only all derivatives with respect However, this theory is based upon the assumption that parallel
to xu-v are set equal to zero. ring displacement exists, that is, that the displacements a u u
Single Ball Bearings With a Spherical Outer Ring OD. If the l>th ball and a ! n are zero. Also, it assumes that, under combined load,
bearing has its outer ring mounted in a spherical seat the moment the operating contact angle is the same at each ball position.
reaction at that bearing is zero. The foregoing solution of the elastic problem yields directly the
The influence-coefficient matrices [iatVui], [io:'„ uf ], [i<x»„;], and true ball load-distribution and contact-angle variation. By
[i«'««f] should contain zeroes in the fth row and column. evaluating the fatigue effects of the ball passages over an exact
For an assumption of the five displacements at point B values path, a more accurate estimate of fatigue life is possible.
of Su -v, yu-v, and z u - c are obtained directly. Equation (115) of Reference [2] gives the capacity of a race
The values of a y u = v and a 2 u _ 0 are those which satisfy the rela- contact for 10° revolutions of the inner race and 90 per cent proba-
tions bility of survival.
Recent work, as yet incomplete, has shown that the spin of the
Mvu-v = 0 = Xt (205) ball relative to a raceway has an important effect on fatigue life.
Although this effect has not been fully evaluated, preliminary
M t u _ v = 0 = X2 (206)
results indicate that an exponential relation exists between the
Let a" j be initial estimates of 5„„_„ and a 2 „_ 0 where j = 1, 2, 01,
capacity of a race contact and the ratio - —. Therefore, Equation
respectively. Improved estimates are a / , where: Ws,
(115) of Reference [2] should be modified as follows
a/ = - tcy-ifx,-} (207)

where:

en = — (208) [1 =F 7 cos ft,]'-39

oa„ d'n -'/a (215)
[1 ± 7 cos /3,1'/.

Cl2 = (209) The upper sign is used for an inner-race contact and the lower
da 2 , sign for an outer-race contact.
For a raceway in which a particular point supports the same
C21 = (210) load at each ball passage the life of the race in hours for 90 per cent
da u probability of survival is

10°
C22 = —— (211) bL Iu — (216)
oa„

y u -v, and z„_„ to obtain new estimates of the displacements at

For a raceway in which the loading of a particular point varies
point B, and so forth. In the latter process only all derivatives
cyclically with time, the life of the raceway in hours for 90 per
with respect to a„ u _„ and a ! u _ v are set equal to zero.
cent probability of survival is
Multiplex Bearings Which Act as a Unit and Whose O D s A r e Free to
Float Axially. Consider a system of bearings in which v ball bear- lO'/i
ings are so arranged that their outer races are axially fixed rela- nL 2„ — (217)
tive to each other but free to move axially in their housings with-
out restraint.
Let the relative axial motion of any inner race with respect to
60iV
5 (<?.')
iring is
The life of a complete ball bearing
ita outer race be x. Then the total axial displacement of an inner
race with respect to its outer race is 5„_ r .

xu-v = x + A" x (212)

Assume that an initial choice has been made of the displace-
The ratio — — , required in Equation (215) is, for an outer-race-
ments at point B from which have been calculated y„_ r , z„_,., Wff„
«„„_,,, and a 2 , Then the value of x is that which satisfies the
relation contact

Yj = 0 = f (213) = - ( 1 + 7 cos Poq) tan (/?„, - a,) + 7 sin (219)

Oq
For an initial estimate, x°, of x an improved estimate is x' and, for an inner-race contact
where
>j3
~ = (1 - 7 cos ft,
(214) OlK,-

Calculation of Roller Bearing Fatigue Life. T h e calculation of

the fatigue life of a radial roller bearing is greatly dependent upon
The converged value of x enables new estimates of the dis- the manner in which the rollers are crowned. Under light loads a
placements at B, and so forth. continuously crowned roller may have substantially point con-

Journal of Basic Engineering JUNE 19 60 / 3 1 9

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 A General Theory for Elastically Constrained
Ball and Radial Roller Bearings Under
A. B. JONES
Chief Research Engineer
Arbitrary Load and Speed Conditions
The Fafnir Bearing C o m p a n y
N e w Britain, Conn. A completely general solution is obtained, whereby the elastic compliances of a system
of any number of ball and radial roller bearings under any system of loads can be de-
termined. Elastic yielding of the shaft and supporting structure are considered as well
as centrifugal and gyroscopic loading of the rolling elements under high-speed opera-
tion. The solution defines the loading and attitude of each rolling element in each
bearing of the system as well as the displacement of each inner ring with respect to its
outer ring. For ball bearings the precise location of the load paths in each raceway are
found. Life estimates can be more accurately made since the fatigue effects can be
evaluated over known paths in the raceways. The solution, which is accomplished
numerically by iterative techniques, has been programmed for an IBM-704 digital com-
puter.

