586 A Textbook of Engineering Mechanics

586 586
Balancing of
Rotating Masses
29.1. INTRODUCTION
We have already discussed in the last chapter
about the centrifugal force. We know that whenever
a body is rotating or attached to a rotating shaft, it is
subjected to centrifugal force. This force tends to bend
the shaft and produce vibrations in it.
These dynamic forces not only increase the
loads on bearings and stresses in the various members,
but also produce unpleasant and even dangerous
vibrations.
It is therefore, very essential that all rotating
bodies should be completely balanced as far as
possible.
Contents
1. Introduction.
2. Methods for Balancing of
Rotating Masses.
3. Types of Balancing of
Rotating Masses.
4. Balancing of a Single Rotating
Mass.
5. Balancing of a Single Rotating
Mass by Another Mass in the
Same Plane.
6. Balancing of a Single Rotating
Mass by Two Masses in
Different Planes.
7. Balancing of Several Rotating
Masses.
8. Analytical Method for the
Balancing of Several Rotating
Masses in one Plane by
Another Mass in the Same
Plane.
9. Graphical Method for the
Balancing of Several Rotating
Masses in One Plane by
Another Mass in the Same
Plane.
10. Centrifugal governor.
11. Watt Governor.
29
C H A P T E R C H A P T E R C H A P T E R C H A P T E R C H A P T E R
Contents
Chapter 29 : Balancing of Rotating Masses 587
29.2. METHODS FOR BALANCING OF ROTATING MASSES
We have already discussed that whenever a body of some mass is attached to a rotating shaft,
it exerts some centrifugal force, whose effect is to bend the shaft, and to produce unpleasant vibrations
in it. In order to prevent the effect of centrifugal force, another body is attached to the opposite side
of the shaft, at such a position, so as to balance the effect of centrifugal force of the first body. This
is done in such a way that the centrifugal force of both the bodies are made to be equal and opposite.
The process of providing the second body, in order to counteract the effect of the centrifugal force
of the first body, is called balancing of rotating masses.
29.3. TYPES OF BALANCING OF ROTATING MASSES
Though there are many types of balancing of rotating masses yet the following are important
from the subject point of view :
1. Balancing of a single rotating mass.
2. Balancing of several rotating masses.
29.4. BALANCING OF A SINGLE ROTATING MASS
A disturbing mass, attached to a rotating shaft, may be balanced in a number of ways. But the
following two are important from the subject point of view :
1. Balancing by another mass in the same plane.
2. Balancing by two masses in different planes.
29.5. BALANCING OF A SINGLE ROTATING MASS BY ANOTHER MASS IN
THE SAME PLANE
Fig. 29.1. Balancing of a single mass.
Consider a mass A, attached to a rotating shaft. In order to balance it, let us attach another mass
B to the same shaft as shown in Fig. 29.1.
Let m
1
= Mass of the body A,
r
1
= Radius of the rotation of body A (i.e., distance between the
centre of the shaft and the centre of the body A),
m
2
, r
2
= Corresponding values for the body B, and
= Angular velocity of the shaft.
We know that the centrifugal force exerted by the body A on the shaft
= m
1

2
r
1
...(i)
Similarly, centrifugal force exerted by the body B on the shaft
= m
2

2
r
2
...(ii)
Since the body B balances the body A, therefore the above two centrifugal forces should be
equal and opposite. Now equating (i) and (ii),
m
1

2
r
1
= m
2

2
r
2
m
1
r
1
= m
2
r
2
Contents
588 A Textbook of Engineering Mechanics
Example 29.1. A body A of mass 10 kg, with its c.g. 250 mm from the axis of rotation, is to
be balanced by another body B of mass 4 kg. Find the radius at which the centre of gravity of mass
B should be placed.
Solution. Given : Mass of body A (m
1
) = 10 kg ; Radius of rotating body A (r
1
) = 250 mm
and mass of body B (m
2
) = 4 kg
Let r
2
= Radius at which the c.g. of mass B should be placed.
We know that m
1
r
1
= m
2
r
2

