Balancing

Balancing is the process of eliminating or at least reducing the ground forces and/or moments.
It is achieved by changing the location of the mass centers of links. Balancing of rotating parts
is a well known problem. A rotating body with fixed rotation axis can be fully balanced i.e. all
the inertia forces and moments. For mechanism containing links rotating about axis which are
not fixed, force balancing is possible, moment balancing by itself may be possible, but both
not possible. We generally try to do force balancing. A fully force balance is possible, but any
action in force balancing severe the moment balancing.

Rotating Mass Balance, Static and Dynamic Balance

A geometrically symmetrical body is expected to be balanced. Due to non-uniform

distribution of material like air voids due to bad casting, mass center may not be coinciding
with the fixed pivot. So, every rotating component must be checked for unbalance. Fixed axis
rotation of a body mass center is not coinciding with rotation axis O, shown in figure.
Centripedal force F is mω 2 r .

F
m m

r r F

O
F
Fig. Fixed axis rotation of a body. Mass center is not coinciding with rotation axis O.

We want, mω 2 r = 0 , possible cases;

m = 0 : mathematically correct but physically trival,
ω = 0 : mathematically correct but physically trival,
r = 0 : mathematically correct yet physically realisable by balancing.

How can we understand if a body has any unbalance?

A simple experiment may be conducted as;
We place the rotating body on frictionles bearings or kinife edge bars as depicted in figure 2,
and by turning it a bit and than waiting until it comes to rest. So, bottommost point is marked.
That mark represents the heavier side of the body. We disturb the body from its rest position
by turning it again a bit and letting it comes to rest. If the mark is still at the bottommost
position, then this side surely heavier than the opposing side. We either remove material from
the hevier side or add material to the lighter side for correction. Then, repeat the procedure
until no part of the body comes insistively to the bottommost position.

Axial dimension smaller

Knife edge than radial dimension
Plump line

Figure 2, Simple experiment

In this porcess we make use of the gravity force only which is mg . Both m and g are
constant so, the force which we make use of in balancing is a “static” force. And the method
is called “ static balancing”. In such balancing, we can not decide or see inspect the amount
of unbalance and orientation. Unbalance is found and its correction is done by an
experimental approach using a balancing machine.

Static balancing is suitable for rotating objects with negligible axial dimensions like fans, thin
flyweels ect. Static balancing of these components provide both force and moment balance. If
axial dimensions are not negligible a simple static balance will not ensure moment balance
though it ensures force balance. To display the moment unbalance, body must be turning and
noncollinear centrepedal forces must be generated, so forces we make use of are mω 2 r .
Body is no longer static hence balancing done in this format called the “dynamic balancing”.

Dynamic balancing is done by adding or removing mass at two places known as the
“correction planes”. Distance between the correction planes must be as much as possible and
the designer must facilitita large and heavy portions at each end of a shaft where removing
some material by drilling does not reduces the strenght of the shaft.

Analysis of Unbalance
In this section we will learn how to analyze any unbalanced rotating body and determine the
proper correction. Firstly, we will discuss the graphical method, secondly, vector methods.

Graphical Method
When the rotating masses are in different planes as shown in figure, following two equations
should be satisfied;
* *
∑ F = 0 and ∑ M = 0
Consider the shaft depicted in figure is to be balanced. We need to determine the location and
amount of correction masses. We begin by moment balancing. Summation of the centripedal
forces, including the corrections about some point. We choose LCP point. Thus applying the
*
∑ M = 0 gives
* * * *
∑ M LCP = 0; M1 + M 2 + M RCP = 0

m1 m1
r1 θ2
l1 θ1

l2
r2
m2
l m2
LCP RCP
Left Correction Right Correction
Plane Planes

Moment generated by the first unbalance M 1 is l1 m1 r1ω 2 with respect to LCP.

Moment generated by the second unbalance M 2 is l 2 m2 r2ω 2 with respect to LCP.

