Outline

ME 2201: Kinematics and Dynamics of Machinery

August-November 2023

Manoj Pandey

Balancing of Reciprocating Machines

Manoj Pandey KDOM 1 / 39

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Balancing of Reciprocating Machines

Links
Frame, Crank,Connecting
Rod,Piston, cam,valve, ...
Interconnection between pair
of bodies allow relative
rotation .
Forces/Torques are
transmitted between parts.

IC Engine

Manoj Pandey KDOM 2 / 39

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Kinematic Diagram

The exact geometry of the rigid body

is unnecessary to determine its
kinematic characteristics.
Kinematic dimensions and
connections alone need to be
represented in the kinematic diagram.
IC engine is an example of slider
crank mechanism.
Kinematic diagram of IC
Engine

Manoj Pandey KDOM 3 / 39

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Position, Velocity, Acceleration Analysis

Crank undergoes rotation.

Slider undergoes translation.
Connecting rod undergoes complex
motion =rotation + translation.

Kinematic diagram of IC
Engine

Manoj Pandey KDOM 4 / 39

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Kinematics of Slider Crank Mechanism

Assume the crank rotates at uniform

angular velocity.
Given the crank angle and velocity
(uniform) find the slider kinematics.
r sin θ = l sin ϕ

Manoj Pandey KDOM 5 / 39

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Kinematics of Slider Crank Mechanism

Assume the crank rotates at uniform

angular velocity.
Given the crank angle and velocity
(uniform) find the slider kinematics.
r sin θ = l sin ϕ
⇒ ϕ = sin−1 ( λ1 sin θ), λ = r
l

Manoj Pandey KDOM 5 / 39

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Kinematics of Slider Crank Mechanism

Assume the crank rotates at uniform

angular velocity.
Given the crank angle and velocity
(uniform) find the slider kinematics.
r sin θ = l sin ϕ
⇒ ϕ = sin−1 ( λ1 sin θ), λ = r
l
Slider position
x = r cos θ + l cos ϕ ≡ rf (θ)

Manoj Pandey KDOM 5 / 39

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Kinematics of Slider Crank Mechanism

Assume the crank rotates at uniform

angular velocity.
Given the crank angle and velocity
(uniform) find the slider kinematics.
r sin θ = l sin ϕ
⇒ ϕ = sin−1 ( λ1 sin θ), λ = r
l
Slider position
x = r cos θ + l cos ϕ ≡ rf (θ)
Slider velocity ẋ = f ′ (θ)r θ̇

Manoj Pandey KDOM 5 / 39

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Kinematics of Slider Crank Mechanism

Assume the crank rotates at uniform

angular velocity.
Given the crank angle and velocity
(uniform) find the slider kinematics.
r sin θ = l sin ϕ
⇒ ϕ = sin−1 ( λ1 sin θ), λ = r
l
Slider position
x = r cos θ + l cos ϕ ≡ rf (θ)
Slider velocity ẋ = f ′ (θ)r θ̇
Slider acceleration
Kinematic diagram of IC
ẍ = f ′′ (θ)r θ̇2
Engine

Manoj Pandey KDOM 5 / 39

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Exact Kinematics: Results

1
For λ = 3

All functions are periodic in θ with a periodicity of 2π.

Manoj Pandey KDOM 6 / 39

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Fourier Series

Any periodic function can decomposed into a superposition of

harmonic functions.
f (θ) = a0 + ∞
P
n=1 (an cos nθ + bn sin nθ)

Manoj Pandey KDOM 7 / 39

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Fourier Series

Any periodic function can decomposed into a superposition of

harmonic functions.
f (θ) = a0 + ∞
P
n=1 (an cos nθ + bn sin nθ)
Periodic function can be approximated by truncating the Fourier
series to N terms.
f (θ) = a0 + N
P
n=1 (an cos nθ + bn sin nθ)

Manoj Pandey KDOM 7 / 39

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Approximate Kinematics

sin ϕ = λsinθ.

