Today’s lecture - Week 3

“Balancing along a shaft”

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 1

 Today’s entertainment

“Balancing lab rig”

https://www.youtube.com/watch?v=R2hO--TIjjA

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 2

 “Balancing lab rig”

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 3

 Notice one – Week 3 - 2019

ITEM Due time and date where

Homeworks 1 -5 Available on AUT Blackboard Online at AUT Blackboard
Weeks 2, 4, 6, 8 & 10
Test No 1 Week 5 Online at AUT Blackboard

Test No 2 Week 9 Online at AUT Blackboard

Lab Report A Week 6 Online at AUT Blackboard

Held in Week 4
Lab Report B Week 10 Hand in to the marked assignment box
Held in Week 8 on level 3 of WS Block

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 4

 Notice two – Week 3 - 2019

Homework Due time and date where

1. Acoustics & Clutches Week 2 Online at AUT Blackboard
Mon 9am to Sun 9pm
2. Epicyclic Gearboxes Week 4 Online at AUT Blackboard
Mon 9am to Sun 9pm
3. Mechanisms Week 6 Online at AUT Blackboard
Mon 9am to Sun 9pm
4. Vibrations Week 8 Online at AUT Blackboard
Mon 9am to Sun 9pm
5. Transmission Elements Week 10 Online at AUT Blackboard
Mon 9am to Sun 9pm

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 5

 Notice - Clutch Lab A held in Week 4 - 2019

ITEM Due time and date Where

held in class Week 4

Clutch Lab A In class
as a demonstration

Clutch Lab A due 9pm Sun 25 August

online lab report
Online Report Week 6

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 6

 Today’s quote

“Life is the art of drawing without an eraser”

John W. Gardner, American public & political figure from

50’s and 60’s

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 7

 Lecture objectives

This second lecture on balancing is to:

• Explain the theory of how to balance multiple planes

oIn the static case
oAnd the dynamic case

• Demonstrate the graphical method for doing so

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 8

 Balancing in multiple planes

• Balancing a rotating shaft with masses located along

its length is more complex than a single plane case

• A shaft may be statically balanced but not

dynamically balanced

• So it may rest in any position (i.e. be statically

balanced) but once it starts rotating it may vibrate
and wobble

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 9

 Balancing in multiple planes
For dynamic balance of masses in multiple planes there
must be:

Static balance Σ mr = 0
Same as for the
single plane case
And the inertia forces must be balanced Σ mω2r = 0

PLUS

The resulting couple along the shaft length L must = 0

Σ mrL = 0

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 10

 Methods of balancing in multiple planes
Balancing a shaft with several masses in multiple planes
can be done in two ways:

1. Analytically

or

2. Graphically

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 11

 Methods of balancing in multiple planes
1. Balancing a shaft analytically

• find Σ Moments vert = 0

• find Σ Moments horz= 0
• Combine to find the resultant moment

This can be time consuming to do manually but it is the

basis for computer solutions

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 12

 Methods of balancing in multiple planes
2. Balancing a shaft graphically

• Faster than the analytical method

• Shows the result visually and so is more easily
checked
• And it is the only method this paper covers in
detail

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 13

 Balancing a shaft graphically – Step 1

Choose a convenient reference plane

• Often at a bearing

• Or at a mass position

• But alternative reference planes will eventually give the

same solution
Ref plane at a mass Or a Ref plane at a bearing

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 14

 Balancing a shaft graphically – Step 2

These are SI
fundamental
Tabulate all the required information metric units

Plane Mass Radius Distance “force” “couple”

Symbol m r L mr mrL
(units) (kg) (m) (m) (kgm) (kgm2)
A
B
C
Complete the table with the known values
D
…
and so on

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 15

 Shaft and Rotor Notation
Reference Plane

m2rω2

θ2
L2
r2

Rotating shaft

L1

r1
m1rω2

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 16

 Balancing a shaft graphically – Step 3
Solve the vector polygons
o Normally the mrL poly is solved first
m1r1L1 b’
a’
mrL polygon
m3r3L3
m2r2L2 “couples” polygon
units kgm2
c’
o For balance ΣmrL =0
o To get the moments mrL x ω2 = kgm2(rads/s)2 = Nm

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 17

 Balancing a shaft graphically – Step 3 contd
o Next solve the mr poly

m1r1 b’
a’
mr polygon
m4r4 m2r2 “forces” polygon
units kgm
d’
m3r3 c’
o For balance Σmr =0

o To get the forces mr x ω2 = kgm(rads/s)2 = N

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 18

 Balancing a shaft graphically – Step 4
To find the balancing masses
o If any polygon is not closed

o The balance mass (mass size, radius, angle and longitudinal position)
can be found from the open side
m2r2L2 c’
This open side gives
b’ the vector required for
balance

mrL polygon
m1r1L1 “couples” polygon
d’
units kgm2
a’ m3r3L3
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 19
 Balancing a shaft graphically – Notes

Using different units may be more convenient

Plane Mass Radius Distance “force” “couple”