As ω 2 is common in all vector for simplicity we can drop it. Taking the directions of the
moments as if forces directions. A moment polygon, depicted in figure, can be constructed.
Note that a true moment directions would be obtained by rotating the polygon 90 degree CW.
Magnitude and direction of the correction
M1 F1 factor is determined from the moment
M2 F2 Of
Om polygon. Its magnitude is mrcp rrcp l . We
FLCP
know l by design. By dividing l, we get
MRCP FRCP mrcp rrcp . Any combination of mrcp and

rrcp providing arithmetical comforming will

do. You can put a small mass at a long rrcp or large mass at a small rrcp . With the addition of
*
mrcp , moment balance is done. But, ∑ F = 0 equation is not satisfied yet. For force balance,

we do not need to rotate the shaft, we can make use of gravity forces only. Similiarly,
magnitude and direction of the correction mass to be placed LCP can be found from force
polygon.
Example 1 a) In the figure an
unbalanced shaft with non-negligible m2
m1 r2
axial dimensions is shown. It is to be m1
balanced by putting balance masses at 0.25 m 0.25 m 0.25 m r1
the correction planes. Calculate the
amount of masses to be used at a radial m1=4 kg m2=2 kg
LCP RCP
distance of 0.3 m on the correction r1 =0.1 m r2=0.2 m
planes.

* * * * * * * * *
∑ F = 0; FLCP + FRCP + F1 + F2 = 0 ∑M LCP = 0; M RCP + M 1 + M 2 = 0

where
where M 1 = l1 F1 = 0.25 * 0.4 = 0.1kgm 2 ↑
F1 = m1 r1 = 4 * 0.1 = 0.4kgm ↑ M 2 = l 2 F2 = 0.5 * 0.4 = 0.2kgm 2 ↑
F2 = m2 r2 = 2 * 0.2 = 0.4kgm ↑ M RCP = l RCP FRCP = ?
FLCP = m LCP rLCP = ? M RCP = 0.3kgm 2 = l RCP FRCP = 0.75 * FRCP
FRCP = m RCP rRCP = ?
0 .3
FRCP = = 0.4kgm
0.75
FLCP 0.4
m LCP = = = 1.333kg ↓ ANS m RCP =
Fc
=
0.4
= 1.333kg ↓ ANS
rLCP 0.3 rRCP 0.3

F RCP=0.4 kgm
F2=0.4 kgm
2
MRCP =0.3 kgm M2=0.2 kgm2
F LCP=0.4 kgm
F1=0.4 kgm 2
M1=0.1 kgm
b) Can this shaft be dynamically balanced by putting a single mass? If so, where must be the
correction plane with radial distances 0.3 m.

YES. Because all masses (including correction masses) are on the single plane.
0 .8
∑ F = 0; F c = FRCP + FLCP = 0.8kgm = mc rc ⇒ mc =
0 .3
= 2.66kg ↓ ANS

0.3
∑M LCP = 0; M c = x * Fc ⇒ 0.3 = x * 0.8 ⇒ x =
0. 8
= 0.375m From LCP ANS

Example In the figure a rotating

shaft is shown. The shaft rotates at F1
y m1 y
750 rpm. It is supported in
bearings at A and B. 0.3 m 0.3 m r1
A B z x
m1= 2 kg, m2= 2 kg, r1=0.4m,
r2
r2=0.2m FA FB
m2
F2

a) What are the bearing reactions for the systems?

rev 1 min 2π
ω = 750 = 78.54rad .
min 60 sec 1rev
F1 = m1 r1ω 2 = 2 * 0.4 * 78.54 2 = 4934.83N ↑
F2 = m2 r2ω 2 = 2 * 0.2 * 78.54 2 = 2467.41N ↓
FA = ? & FB = ?
Taking moment about A,
0.3 * 4934.83 − 0.3 * 2467.41
∑M A = 0; 0.3 * F1 − 0.3 * F2 − 0.6 * FB = 0 ⇒ FB =
0 .6
= 1233.71N ↓

∑F y = 0; − FA − FB − F2 + F1 = 0 ⇒ FA = 4934.83 − 2467.41 − 1233.71 = 1233.71N ↓ ANS

b) Determine the location and magnitude of a balancing mass if it is to be placed at a radius
of 0.3 m.

