C>

TQ Education and Training Ltd 2000

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system without the expresspermissionof TQ Education and
TrainingLimited.
All due care has been taken to ensurethat the contentsof this
manual are accurateand up to date. However,if any errors are
discoveredpleaseinform TQ so the problemmay be rectified.
A Packing Contents Ust is supplied with the equipment.
Carefullycheckthe contentsof the package(s)againstthe list. If
any items are missingor damaged,contact your local TQ agent
or TQ immediately.

PE/MC/O295

TQ Education and Training Ltd

Products Division

KEEPFOR FUTUREREFERENCE

PRODUCT: TMI02 STATICAND DYNAMIC BALANCINGAPPARATUS

In compliance with the EC directive on Safety of Machinery, the following

information should be noted:

This equipment is only to be used in accordancewith instructions in the

manual. Studentsusing the equipment must be adequatelysupervised.Local
regulations regarding the use of electricity, gasoline, diesel oil, kerosene,
mercury must be observedin using this apparatus.
Foreseenuse of machine
Demonstration / experimentationon static and dynamic balancing.
Installation and assemblyinstructions
The equipment is supplied fully assembledfor benchmounting. It is designed
for use with a O-l2V DC electrical supply, e.g. the Te<.'QuipmentE66 Speed
Controller. H using another electrical supply it is recommended that the
maximum current supplied is limited to lOA.
Operating instructions
Connectthe apparatusto a suitablepower supply using the terminals next to
the on-off switch. A microswitch is fitted to the apparatus so that it will only
function when the perspexcoveris in position. The on-off switch must be held
in the 'on' position for the motor to function.
Note: The motor and rotating shaft assemblyis mounted on a metal plate
which may be clamped down. Ensure the plate is clamped fully down for
static balancing tests.For dynamic balancing releasethe clamps,turn through
90 and lock down, leaving the plate free to vibrate.
The equipment should be used within its operating limits (see operating
conditions).
Maintenance and inspection
No user maintenancenecessaryother than to periodically inspect electrical
leads and connectionsfor wear. Periodically checkthat all warning labels are
in position and legible.

Handling instructions
Net weight: 17kg.
Ensure the correct proceduresfor handling the above weight are used when
moving this apparatus.
Operating Conditions

Noise Level
The measuredsound pressurelevel of this apparatusis lessthan 70 dB(A).

(i)

1...I5.T.Of CQNT.EN.TS-.

Section
LIST OF SYMBOLS

(11)

1.

INTROOUCTION

2.

THEORY

2.1
2.2
2.3
2.4

Stat;c Balance
Dynam;cBalance
Dynam;cBalanc;ng of 3 Masses
Dynam;cBalanc;ng of More Than 3 Masses

6
9
12

3.-

EXPERIMENTAL
APPARATUS

4.

EXPERIMENTAL
PROCEDURE
AND TYPICAL RESULTS

4.1

Demonstrat;on of Stat;c Balance but Dynamic

Inbalance

4.2

S;mple Dynam;cBalance us;ng 4 ~'asses

Stat;c and Dynam;cBalance of a 4 MassSystem
Typ;cal Calculat;ons

4.3
4.4

17
19
2~

(1;)

LIST OF SYMBOLS
a

shaft-wise
convenient

..

radius of unbalancedmassfrom centreline of shaft

shaft-wise
scale

weight of unbalancedmass

centrifugal force acting on unbalancedmass

(F = m~2

location of unbalanced mass or block from

datum position

location of blocks relative

to zero on

(W = mg)

or W nA>2)

angular displacement of massfrom convenient datum

angular displacement of block from zero on scale

(AI

angular velocity of shaft (rad/s)

Suffices

1, 2,3,4

refer to

blocks

(1),

(2),

(3),

(4)

Note.: In general the block numberis arbitrary.

Howeverthe
experimental results quoted in Section 4 assumethat block (1)
has the largest out of balance massand block (4) has the least.