Manoj Pandey KDOM 8 / 39

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Approximate Kinematics

sin ϕ = λsinθ.
x cos ϕ (1−sin ϕ2 )1/2 (1−λ2 sin θ2 )1/2
r = cos θ + λ = cos θ + λ = cos θ + λ

Manoj Pandey KDOM 8 / 39

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Approximate Kinematics

sin ϕ = λsinθ.
(1−sin ϕ2 )1/2 2 θ2 )1/2
x
r = cos θ + cos ϕ
λ = cos θ + λ = cos θ + (1−λ sin
λ
2
As λ << 1, (1 − λ2 sin θ2 )1/2 ≈ 1 − λ2 sin2 θ + ...

Manoj Pandey KDOM 8 / 39

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Approximate Kinematics

sin ϕ = λsinθ.
(1−sin ϕ2 )1/2 2 θ2 )1/2
x
r = cos θ + cos ϕ
λ = cos θ +
λ = cos θ + (1−λ sin
λ
2
As λ << 1, (1 − λ2 sin θ2 )1/2 ≈ 1 − λ2 sin2 θ + ...
x 1 λ 1 cos 2θ
= λ1 − λ4 + cos θ + λ4 cos 2θ +



r ≈ cos θ + λ − 2 2 − 2 ...

Manoj Pandey KDOM 8 / 39

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Approximate Kinematics

sin ϕ = λsinθ.
(1−sin ϕ2 )1/2 2 θ2 )1/2
x
r = cos θ + cos ϕ
λ = cos θ + λ = cos θ + (1−λ sin
λ
2
As λ << 1, (1 − λ2 sin θ2 )1/2 ≈ 1 − λ2 sin2 θ + ...
x 1 λ 1 cos 2θ
= λ1 − λ4 + cos θ + λ4 cos 2θ +



r ≈ cos θ + λ − 2 2 − 2 ...
v λ
r ω ≈ − sin θ − 2 sin 2θ + ...

Manoj Pandey KDOM 8 / 39

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Approximate Kinematics

sin ϕ = λsinθ.
(1−sin ϕ2 )1/2 2 θ2 )1/2
x
r = cos θ + cos ϕ
λ = cos θ + λ = cos θ + (1−λ sin
λ
2
As λ << 1, (1 − λ2 sin θ2 )1/2 ≈ 1 − λ2 sin2 θ + ...
x 1 λ 1 cos 2θ
= λ1 − λ4 + cos θ + λ4 cos 2θ +



r ≈ cos θ + λ − 2 2 − 2 ...
v λ
r ω ≈ − sin θ − 2 sin 2θ + ...
a
r ω2
≈ − cos θ − λ cos 2θ + ...

Manoj Pandey KDOM 8 / 39

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Approximate Kinematics

sin ϕ = λsinθ.
(1−sin ϕ2 )1/2 2 θ2 )1/2
x
r = cos θ + cos ϕ
λ = cos θ + λ = cos θ + (1−λ sin
λ
2
As λ << 1, (1 − λ2 sin θ2 )1/2 ≈ 1 − λ2 sin2 θ + ...
x 1 λ 1 cos 2θ
= λ1 − λ4 + cos θ + λ4 cos 2θ +



r ≈ cos θ + λ − 2 2 − 2 ...
v λ
r ω ≈ − sin θ − 2 sin 2θ + ...
a
r ω2
≈ − cos θ − λ cos 2θ + ...
Crank angle θ = ωt.