Symbol m r L mr mrL
It may be easier to use
SI kg m m kgm kgm2 non fundamental SI
fundamental metric units
units
or kg mm m kgmm kgmm.m
or g mm mm gm gmm2
or kg mm mm kgmm kgmm2
and so on

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 20

 Balancing a shaft graphically – Notes

o Note that L values can be +ve or –ve depending on their position

relative to the reference plane

o A –ve sign means the mrL vector changes direction (from the centrifugal
force direction)

Ref plane

L -ve L +ve

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 21

 Balancing Problem 4
A shaft has masses in planes A, B, C, D and E
As shown in these 2 drawings Step 1 Ref plane A All in mm

Find rA and LD and the angular positions of the

balancing masses at A (1 kg) & D (4 kg) and if rD LD
= 200mm
A B C D E

3 kg All in mm
C rC=200 mm
100 200
200
400
450
rE=200 mm
rB=250 mm E
5 kg

B 2 kg
Scale 1 cm = 5 mm © J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 22
 Note the non
Complete table– Step 2
fundamental SI
metric units
Plane Mass Radius Distance “force” “couple”
m r L mr mrL
Symbol

Units kg mm mm kgmm kgmm2

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 23

 Complete table– Step 2

Plane Mass Radius Distance “force” “couple”

m r L mr mrL
Symbol

Units kg mm mm kgmm kgmm2

A 1

B 2 250 100

C 3 200 300

D 4 200

E 5 200 400

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 24

 Complete table– Step 2

Plane Mass Radius Distance “force” “couple”

m r L mr mrL
Symbol

Units kg mm mm kgmm kgmm2

A 1 0 0

B 2 250 100 500 50 x 103

C 3 200 300 600 180 x 103

D 4 200 800

400 x 103
E 5 200 400 1000

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 25

 Complete table– Step 2

Plane Mass Radius Distance “force” “couple”

m r L mr mrL
Symbol

Units kg mm mm kgmm kgmm2

A 1 rA 0 rA 0

B 2 250 100 500 50 x 103

Answers
C 3 200 300 600 180 x 103

D 4 200 LD 800 800LD

400 x 103
E 5 200 400 1000

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 26

 c’ mrL polygon
Balancing Problem 4 a’
mrLC = 180 x 103 “couples” polygon
Step 3 – draw the mrl polygon units kgmm2
Scale 1cm = 10 x 103 kgmm2
mrLD = 800LD = 293,000 kgmm2 mrLB = 50 x 103
3 cm
LD = 293,000/800 = 366.25 mm

4 kg Answer
D 23
0
b’ 230
mrLD = 293 x 103
3 kg rD = 200 mm
C
rC=200 mm mrLD

rE=200 mm
mrLE = 400 x 103
rB=250 mm E
5 kg

B 2 kg
Scale 1 cm = 5 mm © J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 27
 Balancing Problem 4 mr polygon
“forces” polygon
Step 3 contd – draw the mr polygon
units kgmm
mrA = 313 kgmm, rA = 313/1 = 313 mm a’
Scale 1 cm = 100 kgmm
Answer mrA = 313
3 cm
A 1 kg d’ 580
4 kg mrE = 1000
D 23
0

rD = 200 mm
rA=313 mm
3 kg C
580 e’
rC=200 mm mrD = 800
rE=200 mm
mrB= 500
rB=250 mm E c’
5 kg
mrC = 600
B 2 kg b’
Scale 1 cm = 5 mm © J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 28
 Graphical Method – Some Notes
• The scales given in my notes are correct for the ppt’s on the computer
screen only (not the paper version)

• mrLA is the same as mArALA, and it means the notation is less cluttered

• Be prepared to work off the paper onto a stapled on sheet if you have
to

• Note that L values can be +ve or –ve depending on their position

relative to the reference plane

• And a –ve sign means the mrL vector changes direction (from the
centrifugal force direction)

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 29

 Graphical Method – Some Notes
• The vectors can be added in a different order but will give the same
answer if done correctly

• Just remember:

o Adding means nose to tail

o And if the polygon is open:

• Closing it nose to tail gives the required balance mass

• But closing it nose to nose gives the out of balance force

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 30

 Graphical Method – Some Notes
This open side gives
the vector/s required

m3r3L3 c’ Closing nose to tail

Nose to tail vector b’ gives the vector

required for balance
addition
But closing nose to
nose gives the out of
m2r2L2 balance vector

d’
a’ m1r1L1

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02

31
 Balancing Problem 3 mr polygon
alternative polygon solution
“forces” polygon
units kgmm
a’
Scale 1 cm = 100 kgmm
mrA = 313
mrB= 500 3 cm
mrD = 800 d’ 580
mrE = 1000

mrC = 600

mrE = 1000 e’
mrD = 800
mrA = 313
mrB= 500
c’
mrC = 600
b’
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 32
 Balancing Problem 3 mr polygon
a third alternative polygon solution
“forces” polygon
units kgmm
a’
mrC = 600 Scale 1 cm = 100 kgmm
mrA = 313
3 cm
d’ 580
mrE = 1000

mrE = 1000
mrD = 800

e’
mrD = 800
mrB= 500 mrB= 500
mrA = 313
c’
mrC = 600
b’
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 33
 Balancing Problem 5
A shaft has masses in planes A, B, C and D
As shown in these 2 drawings Step 1 Choose B as the Ref plane
Find mB and LD and the angular positions of these Because mB is not known
balancing masses in planes A & D