INTRODUCTION

Shafts which revolve at high speedsmust be carefully balanced if they

are not to be a source of vibration.
If the shaft is only just out
of balance andre.v:alv.e.s.
slawly.the_vibration may merely_bea
nuisance but catastrophic failure can occur at high speedseven if the
inbalance is small.
For exampleif the front wheel of a car is slightly out of balance
this maybe felt as a vibration of the steering wheel. Howeverif
the wheel is seriously out of balance, control of the car maybe
difficult
and the wheel bearings and suspensionwill wear rapidly,
especially if the frequency of vibration coincides \1ith any of the
natural frequencies of the system. Theseproblems can be avoided if
a small massis placed at a carefully determined point on the wheel
rim.

It is even more important to ensure that the shaft and rotors of

gas turbine engines are very accurately balanced. since they may
rotate at speedsbetween15 000 and 50 000 rev/min. At such speeds
even slight inba1ancecan cause vibration and rapid deterioration
of the bearings 1ead;ng to catastrophic fa;lure of the engine.
It is not enoughto place the balancing masssuch that the shaft
will remain in any stationary position, that is in static balance.
Whenthe shaft rotates, periodic centrifugal forces maybe developed
which give rise to vibration. The shaft has to be balanced both
statically and dynamically.
Usually, shafts are balanced on a machinewhich tells the operator
exactly where he should either place a balancing massor remove
material. The TM1O2
apparatus requires the student to balance a shaft
by calculation or by using a graphical technique, and then to assess
the accuracy of his results by setting up and running a motor driven
shaft. The shaft is deliberately madeout of balance by clamping
four blocks to it, the student being required to find the positions
of the third and/or fourth blocks necessary to statically and
dynamically balance the shaft.

...,

2.

THEORY

A shaft

with

masses mounted on it

dynamically balanced.
any angular
it
that

balance,

2.1

position

can be rotated
if

a shaft
but

If

it

is

without
at

is

can be both
statically

rotating.

any speed without

dynamically

the reverse

is

balanced
not

statically

balanced,

vibration.

necessarily

it

will

1S aynamically

If-it

it

and

is

It

stay

in

balanced,

will

be shown

automatically

in static

true.

Static Balance

Figure 2.1 showsa simple situation where two massesare mountedon

a shaft. If the shaft is to be statically balanced, the momentdue to
weight of mass (1) tending to rotate the shaft clockwise must equal
that of mass (2) trying to turn the shaft in the opposite direction.
Hencefor static balance,
W1rl =
The same principle
on the shaft,

. . . . 2.1

W2r2

holds if

there are more than two masses mounted

as shown in figure

2.2.

The momentstending to turn the shaft due to the out of balance masses
are:Mass

f-bment
Wlrl

casal

Direction
Anti-clockwise

(2)

W2r2 CO5a2

Clockwise

(3)

W3r3 casas

Clockwise

For static balance,

WlrlCOS

al

anti-clockwise

W2r2COSQ2 + W,r3COS Q,

clockwise

. . . . 2.2

In general, values of W, r and a have to be chosen such that the

shaft is in balance. However,for experiments using the TM1O2
apparatus, the product Wr can be measureddirectly for each massand
only the angular positions have to be determined for static balance.
If the angular positions of two of the massesare fixed, the
position of the third can be found either by trigonometry or by
drawing. The latter technique uses the idea that momentscan be
represented by vectors as shownin figure 2.3(a}. The momentvector
has a length proportional to the product Wr and is drawn parallel to
the direction of the weight from the centre of rotation.
For ~~!! balance the triangle of momentsmust close and the direction
of the unknownmoment is chosenaccordingly. If there are more than
three masses, the momentfigure is a closed polygon as shownin
figure 2.3(b}. The order in which the vectors are drawn does not
matter, as indicated by the two exampleson the figure.

If on drawing the closing vector, its direction is opposite to the

assumedposition of that mass, the position of the massmust be
reversedfor balance. For example,mass(4) shownin figure 2.3(b)
must be placed in the position showndotted to agree with the direction
of vector W..r...
Dynamic Balance

The massesare subjected to centrifugal forces whenthe shaft is

rotating. Twoconditions must be satisfied if the shaft is not to
vibrate as it rotates:(a) there must be no out of balance centrifugal force trying to
deflect the shaft.
(b) there must be no out of balance momentor couple trying to
twist the shaft..
If these conditions are not fulfilled,
balanced.
* ~:
In this contezt, Msting
longitudi~Z

the shaft is not dynamically

l'efel's to rotation of the

a%is of the shaft

- see figul'B

2.4.