Manoj Pandey KDOM 8 / 39

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Approximate Kinematics

sin ϕ = λsinθ.
(1−sin ϕ2 )1/2 2 θ2 )1/2
x
r = cos θ + cos ϕ
λ = cos θ + λ = cos θ + (1−λ sin
λ
2
As λ << 1, (1 − λ2 sin θ2 )1/2 ≈ 1 − λ2 sin2 θ + ...
x 1 λ 1 cos 2θ
= λ1 − λ4 + cos θ + λ4 cos 2θ +



r ≈ cos θ + λ − 2 2 − 2 ...
v λ
r ω ≈ − sin θ − 2 sin 2θ + ...
a
r ω2
≈ − cos θ − λ cos 2θ + ...
Crank angle θ = ωt.
Kinematic quantities are expressed in terms of engine orders.

Manoj Pandey KDOM 8 / 39

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Exact vs Approx Kinematics

1
For λ = 3

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Inverse Dynamics: Free Body Diagram

Manoj Pandey KDOM 10 / 39

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Equations of Motion of Crank

(d2 , f2 ) =Location of C.M.;a2 =Acceleration of the C.M.

m2 a2,x = R12,x + R32,x

m2 a2,y = R12,y + R32,y
I2 α2 = 0 =
M + R12,x d2 sin θ − R12,y d2 cos θ +
R32,y f2 cos θ − R32,x f2 sin θ
3 equations of motion for the crank.

Manoj Pandey KDOM 11 / 39

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Equations of Motion of Connecting Rod

(d3 , f3 ) =Location of C.M.;a3 =Acceleration of the C.M.

m3 a3,x = −R32,x − R34,x

m3 a3,y = R32,y + R34,y
I3 α3 = R34,x f3 sin ϕ + R34,y f3 cos ϕ −
R32,y d3 cos ϕ − R32,x d3 sin ϕ
3 equations of motion for the
connecting rod.

Manoj Pandey KDOM 12 / 39

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Equations of Motion of Piston

m4 3a4,x = −R34,x − p(θ)A

m3 a3,y = 0 = R14,y + R34,y
2 equations of motion for the
piston.

For the multi-body system

8 linear equations in 8 unknowns.

Manoj Pandey KDOM 13 / 39

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Equations of Motion for the Mechanism

 
0 1 0 1 0 0 0 0  M

 

0 0 1 0 1 0 0 0 
 R12,x



  
0 d2 sθ −d2 cθ −f2 sθ f c
2 θ 0 0 0  

R 
12,y 

  
0 0 0 −1 0 −1 0 0 R
 
32,x

 
0
 0 0 0 −1 0 −1 0 R32,y 
0 0 0 -d s −d c −f s f c 0 R34,x 
 
 
 3 ϕ 3 ϕ 3 ϕ 3 ϕ  

0 0 0 0 0 1 0 0 
 
R34,y 



 

0 0 0 0 0 0 1 1 R14,y
 

 m2 a2,x  



 m2 a2,y  





 0 



m3 a3,x
 
= , where sθ = sin θ, cθ = cos ϕ, sϕ = sin ϕ, cϕ = cos ϕ

 m3 a3,y  
I3 α 3

 


 

m a pA

+
 


 4 4,x 

 
0
Manoj Pandey KDOM 14 / 39
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Inverse Dynamics:Exact Approach

Exact equations of motion were derived.

Equations of motion are in the form of 8 × 8 (linear) matrix
equation.
For the desired kinematics, required torque applied to the crank
can be found.
Torque applied to the crank = load torque.
All the reactions between interconnected members can be found.
Reaction forces are time-varying ⇒ fatigue loading in the
components.

Manoj Pandey KDOM 15 / 39

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Approximate Dynamics for single cylinder engine

Exact equations for dynamics is too complicated - analytical

solutions are not possible.
Goal: Derive approximate analytical solutions for the
moment/unbalanced forces for single and multi-cylinder
configurations.
Approximate kinematics is obtained by considering only two
harmonics (ω&2ω).
Similar multi-harmonic expression is desirable for the
forces/moments..
Crank has pure rotation, Slider has pure translation, Connecting
rod has complex motion.
Inertia forces arising in the connecting rod are dicult to estimate.
Objective: simplified model of the connecting rod.