A B C D
A 7.5 kg
4 kg D rA = 30
rD = 33 900
5 kg 0.4 0.5 X
C
rC = 39
All in m
rB = 36
Radii in mm
B m kg

Note the angular Scale 1 cm = 10 mm

posns of B & D are
not yet known © J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 34
 Complete table– Step 2 Note the non
fundamental SI
metric units
Plane Mass Radius Distance “force” “couple”
m r L mr mrL
Symbol

Units kg mm m kgmm kgmm.m

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 35

 Complete table– Step 2

Plane Mass Radius Distance “force” “couple”

m r L mr mrL
Symbol

Units kg mm m kgmm kgmm.m

A 7.5 30 - 0.4

B m 36

C 5 39 0.5

D 4 33

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 36

 Complete table– Step 2

Plane Mass Radius Distance “force” “couple”

m r L mr mrL
Symbol

Units kg mm m kgmm kgmm.m

A 7.5 30 - 0.4

B m 36 0

C 5 39 0.5

D 4 33 0.5 + X

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 37

 Complete table– Step 2

Plane Mass Radius Distance “force” “couple”

m r L mr mrL
Symbol

Units kg mm m kgmm kgmm.m mrLA is negative

A 7.5 30 - 0.4 225 - 90

B m 36 0 36m 0

C 5 39 0.5 195 97.5 As Ref plane is B

mrLB is eliminated
D 4 33 0.5 + X 132 66 + 132X

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 38

 Balancing Problem 5 mrLD = 132 = 66 + 132X
Find the radius and angular positions of the
balancing masses B & D X = 0.498 m Answer
mrL polygon
d’
“couples” polygon
units kgmm.m

A 7.5 kg mrLD = 132

4 kg D rA = 30 mrLA = -90

rD = 33 900
5 kg Is this the direction
C
rC = 39 you expected? 430
rB = 36
Radii in mm a’ c’
B m kg mrLC = 97.5

Note the angular Scale 1 cm = 10 mm

posns of B & D are Scale 1 cm = 10 kgmm.m
not yet known © J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 3 cm 39
 Balancing Problem 5 mr polygon
Scale 1 cm = 30 kgmm
“forces” polygon
A shaft has masses in planes A, B, C, D and E units kgmm 3 cm

mrC = 195
a’ c’

rD = 33
A 7.5 kg mrA = 225
4 kg D rA = 30
900 Why has the
430 5 kg direction for mrA
C mrB = 330.9
rC = 39 reversed?
72.50
Answers
Answers d’
Radii in mm mrD = 132
B 9.19 kg 72.50
rB = 36 mrB = 330.9
Scale 1 cm = 10 mm
mB = 330.9/36 = 9.19 kg b’
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 Answer 40
 Balancing Cheat Sheet

ISO 1940-1 sets different acceptable Single plane balance

unbalance levels for different classes of
machines For dynamic balance the inertia forces must
be balanced

Specific unbalance e = U/m (CF = mω2r) for dynamic balance the forces
polygon must close
U is mass x distance U = md
As ω2 is common to all vectors it can be
cancelled and the forces polygon simplifies
For a single plane balance problem to the mr polygon the same as in the static
case
To be statically balanced Σ𝑚𝑚𝑚𝑚 = 0

ΣM=0 𝑚𝑚1 𝑔𝑔𝑟𝑟1 = 𝑚𝑚2 𝑔𝑔𝑟𝑟2 Σ𝑚𝑚𝑚𝑚 = 0

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 41

 Balancing Cheat Sheet
For a multiple plane balance problem Choose a convenient reference plane

For dynamic balance of masses in multiple o Often at a bearing or at a mass

planes there must be: position

Statically balanced Σ mr = 0 o Tabulate all the info

The inertia forces must be balanced Plane Mass Radius Distance “force” “couple”

Symbol m r L mr mrL
Σ mω2r =0 (units) (kg) (m) (m) (kgm) (kgm2)
A
PLUS the resulting couple along the shaft and so on

must = 0
Solve the vector (mrL & mr) polygons
Σ mr l = 0
o Normally the mrL poly is solved first

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 42

 Recapping this lecture

In this lecture we have:

• Shown how to balance a shaft & rotor with multiple

planes using the graphical method

• Shown how to find the balance: mass, radius, angular

& longitudinal positions

• Shown how to choose a reference plane

• Shown how to deal with different metric units

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 43

 MD II Information

Coursework marks Coursework total mark 50

assessment tasks
Exam mark 50

Homework 10 Total mark 100

assignments

Laboratory reports 20

Tests 20

Coursework total mark 50

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 02 44