Applying condition (a) to the shaft shownin figure 2.4 gives:Fl = F2

The centrifugal

force is m~2

or

9 rw2

The angular speedof rotation is the samefor each mass so that for
dynam;cbalance
W.r.

= W2r2

This is the same result obtained ;n equation 2.1 for the static
balance of the shaft.
Thus if a shaft is dynamically balanced it
will

also be statically

The second condition

balanced.
is satisfied

by taking momentsabout some

convenient datllD -such as one of the bearings.

Thus.

a1 F1

. . . . 2.6

= a2 F2

But from equation 2.3, F1 = Fz, so that al = az. Thus in this

simple case, dynamicbalance can only be achieved if the two
massesare mountedat the samepoint along the shaft.
Since the reference point is immaterial, it is usually convenient to
take momentsabout one of the massesso that the effect of that
massis deleted from the momentequation.
Taking momentsabout mass (1

F2 (a2 - at

= 0

Since the centrifugal

proved above.

produces the result

force cannot be zero, al must equal a2 t as

Unlike static balancing where the location of the massesalong the

shaft is not important, the dynamictwisting momentson the shaft
have to be eliminated by placing the massesin carefully calculated
positions. If a shaft is statically ba.:t.anced
it.does not follow that
it is also dynamically balanced.
2.3 Dynamic;Balancing of Three Masses
It has been shownthat dynamicbalance can only be achieved for a two
masssystem if the massesare mountedat the samepoint along the
shaft. It can also be shownthat there are special conditons which
must be satisfied for dynamicbalancing of three masses.
Consider the case shownin figure 2.5(a). Mass(3) is positioned
vertically for convenience. Condition (b) for dynamicbalance can
be expressedmathematically by equating momentsfor centrifugal
forces in both horizontal and vertical planes. In order to simplify
the equations it ;s convenient to take momentsabout mass (1) so
that momentsdue to forces on this massare eliminated.
Horizontal:
Vertical:

a2 F2 CO5a2
a2 F2 5;002

= 0
= aJ FJ

The cond;t;ons wh;ch sat;sfy equat;on 2.7 are that e;ther a2 = 0

or a2 = 90 or 2700 (;e COsa2= 0). Subst;tut;ng these ;nto equat;on
2.8 g;ves the follow;ng
(f)

a2

condit;ons:-

For this condition aJ must also be zero.

values of

a2

Thus for arbitrary

and aJ, all three massesmust be located at the

samepoint along the shaft.

Q2 : 90 or 2700
;;
For these conditions it is necessary to write downfurther
equations to obtain solutions.

11

Apply;ng Condition (a) for dynamicbalance:Horizontal:

Vertical:
If

Q2

Fl casal
F.

. 90,equation
2.9givesQl

F2 CO5a2

Fl Sirnl

+ F2

5;002

. . . . 2.9
. . . . 2.10

90 or 270. Asswu;ng that a 1

90, equation 2.10 reduces tOi

F1 . F1 + F2
Also, equat;on 2.8 reduces to,
a2 F2

= a, F,

Combiningthese two equations and solving for F1 gives

Fl

Now,

. F, (

-!.!.)
a2

. . . . 2.11

if a3 is greater than a2 (as indicated in figure 2.5) it follows

that Fl must be negative, and Ql must be 270u and not 90v as assumed
above. The resulting configuration for dynamic balance is shown in
figure

2.5(b).

Thus, if the massesare distributed along the shaft, the following

conditions must be satisfied for dynamicbalance:
(a)
(b)

Central mass at 1800 to other two masses

Masses chosen such that.
F2 = Fl + F.

(c)

Masses distributed

. . . . 2.12

along the shaft such that.