Manoj Pandey KDOM 16 / 39

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Dynamically Equivalent Model

Two rigid bodies 1 & 2 are dynamically equivalent iff

1 Mass is identical.
2 Location of Center of Mass is identical.
3 Moment of Inertia is identical.
Objective Formulate a dynamically
equivalent model of the connecting
rod as a massless link (with
identical kinematic length) with
lumped masses attached at the
ends.

Manoj Pandey KDOM 17 / 39

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Dynamically Equivalent Model of Connecting Rod

Given a2 , a2 find n1 , n2 such that
n1 + n2 = m3 (mass is
constant)
n1 a1 = n2 a2 (C.M. location is
fixed)
n1 a12 + n2 a22 = l3 (Moment of
Inertia is fixed)
3 equations and 2 unknowns!
Assumption
Satisfy the constraints on mass and C.M. Ignore the constraint on
Moment of Inertia.
For λ << 1 the discrepancy in moment of inertia is minimal.
The discrepancy in moment of inertia can be corrected by adding
an inertia torque.
Manoj Pandey KDOM 18 / 39
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Simplified model of slider crank mechanism

m2 &n1 rotate about O2 at a radius d2 &l2 ;m4 + n2 translates.

All components have either pure translation or pure rotation.
mb is introduced such that C.M. of crank is at O2 .
mb e2 = m2 d2 + n1 l2

Manoj Pandey KDOM 19 / 39

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Turning Moment: Derivation

As connecting rod is massless, the reactions Q are axial.

Turning Moment = Qr sin θ + ϕ
For uniform crank velocity the turning moment is balanced by the
load torque (MR).

Manoj Pandey KDOM 20 / 39

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Turning Moment: Formula

FBD of slider mrec ẍ = −pA + Q cos ϕ

⇒ Q cos ϕ = pA − mrec ω 2 r (cos θ + λ cos θ)
Turning Moment
2
M = [pA−mrec ω r (coscos
θ+λ cos θ)]r sin (θ+ϕ)
ϕ

Manoj Pandey KDOM 21 / 39

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Turning Moment: IC Approach

Turning Moment = Moment generate due to reaction force at

connecting rod (Q).
pA−mrec ω 2 r (cos θ+λ cos θ)
Q= cos ϕ
Moment arm=O2 C = O2 D cos ϕ.
O2 D = − ẋθ̇ = r (sin θ + λ
2 sin 2θ)
Turning Moment=
λ
[pA − mrec ω 2 r (cos θ + λ cos θ)]r (sin θ + 2 sin 2θ)

Manoj Pandey KDOM 22 / 39

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Turning Moment Characteristics

Two rigid bodies 1 & 2 are dynamically equivalent iff

Turning Moment is time
varying but periodic.
Periodicity of the gas forces
pressure (p) & Turning
moment.
(
4π for 4 stroke engine.
=
2π for 2 stroke engine.
Load torque is constant.

Manoj Pandey KDOM 23 / 39

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Turning Moment vs Load Torque

Average turning moment within a cycle (Tavg ) = Load(T); else the

crank will accelerate between cycles.
Within a cycke TR ⇒ crank speed fluctuates.
The unbalanced fluctuating torque leads to speed fluctuation and
torsional oscillation.
Crankshaft may fail due to such unbalanced torque.

Manoj Pandey KDOM 24 / 39

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Flywheel Design

Flywheel is used to control the crankspeed fluctuation

Manoj Pandey KDOM 25 / 39

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Flywheel Design

Flywheel is used to control the crankspeed fluctuation

Rθ
Energy due to unbalance Eθ2 − Eθ1 = θ12 (T − TR )dθ...
Find θ corresponding to the maximum and minimum energy.

Manoj Pandey KDOM 25 / 39

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Flywheel Design

Flywheel is used to control the crankspeed fluctuation

Rθ
Energy due to unbalance Eθ2 − Eθ1 = θ12 (T − TR )dθ...
Find θ corresponding to the maximum and minimum energy.
From θmin to θmax , Jf α = Jf ω dω
dθ = T − TR , where Jf is the flywheel
inertia .