* * * *
∑ F = 0; Fc + F1 + F2 = 0

where
F1 = m1 r1ω 2 = 2 * 0.4 * 78.54 2 = 4934.83 N ↑
F2 = m2 r2ω 2 = 2 * 0.2 * 78.54 2 = 2467.41N ↓
Fc = mc rc ω 2 = 4934.83 − 2467.41 = 2467.41N ↓

Fc 2467.41
mc = = = 1.333kg ↓ ANS
rc ω 2
0.3 * 78.54 2

c) Calculate the bearing reactions after adding the balancing mass. Compare and discuss
your results before and after balancing.
F1 = m1 r1ω 2 = 2 * 0.4 * 78.54 2 = 4934.83 N ↑
F2 = m2 r2ω 2 = 2 * 0.2 * 78.54 2 = 2467.41N ↓
Fc = mc rc ω 2 = 4934.83 − 2467.41 = 2467.41N ↓
FA = ? & FB = ?
Taking moment about A,

∑M A = 0; 0.3 * F1 − 0.3 * F2 − 0.3 * Fc − 0.6 FB = 0 ⇒ FB = 0 then FA = 0 ANS.

Example The shaft shown in the figure is rotating with a speed of 10 rad/sec. Calculate the
amount and angular orientation of the balance masses to be placed at a radial distance of 0.2
m.

0.4m m1 m2 m1 m2
r1 r2
o o
30 30
0.8m
1.0m r3

m3 m3
1.4 m
LCP RCP
Left Correction Right Correction
Plane Planes
m1 = 2 kg , m2 = 2 .5 kg , m3 = 2 kg , r1 = 0 .5 m , r2 = 0 .2 m , r3 = 0 .2 m
* * * * * * * * * * *
∑ F = 0 ; F1 + F2 + F3 + FRCP + FLCP = 0 ∑ M = 0 ; M 1 + M 2 + M 3 + M RCP = 0
F1 = m1 r1ω 2 = 2 * 0 .5 * 10 2 = 100 N ∠150  M 1 = F1l1 = 100 * 0 .4 = 40 N ∠150 
F2 = m2 r2 ω 2 = 2 * 0 .2 * 10 2 = 50 N ∠30  M 2 = F2 l 2 = 50 * 0 .8 = 40 N ∠30 
F3 = m3 r3 ω 2 = 2 * 0 .2 * 10 2 = 40 N ∠270  M 3 = F3 l3 = 40 * 1 = 40 N ∠270 
FLCP = ? M RCP = ?
FRCP = ? M RCP = 0

F2 M2
F3
M3
F LCP =56N
F1 M1

56
FLCP = 56 = m LCP * rLCP * ω 2 ⇒ m LCP = = 2 .8 kg∠321 
100 * 0 .2
Example Figure represents a rotating system that has been idealised for illustrative purposes.
A weightless shaft is supported in bearings at A and B rotates at 955 rpm.
m1 = m2 = 0 .5 kg , m3 = 1 kg , r1 = r2 = r3 = 0 .2 m

m1 m2 m1 m2
A B r1 r2
o o
30 30
1.0m
r3
1.4 m
m3 m3
B

a) What are the bearing reactions for the system?

* * * * *
ω=n=
955 rev 2π 1 min
* * = 100 rad / sec ∑ M = 0; M 1 +M 2 + M 3 + M B = 0
min rev 60 sec M 1 = F1l1 = 1000 * 1 .4 = 1400 Nm ∠150 
* * * * * * M 2 = F2 l 2 = 1000 * 1 .4 = 1400 Nm ∠30 
∑ F = 0 ; F1 + F2 + F3 + FA + FB = 0 M 3 = F3 l3 = 2000 * 1 .4 = 2800 Nm ∠270 
F1 = m1 r1ω 2 = 0 .5 * 0 .2 * 100 2 = 1000 N ∠150  M B = FB l = ?
F2 = m2 r2 ω 2 = 0 .5 * 0 .2 * 100 2 = 1000 N ∠30 
F3 = m3 r3 ω 2 = 1* 0 .2 * 100 2 = 2000 N ∠270 
M2
FA = ?
FB = ?
M3
M1
F2
F3
FA=400N MB=1400 Nm
F1

FB
M B 1400
FB = = = 1400 N ∠90 
l 1
FA = 400 N ∠270 
b) Determine the location and magnitude of a balancing mass if it is to be placed at a radius
of 0.2 m.
From the moment polygon, moment created by correction mass which is to be placed at the
correction plane is equal to 1400 N. Then,