- a"2-f-t.. -a~.f)

. . .-. 2.13

12

2.4 DynamicBalancingof More ThanThreeMasses

If there are more than three individual masses,there are no special
restrictions which apply to the angular and shaft-~/ise distributions
of the massesand the general conditions for dynamic'balance have to
be applied to obtain solutions.
The angular positions of the massescan be determined by applying
conditions for either static balance (see section 2.1) or for
Condition (b) for dynamicbalance (section 2.2). The distribution
of the massesalong the shaft is then found by applying Condition (a)
for dynamic balance. This can be done either by calculation, or by
a drawing methodsimilar to that described in section 2.1 for static
balancing.
2.4.1 Calculation technique
The twisting momentsare resolved into componentstending to twist
the shaft in the horizontal planes. The net momentin each plane
must be zero if the shaft is to be dynamically balanced. As
previously noted, the equations are simplified considerably by taking
momentsabout the first mass. Referring to figure 2.6 the appropriate
equations for a four masssystem are:
~rizonta1 roments about mass (1)
-a2F2 COSB2+ a3F3 COSQ3

Vertical

+ a..F- cosa..

= 0

. . . . 2.14

= 0

. . . . 2.15

momentsabout mass (1)

a2F2 S;na2 + a3F3 S;na3

a~F~ s;na-

Note that ~ , F, and F It are proportional to W~ 2.. W,r, and W~rlt. In

the experiment described in this manual. the values of (Wr) are known
for the massesso these values can be used in place of those for F
in equations 2.14 and 2.15. Given the angular positions of two of the
masses,the angular positions of the other two can be found by the
methodsgiven in section 2.1. If the shaft-wise locations of two of
the massesare also known, the locations of the other two can be

13.

found by substituting the knownvalues into the simultaneous

equations 2.14 and 2.15.
2.4.2 Drawingmethod
The momentsdo not need to be resolved ;nto componentsin this method.
Vectors represent;ng the values Wlrlal. W2rZa2.
Wnrnan
(proport;onal to the momentsFlal.
Fa)
n n are drawn in the sameW!y
as for the case of static balance (;.e. momentpolygon method see

..

section 2.1 and f;gure 2.3). No more than two unknownsmay be found
from the condit;on that the polygonmust close. Usually two values
of a are treated as the unknowns. Aga;n. the work ;nvolved ;s
reduced if momentsare taken about one of the masses.
Whichevermethodis used, it will often turn out that the assumed
order of the masseson the shaft will be incorrect. For example,
the configuration shownin figure 2.6 mayonly give a dynamic balance
if the order of the masseson the shaft is altered. However,both
methodsautomatically account for this since the resulting values
of a will indicate in which order the massesmust be placed on the
shaft. Generally, the diagrams showpurely arbitrary positions for
the masses.

1~

Fa

F-

F!

F1

F;g 2.6 Nomenclaturefor Arb;trary Four Mass System

')

15

3.

EXPERIMENTAL
APPARATUS

The TM1O2 Static

and Dynamic Balancing Apparatus (figure

3.1) consists

of a perfectly balanced shaft to which a set of four rectangular

blocks can be clamped. Theshaft runs in ball bearings and is

driven by a 12 volt electric motor through a belt and pulley

arrangement. The motor and shaft are mountedon a metal plate which
is supported on resilient rubber feet. Thesefeet allow the plate
to vibrate whenthe shaft is out of balance.
D;scs hav;ng eccentric holes of differing diameters can be fitted to
the rectangular blocks so that the out of balance momentof each
block can be varied. The blocks can be clampedto the shaft in
any angular and shaft-wise positions. Twohexagonkeys are prov;ded
with the apparatus. The larger on.eis used to clamp the blocks to
the shaft, whilst the smaller key fits the screws retaining the
eccentric discs.
Linear and protractor scales are provided for setting and measuring
the positions of the blocks. Adjacent to the linear scale is a
slider which can be pushedup against each block in turn to read
the shaft-wise position. The slider is also used as a datum stop
against which the blocks can be held whenreading the angular
position.
The out of balance momentsare measuredby first fitting the
removableshaft and pulley to the main shaft. Eachrectangular
block is then clampedto the shaft in turn. A cord having a weight
bucket on each end is hung on the extension pulley and ball bearings
are placed in the bucket until the block has movedthrough 900. The
out of balance moment;s proportional to the numberof balls
required.
Micro switches
cannot be driven
on the front
running.

unless

by a perspex dome ensure that

the dome is in position.

panel is spring

The motor requires

may be provided
Control)

actuated

ei ther

loaded so that

the shaft

The motor switch

the motor cannot be

a supply of 12 Volts

left

at 2 amps which

by one of the TecOuipment (eg E66/E90 Speed

or by an ordinary

automative

battery.