Manoj Pandey KDOM 25 / 39

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Flywheel Design

Flywheel is used to control the crankspeed fluctuation

Rθ
Energy due to unbalance Eθ2 − Eθ1 = θ12 (T − TR )dθ...
Find θ corresponding to the maximum and minimum energy.
From θmin to θmax , Jf α = Jf ω dω
dθ = T − TR , where Jf is the flywheel
inertia .
Jf 2 2 )=E
Integrating 2 (ωmax − ωmin θmax − Eθmin = (∆E)max .

Manoj Pandey KDOM 25 / 39

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Flywheel Design

Flywheel is used to control the crankspeed fluctuation

Rθ
Energy due to unbalance Eθ2 − Eθ1 = θ12 (T − TR )dθ...
Find θ corresponding to the maximum and minimum energy.
From θmin to θmax , Jf α = Jf ω dω
dθ = T − TR , where Jf is the flywheel
inertia .
Jf 2 2 )=E
Integrating 2 (ωmax − ωmin θmax − Eθmin = (∆E)max .
ωmax −ωmin
Allowable coefficient of fluctuation of speed ks = ωavg .

Manoj Pandey KDOM 25 / 39

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Flywheel Design

Flywheel is used to control the crankspeed fluctuation

Rθ
Energy due to unbalance Eθ2 − Eθ1 = θ12 (T − TR )dθ...
Find θ corresponding to the maximum and minimum energy.
From θmin to θmax , Jf α = Jf ω dω
dθ = T − TR , where Jf is the flywheel
inertia .
Jf 2 2 )=E
Integrating 2 (ωmax − ωmin θmax − Eθmin = (∆E)max .
ωmax −ωmin
Allowable coefficient of fluctuation of speed ks = ωavg .
ωmax +ωmin
Average angular velocity of the crank ωavg = 2 .

Manoj Pandey KDOM 25 / 39

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Flywheel Design

Flywheel is used to control the crankspeed fluctuation

Rθ
Energy due to unbalance Eθ2 − Eθ1 = θ12 (T − TR )dθ...
Find θ corresponding to the maximum and minimum energy.
From θmin to θmax , Jf α = Jf ω dω
dθ = T − TR , where Jf is the flywheel
inertia .
Jf 2 2 )=E
Integrating 2 (ωmax − ωmin θmax − Eθmin = (∆E)max .
ωmax −ωmin
Allowable coefficient of fluctuation of speed ks = ωavg .
ωmax +ωmin
Average angular velocity of the crank ωavg = 2 .
2 k = (∆E)
Choose Jf such that Jf ωavg s max .

Manoj Pandey KDOM 25 / 39

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Flywheel Design

Flywheel is used to control the crankspeed fluctuation

Rθ
Energy due to unbalance Eθ2 − Eθ1 = θ12 (T − TR )dθ...
Find θ corresponding to the maximum and minimum energy.
From θmin to θmax , Jf α = Jf ω dω
dθ = T − TR , where Jf is the flywheel
inertia .
Jf 2 2 )=E
Integrating 2 (ωmax − ωmin θmax − Eθmin = (∆E)max .
ωmax −ωmin
Allowable coefficient of fluctuation of speed ks = ωavg .
ωmax +ωmin
Average angular velocity of the crank ωavg = 2 .
2 k = (∆E)
Choose Jf such that Jf ωavg s max .
Keep mass as low as possible by choosing the maximal radius.