1400
M Corr = Fcorr * l = mcorr * rcorr * ω 2 * l ⇒ mcorr = = 0 .5 kg
0 .2 * 100 2 * 1 .4
Example The shaft shown in the figure is rotating with a constant speed of 10 rad/sec.
Calculate the amount and angular orientation of the balance masses to be placed at a radial
distance of 0.3m. m1 = 2 kg, m2=4 kg, m3=3 kg, r1 = r2= r3=0.2 m.

m1
0.5 m m1
r1
0.75 m 0.5 m 0.5 m 45 45
r2 r3
m2 m3 m2 m3
RCP
LCP
* * * * *
∑M LCP = 0 ; M 1 +M 2 + M 3 + M RCP = 0
M 1 = F1l1 = 0 .5 * 40 = 20 Nm ∠90 
M1
M 2 = F2 l 2 = 80 * 0 .75 = 60 Nm ∠135  M2
M 3 = F3 l 3 = 60 * 1 .25 = 75 Nm ∠315 
OM
M RCP = FRCP l = ?

M RCP = 76 Nm ⇒
M RCP 76
FRCP = = = 43 .43 N∠98 o
l 1 .75
MRCP =76 Nm

FRCP 43 .43 M13

m RCP = = 2 = 1 .448 kg ∠98 o
ω r 10 0 .3
2
 * * * * * *
∑F = 0 ; F1 + F 2 + F 3 + F R + F B = 0

F1 = m1 r1ω 2 = 2 * 0 .2 * 10 2 = 40 N ∠90 
F2 = m2 r2 ω 2 = 4 * 0 .2 * 10 2 = 80 N ∠135 
F3 = m3 r3 ω 2 = 3 * 0 .2 * 10 2 = 60 N ∠315 
F1
F2
FRCP = 43 .43 N ∠98 o
FLCP = ?

OF
FLCP = 25 .8 N ∠38 .4 o
FLCP =25.8 N

FLCP 25 .8
m LCP = = 2 = 0 .86 kg ∠38 .4 o
ω r 10 0 .3
2
F3
FRCP

Example The shaft shown in the figure is rotating with a constant speed of 1 rad/sec.
Calculate the amount and angular orientation of the balance masses to be placed at a radial
distance of 0.3 m. m1 = 2 kg, m2=4 kg, r1 = r2= 0.2 m.

m1
0.5 m m1
r1
0.75 m 0.75 m 45
r2
m2 m2
RCP
LCP
 * * * *
∑M LCP = 0 ; M 1 +M 2 + M RCP = 0
M 1 = F1l1 = 0 .5 * 0 .4 = 0 .20 Nm ∠90 
M1
M 2 = F2 l 2 = 0 .8 * 0 .75 = 0 .60 Nm ∠135 
M2
M RCP = FRCP l = ? OM
M RCP = 0 .48 Nm ⇒
M RCP 0 .48 MRCP =0.48 Nm
FRCP = = = 0 .32 N∠27 .6 o
l 1 .5

FRCP 0 .32
m RCP = = 2 = 1 .067 kg ∠27 .6 o
ω r 1 0 .3
2

* * * * *
∑F = 0; F1 + F2 + FRCP + FLCP = 0

F1 = m1 r1ω 2 = 2 * 0 .2 * 12 = 0 .40 N ∠90 

F2 = m2 r2 ω 2 = 4 * 0 .2 * 12 = 0 .80 N ∠135  F1
FRCP = 0 .32 N ∠27 .6 o F2
FLCP = ?

OF
FLCP = 0 .283 N ∠3 .4 o FLCP =0.283 N
FRCP
FLCP 0 .283
m LCP = = 2 = 0 .943 kg ∠3 .4 o
ω r 1 0 .3
2
Example The shaft shown in the
figure is rotating with a speed of 10 m2
r2
rad/sec. Calculate the amount and
0.25 m 0.25 m 0.25 m
angular orientation of the balance m1
m1 r1
masses to be placed at a radial
m1=4 kg m2=2 kg
distance of 0.2 m. LCP RCP
r1 =0.1 m r2=0.2 m

* * * *
∑ M = 0; M 1 + M 2 + M RCP = 0

M 1 = F1l1 = 40 * 0 .25 = 10 Nm ∠270 

M 2 = F2 l2 = 40 * 0 .5 = 20 Nm ∠90  MRCP =20Nm

M2=20Nm
M RCP = ?