0
)

16

!~

0
m

i
~

i
~
.
M

>t

G)
~
~
~

~
1\1
.:
(/)

~
UI
c=
G)

m
4.J
QI
.y.
U

t)4.J
roof QI
lIS QI
Ur&.
C/)

='
~

4.J

~~

~
QI

.c: c'3
OI-PoIQ;
H

aQI

QI
4.J
lIS
.-4
~
QI
m
lIS

17
4. EXPERIMENTAL
PROCEDURE
ANDTYPICALRESULTS

4.1.Demonstration
of StaticBalancebutDynamicImbalance
Removethe perspexdome and shaft drive belt.
Removethe discs from the four rectangularblocksusingthe smallerhexagonkey..

of 1800and
3. Setup twoof the blocksas shownin figure4.1 (a) witha relativeangulardisplacement
shaft-wise
displacement
of 120mm.Usethesliderto set andreadoff the positionsof the blocks.The
largerhexagonkeyfits thescrewswhichclamptherectangular
blocksontotheshaft.
4. Observethat the shaftwill remainin any angularpositionand is thereforestaticallybalanced
5. Connectthe apparatusto a 12 volt supply. Makesurethatthe slideradjacentto the linearscaleis
clearof theblocks,thenreplacetheshaftdrive-belt
andtheperspexdome.

6. Brieflyrun the motor. Notethe severeimbalanceof the shaft.

4.2 SimoleDvnamicBalanceusinaFour Masses
Removethe perspexdomeand set up the four rectangularblocksas shown in figure 4.1 (b)

2.

Provetheoretically
that the shaftis bothstaticallyanddynamically
balanced(seesections2.1 and
2.3).

3.

Test the shaft for static balance(see4.1.4)

4.

Replacethe drive-beltand the perspexdome. Run the motor and observe the lack of
vibration,showingthattheshaftis dynamically
balanced.

An alternativeis to placethe two middleblocksadjacentto one anothersuchthat their matingfacesare

mid-waybetweenthetwoendblocks.Thisgivesa configuration
equivalentto the 3 masssystemshownin
figure2.5 (b) for whichF2 = 2F, = 2F3. Thespecialconditionfor dynamicbalanceof a 3 masssystem
(equation
2.12)is thereforesatisfiedso theshaftis in balance.

* Alwaystake the blocksoff the shaft beforeremovingor replacingthe discs,

Note:The motorand rotatingshaftassemblyis mountedon a metalplatewhichmaybe clampeddown.
Ensurethe plate is clampedfully downfor staticbalancingtests. For dynamicbalancingreleasethe
clamps,turnthrough90 andlockdown,leavingtheplatefreeto vibrate.

18

c:::
120

a) Stat;c Balance for 2 Mass System

b) Static

Fig 4.1

and Dynamic Balance for 4 Mass System

Configurations

for Simple Demonstrations

19

4.3 Static and DynamicBalance of a Four MassSystem

4.3.1 Ex erimenta1 determination of Wr values
1. Removethe perspex domeand removethe shaft drive belt.
2. Unc1ip the extension pulley and insert it in the pulley end of

3.

4.
5.

the motor dri-ven shaft.