Manoj Pandey KDOM 25 / 39

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Flywheel Design

Flywheel is used to control the crankspeed fluctuation

Rθ
Energy due to unbalance Eθ2 − Eθ1 = θ12 (T − TR )dθ...
Find θ corresponding to the maximum and minimum energy.
From θmin to θmax , Jf α = Jf ω dω
dθ = T − TR , where Jf is the flywheel
inertia .
Jf 2 2 )=E
Integrating 2 (ωmax − ωmin θmax − Eθmin = (∆E)max .
ωmax −ωmin
Allowable coefficient of fluctuation of speed ks = ωavg .
ωmax +ωmin
Average angular velocity of the crank ωavg = 2 .
2 k = (∆E)
Choose Jf such that Jf ωavg s max .
Keep mass as low as possible by choosing the maximal radius.
Radius is decided based on space constraint and stress
considerations.

Manoj Pandey KDOM 25 / 39

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Flywheel Design

Flywheel is used to control the crankspeed fluctuation

Rθ
Energy due to unbalance Eθ2 − Eθ1 = θ12 (T − TR )dθ...
Find θ corresponding to the maximum and minimum energy.
From θmin to θmax , Jf α = Jf ω dω
dθ = T − TR , where Jf is the flywheel
inertia .
Jf 2 2 )=E
Integrating 2 (ωmax − ωmin θmax − Eθmin = (∆E)max .
ωmax −ωmin
Allowable coefficient of fluctuation of speed ks = ωavg .
ωmax +ωmin
Average angular velocity of the crank ωavg = 2 .
2 k = (∆E)
Choose Jf such that Jf ωavg s max .
Keep mass as low as possible by choosing the maximal radius.
Radius is decided based on space constraint and stress
considerations.

Manoj Pandey KDOM 25 / 39

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Coefficient of Speed Fluctuation

Permissible values for ks

Manoj Pandey KDOM 26 / 39

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Circumferential Stress in a Rim-Flywheel

Force Balance on a differential element.

ρ(thRdθ)ω 2 R = 2σht sin ( dθ
2 ) ≈ σhtdθ
Circumferential stress σ = ρω 2 R 2 .
As radius of the flywheel increases, the stress increases.

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Free Body Diagram

Shaking Force/Moment = Resultant Force/Moment acting on the frame

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Unbalanced Forces & Moments

Force applied = Rate of change of
linear momentum.
F = m1 ẍ1 + m2 ẍ2 + m3 ẍ3 + ....
Unbalanced Force =
−F − m1 ẍ1 − +m2 ẍ2 − m3 ẍ3 − ...
Unbalanced Forces = Total inertia
Forces of the moving parts
Applied Moment = Rate of change of
angular momentum
Unbalanced Moment = Total inertia
torque of all moving members.
Unbalanced forces acting on the
frame induces vibration on the vehicle
body.
Manoj Pandey KDOM 29 / 39
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Unbalanced Force on Crank case

Shaking force=mẍ ≈ mrec ω 2 r (cos (ωt) + λ cos (2ωt) + ...)

Shaking Moment = 0
Crank Case subjected to multi-harmonic shaking force.
Fx = x-component of unblanced forces due to rotating unbalance.
mrec r , mrec r λ4 , ... rotating at ω, 2ω, ...

Manoj Pandey KDOM 30 / 39

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Unbalanced Forces in Slider crank Mechanism

Shaking force = x-component of Rotating unbalance

Reciprocating unbalance is equivalent to x-component of rotating .

Manoj Pandey KDOM 31 / 39

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Balancing of Slider crank Mechanism

Fx acting on the frame=rotating unbalances mrec r , mrec r λ4 , ...

rotating at ω, 2ω, ....

Manoj Pandey KDOM 32 / 39

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Balancing of Slider crank Mechanism

Fx acting on the frame=rotating unbalances mrec r , mrec r λ4 , ...

rotating at ω, 2ω, ....
Fy = 0 as there are no interia forces in the y direction for the
approximate model.

Manoj Pandey KDOM 32 / 39

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Balancing of Slider crank Mechanism

Fx acting on the frame=rotating unbalances mrec r , mrec r λ4 , ...

rotating at ω, 2ω, ....
Fy = 0 as there are no interia forces in the y direction for the
approximate model.
Similarly there are no shaking moments.