M RCP = 22 .5 Nm ∠296 .5 
M1=10Nm
22 .5
FRCP = = 30 N ∠296 .5 
0 .75
30
FRCP = m LCP * rLCP * ω 2 ⇒ m LCP = = 1 .5 kg∠296 .5 
100 * 0 .2

* * * * *
∑F = 0; F1 + F2 + FRCP + FLCP = 0
FRCP =30N
F1 = m1r1ω 2 = 4 * 0 .1* 10 2 = 40 N ∠270 

F2 = m2 r2ω 2 = 2 * 0 .2 * 10 2 = 40 N ∠90  FLCP =30N

F2=40N
FLCP = ?

FLCP = 30 N ∠33 
F1=40N

30
FLCP = 30 = m LCP * rLCP * ω 2 ⇒ m LCP = = 1 .5 kg∠334 
100 * 0 .2
Example Balance the shaft shown in the figure dynamically by putting balance masses at a
radial distance of 0.1 m. m1 = 2 kg, m2=1 kg, r1 = 0.1 m, r2= 0.2 m.

m1 m1
0.5 m
r1

1m 0.5 m r2
m2 m2
LCP RCP

* * * * * * * * *
∑M LCP = 0; M RCP + M 1 + M 2 = 0 ∑ F = 0; FLCP + FRCP + F1 + F2 = 0

where where
M 1 = l1 F1 = 0 .5 * 0 .2 = 0 .1kgm 2 ↑ F1 = m1 r1 = 2 * 0 .1 = 0 .2 kgm ↑
M 2 = l 2 F2 = 1 .0 * 0 .2 = 0 .2 kgm 2 ↓ F2 = m2 r2 = 1* 0 .2 = 0 .2 kgm ↓
M RCP = l RCP FRCP = ? FRCP = 0 .0667 kgm ↑
FLCP = m LCP rLCP = ?

M1
M2
F2
2 F1
MRCP=0.1kgm
FRCP
FLCP =0.0667kgm
M RCP = 0 .1kgm 2 = l RCP FRCP = 1 .5 * FRCP
FLCP 0 .0667
FRCP =
0 .1
= 0 .0667 kgm ↑ m LCP = = = 0 .667 kg ↓
1 .5 rLCP 0 .1

FRCP 0 .0667 ANS

m RCP = = = 0 .667 kg ↑
rRCP 0 .1
ANS
4- The shaft shown in the figure is rotating with a speed of 10 rad/sec. Calculate the amount
and angular orientation of the balance masses to be placed at a radial distance of 0.2 m.
m1 = 2 kg , m2 = 2 kg , m3 = 2 kg , r1 = 0 .2 m , r2 = 0 .2 m , r3 = 0 .2 m

0.4m
m1 m2 r1 r2
m1
0.8m m2
1.0m r3

m3 m3
1.4 m
LCP RCP
Left Correction Right Correction
Plane Planes

* * * * * * * * * * *
∑ F = 0 ; FLCP + FRCP + F1 + F2 + F3 =0 ∑M LCP = 0 ; M RCP + M 1 + M 2 + M 3 = 0

where where
F1 = m1 r1ω 2 = 2 * 0 .2 * 10 2 = 40 N ← M 1 = l1 F1 = 0 .4 * 40 = 16 Nm ←
F2 = m2 r2 ω 2 = 2 * 0 .2 * 10 2 = 40 N → M 2 = l 2 F2 = 0 .8 * 40 = 32 Nm →
F3 = m3 r3 ω 2 = 2 * 0 .2 * 10 2 = 40 N ↓ M 3 = l3 F3 = 1 .0 * 40 = 40 Nm ↓
FLCP = m LCP rLCP = ? M RCP = l RCP FRCP = ?
FRCP = m RCP rRCP = ? M RCP = 43 .2 N = l RCP FRCP = 1 .4 * FRCP
43 .2
FRCP = = 30 .86 N ∠112 
1 .4
FLCP 16 .2 F 30 .86
m LCP = = = 0 .81 N ∠44 .6  m RCP = RCP 2 = = 1 .54 kg ∠112 
rLCP ω 2
0 .2 * 10 2
rRCP ω 0 .2 * 100

F2 OF M2
F1 M1 OM
FLCP =16.2 N
M3
F3
M RCP=43.2 N
FRCP