DIESPITE
. their mechanical simplicity, rolling-element define a bearing's internal load distribution lies in the complexity
bearings, and in particular ball bearings, present some very com- of the associated equations. Rolling element bearings constitute
plex problems when their actions under service conditions are a statically-indeterminate, nonlinear, elastic system and the as-
studied. sociated equations are not easily reducible to closed-form solu-
All calculations of rolling element bearing fatigue life require a tions without certain, simplifying assumptions.
knowledge of the bearing's internal load distribution. Closed- The general equations for the elastic equilibrium of a ball bear-
form solutions for the forces on the rolling elements of a bearing ing in three of the five possible degrees of freedom were given by
are known for relatively few cases of loading. Existing closed- the writer in Reference [l]. 1 All known, closed-form solutions
form solutions deal only with the case of parallel ring displace- for different cases of loading can be deduced from these equations
ment and do not properly account for the change in contact angle by making the necessary, simplifying assumptions. However,
found with ball bearings. Centrifugal ball loading and gyroscopic precise solutions could only be obtained by tedious, graphical or
moments, important in high-speed bearings, are usually neglected. numerical integration of the pertinent equations.
The precise determination of elastic yields, of extreme im- With the advent of the modern, high-speed, digital computer,
portance of the designer of precision inertial guidance system, is it became possible to quickly solve the most complex problem in
not possible with existing closed-form solutions. bearing load distribution by numerical means.
The reason for the inadequacy of existing solutions to properly This paper extends the scope of the original theory of Reference
Contributed by the Lubrication Division of T H E AMERICAN SOCIETY [1 ] so that an entire assemblage of bearings, shaft, and supporting
OP MECHANICAL ENGINEERS and presented at the ASLE-ASME structure is considered as a single, elastic system. The solution
Lubrication Conference, New York, N. Y., October 20-22, 1959. defines the elastic compliance of a point on the shaft with respect
NOTE: Statements and opinions advanced in papers are to be to the supporting structure in five degrees of freedom. Elastic
understood as individual statements of their authors and not those
of the Society. Manuscript received at ASME Headquarters, August yielding of the shaft and supporting structure are considered
5, 1959. ASME Paper No. 59—Lub-10. 1 Numbers in brackets designate References at end of paper.

-Nomenclature-
A = a fatigue constant for ball ing inner raceway or to Qc„ Q = capacity of a ball or roller
bearings point of force application; race, contact for 90 per
A' = a fatigue constant for roller L is positive when meas- cent probability of sur-
bearings ured left from point B, in. vival to 10' revolutions
B = total curvature factor bL = fatigue life for ball bearing, of inner race, lb
= f o + f i - 1 hr X, Y, Z orthogonal right-handed co-
(CF\ = centrifugal force on rolling RL = fatigue life for roller bear- ordinate system
element, lb ing, hr Oiq semimajor axes of outer and
E = pitch diameter, in. Mv, M, = moments about axes paral- inner-race pressure el-
F
L XI 1F Vt 1FM = forces parallel to X, Y, and lel to Y and Z, lb in. lipses, in.
Z, lb Mo, = gyroscopic moment acting K - semiminor axes of outer and
K0, Ki = outer and inner-race de- on ball, lb in. inner-race pressure el-
flection constants for ball N = speed of rotating race, rpm lipses, in.
bearings, in. 1 /' X l b - Pd = moimted diametral clear- d = ball diameter, in.
K„', Kt' - outer and inner-race deflec- ance in roller bearing, in. So, U = ratio of transverse radius of
tion constants for roller xP oqt ball race to ball diameter
*P-
iq = dynamic rolling-element
bearings; units depend loads at outer and inner- total number of bearings
j =

on roller design race contacts, lb and points at which shart

L - axial distance from point B = static rolling-element load, is loaded by external or
P,
on shaft to center of bear- lb body forces

Journal of Basic Engineering JUNE 1 9 60 / 3 0 9

Copyright © 1960 by ASME

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