Manoj Pandey KDOM 32 / 39

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Balancing of Slider crank Mechanism

Fx acting on the frame=rotating unbalances mrec r , mrec r λ4 , ...

rotating at ω, 2ω, ....
Fy = 0 as there are no interia forces in the y direction for the
approximate model.
Similarly there are no shaking moments.
For balancing primary Fx , unbalanced rotating mass = mrec r may
be added opposite to the primary unbalance (oriented along the
crank).

Manoj Pandey KDOM 32 / 39

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Balancing of Slider crank Mechanism

Fx acting on the frame=rotating unbalances mrec r , mrec r λ4 , ...

rotating at ω, 2ω, ....
Fy = 0 as there are no interia forces in the y direction for the
approximate model.
Similarly there are no shaking moments.
For balancing primary Fx , unbalanced rotating mass = mrec r may
be added opposite to the primary unbalance (oriented along the
crank).
Addition of the unbalanced rotating mass induces shaking force in
the ’y’ direction.

Manoj Pandey KDOM 32 / 39

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Balancing of Slider crank Mechanism

Fx acting on the frame=rotating unbalances mrec r , mrec r λ4 , ...

rotating at ω, 2ω, ....
Fy = 0 as there are no interia forces in the y direction for the
approximate model.
Similarly there are no shaking moments.
For balancing primary Fx , unbalanced rotating mass = mrec r may
be added opposite to the primary unbalance (oriented along the
crank).
Addition of the unbalanced rotating mass induces shaking force in
the ’y’ direction.
In practice only a fraction f of the unbalanced force Fx may be
balanced to restrict Fy .

Manoj Pandey KDOM 32 / 39

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Lanchester Balancing (Active Balancing)

Use two unbalanced rotating mass with 2mp ep = mrec r .

Fy cancels out between the rotating mass.
Fx due to the two rotating mass cancels the reciprocating
unbalance.
Similar arrangement can be made for each order.
Requires space for implementation.
Manoj Pandey KDOM 33 / 39
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Multi-Cylinder Configurations (Passive Balancing)

Identical slider crank mechanisms are used.
The individual cranks drive a common crank.
Different arrangement can be used for mounting the individual
slider cranks.

Manoj Pandey KDOM 34 / 39

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Multi-Cylinder Inline

Identical slider crank mechanisms.

All sliders reciprocate along the same
direction.
All the cranks connect to a common
crankshaft.
Lag (
between cylinders
2π
θ = 4πN ( 2 stroke)
N ( 4 stroke)
Each slider-crank produces identical
Turning moment & unbalance forces -
with a time shift.

Manoj Pandey KDOM 35 / 39

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Multi-Cylinder Configurations (Passive Balancing)

Unbalance depends on the relative orientation of the cranks.

Cranks are numbered in Roman numerals as per the order
arranged on shaft I, II,III, IV.
The cylinder fires when the crank is at the top dead center (TDC).
The relative angular positioning of the cranks on the common
shaft indicates the firing order denoted using 1,2,3,4.

Manoj Pandey KDOM 36 / 39

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Multi-Cylinder Inline Engine: Forces

Mutual cancellation of primary secondary forces.

Manoj Pandey KDOM 37 / 39

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Multi-Cylinder Inline Engine: Primary Moment

Pitching moment is induced at fundamental order.

Primary moment diagrams can be drawn assuming rotary
unbalances along crank.
Instantaneous moment is projection of the total moment vector
along the direction of slider motion.
Total moment vector is the maximal shaking moment transmitted
to the frame.
Manoj Pandey KDOM 38 / 39
 Outline

Multi-Cylinder Inline Engine: Secondary Moment

Secondary moment is along the secondary crank for cranks to the

right of the reference.
Secondary moment is opposite to the secondary crank for cranks
to the left of the reference.

Manoj Pandey KDOM 39 / 39