Movethe apparatus to the edge of the table or bench. Loop two
or three turns of the weight bucket cord around the extension
pulley. Ensure that there are no obstructions to the
movementof the weight buckets. (See figure 4.2).
Insert the eccentric disc with the small hole into one of the
rectangular blocks. Clampthe block to the shaft such that the
protractor scale reading is 00. Call this block (1).
Gradually add the steel balls to one of the weight buckets
until the block has movedthrough 900. Whilst adding the balls,
occasionally tap the shaft mountings to overcomebearing

6.

stiction.
Recordthe numberof balls required to raise the block through
900. This is proportional to the out of balance momentof the

1.

block (Wr).
Fit an eccentric disc to each block and repeat the above
procedure for each block in turn. Enter the results in a table

8.

similar to Table 4.1.

Removethe extension shaft and replace it in its mounting clip.

4.3.2 Calculation of block positions for balance

Assumethat it is required to find the position of blocks (3) and
(4) necessary to dynamically balance the shaft. given the positions
of blocks (1) and (2). In order to obtain a practical solution for
which balance can be demonstrated. it is necessary to take care
in choosing the positions of the first two blocks. To assist with
this. Table 4.2 gives a numberof different configurations which
produce practical solutions. The procedure is as follows:
1

Select suitable angular and shaft-wise positions for blocks

(1) and (2) by referring to Table 4.2. Note that if the moment
values are different, the configurations listed in the table can
only be taken as an approximate guide.

21

2~

3.
4

5.
6.
1

8.

Find the angular positions of blocks (3) and (4), either by

calculation or. by drawing (see section 2 and the typical
calculations in the next section).
Find the shaft-wise displacement of blocks (3) and (4), again
by calculation or drawing.
Assemblethe blocks on the shaft in the given and calculated
positions using the slider to set and read the positions. Push
the slider to one end so that it is clear of the blocks.
Test whether or not the shaft is statically balanced (see
paragraph 4.1.4).
Replace the drive-belt and the perspex dome, then run the
motor and observe whether or not the shaft is dynamically
balanced (see paragraph4.2.4).
If the shaft is not balanced, repeat your calculations and
check the positions of the blocks to find the mistake.
Whenthe shaft has been balanced satisfactorily,
moveone of
the blocks by a small amount. Observethe effect on the
balance of the shaft.

4.4 Typical Calculations

Suppose that block (1) is placed 18rnmfrom the end of the shaft
at zero angular displacement and that block (2) is placed 100 mmfrom
it at 120.

The measured out of balance momentsare shown in

Table 4.1.

It is first necessary to draw the momentpolygon of (Wr) values, as

shownin figure 4.3(a}, to determine the angular positions of blocks
(3) and (4). (Wr}l and (Wr}2 are knownin both magnitude and
direction.
The vector (Wr}l has been drawn downwardsfor convenience.
The lengths of vectors (Wr)3 and (Wr)~ are knownand arcs can be
drawn from the ends of (Wr}l and (Wr}2 to fix the directions of the
unknownvectors.
F;gure 4.3{b} showsa graph;cal ;nterpretat;on of the angular
position of the blocks obta;ned from the momentpolygon. F;gure
4.3{c} showshow this is interpreted when positioning the blocks.

23

T~heshaft-wise positions of the blocks can be obtained by drawing as

shown in figure 4.4. Let the unknown distance of blocks (3) and
(4) measured from block (1) be a3 and a~ , as shown in figure 4.4(b).
Figure 4.4(a) shows the angular positions of the blocks as previously

detennined. . Since b1!Jck(l} is being used as a reference, it will

not appear in the calculations.
Draw

a vector (100 x 82) units long parallel to direction (Wr)2.

The directions of vectors representing (Wra)3and (Wra).. are drawn

parallel to (Wr)3 and (Wr)4. Their magnitudesare found by drawing
the triangle and measuringthe lengths of the sides. Note that the
direction of vector (Wra)3 must be reversed comparedwith the
direction (Wr)3. This meansthat a3 must be negative and block (3)
must be placed before block 1 on the shaft.
From

the vector triangle,

a3

= -12 R1TI

a..

124 R1TI

To fit all the blocks on the shaft, block (3) should be positioned
5 mmfrom the left hand end. The relative positions of the four
blocks are then:Angular position ()
0
120
190
294

Shaft-wise position
17
117
5

The values of a3 and a~ may be found by calculation

drawing.

(See section 2.4.1).

(mm)

141
instead of by