1 1
2
2
10 250
625 mm
4
m r
r
m

= = =
Ans.
29.6. BALANCING OF A SINGLE ROTATING MASS BY TWO MASSES IN
DIFFERENT PLANES
In the previous article, we have discussed the method of balancing of a single rotating body by
another mass in the same plane. But sometimes, it is not possible to introduce one balancing mass in
the same plane of rotation. In such a case, two balancing masses are provided in two different planes
(one on either side of the body to be balanced). In such a case, the following two conditions should be
satisfied in order to balance the body completely :
1. The resultant of all the centrifugal forces (or assumed forces) must be equal to zero.
2. The resultant of moments of all the centrifugal forces (or assumed forces) must be equal
to zero. Or in other words, the c.g. of the balancing bodies should lie on the line of action
of the body to be balanced.
Fig. 29.2.
Now consider the body A, attached to a rotating shaft. In order to balance it, let us attach
two bodies B and C as shown in Fig. 29.2 (a) and (b).
Let m
1
= Mass of the rotating body A,
r
1
= Radius of the rotating body (i.e. distance between the centre
of the mass A and the axis of rotation).
m
2
, r
2
= Corresponding values for the balancing body B.
Contents
Chapter 29 : Balancing of Rotating Masses 589
m
3
, r
3
= Corresponding values for the balancing body C.
l
2
= Distance between the lines of action of the bodies A and B.
l
3
= Distance between the lines of action of the bodies A and C.
Now in order to satisfy the first condition,
m
1
r
1
= m
2
r
2
+ m
3
r
3
and in order to satisfy the second condition,
m
1
r
1
l
1
= m
2
r
2
l
2
+ m
3
r
3
l
3
Example 29.2. A 40 kg mass (A) mounted on an axle at a distance of 1 m is to be balanced
by two masses (B) and (C). The balancing masses are to be mounted in the planes 1 m and 2 m on
either sides of 40 kg mass at radii 1 m and 2 m respectively from the axis of rotation.
Find the magnitudes of the balancing masses.
Solution. Given : Mass of the body A (m
1
) = 40 kg ; Distance between the centre of mass A and
the axis of rotation (r
1
) = 1 m ; Distance between the lines of action of the bodies A and B (l
2
) = 1 m ;
Distance between the lines of action of the bodies A and C (l
3
) = 2 m ; Radius of the rotating body B (r
2
)
= 1 m and radius of the rotating body C (r
3
) = 2 m
Let m
2
= Magnitude of the mass B in kg and
m
3
= Magnitude of the mass C in kg
We know that m
1
r
1
= m
2
r
2
+ m
3
r
3
40 1 = m
2
1 + m
3
2
m
2
+ 2m
3
= 40 ...(i)
and m
2
r
2
l
2
= m
3
r
3
l
3
m
2
1 1 = m
3
2 2 = 4 m
3
m
2
= 4 m
3
...(ii)
Substituting the value of m
2
in equation (i),
4 m
3
+ 2 m
3
= 40

3
40
667 kg
6
m = = Ans.
and m
2
= 4 m
3
= 4 667 = 2667 kg Ans.
EXERCISE 29.1
1. A body of mass 30 kg is attached to a shaft rotating at 300 r.p.m. at a distance of 500 mm
from its axis. The body is to be balanced by mass, which has to be attached at a distance
of 300 mm from the axis of the shaft. Find the magnitude of the balancing mass.
(Ans. 50 kg)
2. A body of mass 10 kg is attached to a rotating shaft at a radius of 500 mm from its axis of
rotation. It is to be balanced by two bodies with their centres of gravity in the same plane
in such a way that one of the mass is 200 mm from 10 kg mass and the other 300 mm on
the opposite side. Find the masses of the balancing bodies, if their centres of gravity are at
a distance of 400 mm from the axis of the rotating shaft. (Ans. 75 kg)
Contents
590 A Textbook of Engineering Mechanics
* The balancing of masses rotating in different planes is beyond the scope of this book.
Sometimes for simplicity, an assumed force is found out, such that
2
2 2
Centrifugal force
Assumed force
m r
m r

= = =

29.7. BALANCING OF SEVERAL ROTATING MASSES
Consider any number of masses (say three) A, B and C
attached to a shaft rotating in *one plane. In order to balance
these masses, let us attach another body D to the same shaft
as shown in Fig. 29.3.
Let m
1
= Mass of the body A

1
= Angle which the body A makes with
the horizontal,
m
2
,
2
= Corresponding values for the body
B, and
m
3
,
3
= Corresponding values for the body
C.
The magnitude and position of the balancing mass,
may be found out by any one of the following two methods :
1. Analytical method and 2. Graphical method.
29.8. ANALYTICAL METHOD FOR THE BALANCING OF SEVERAL ROTATING
MASSES IN ONE PLANE BY ANOTHER MASS IN THE SAME PLANE
The magnitude and position of the balancing body may be obtained, analytically as discussed
below :
1. First of all, find out the centrifugal force exerted by each body on the rotating shaft.
2. Resolve the centrifugal forces (as found above) horizontally, and find out the resultant of
the horizontal components (i.e. H).
3. Now resolve all the centrifugal forces vertically, and find out the resultant of the vertical
components (i.e. V).
4. Magnitude of the resultant force is given by the relation :
2 2
( ) ( ) H V = +
5. If be the angle, which the resultant force makes with the horizontal, then
tan
V
H

6. The balancing force is, then equal to the resultant force, but in the opposite direction.
7. Now find out the magnitude of the balancing mass. This can be done by calculating the
mass of a body, which can produce a centrifugal force equal to the resultant force [as per
item (4) above].
Fig. 29.3. Balancing of several rotating
masses
Contents
Chapter 29 : Balancing of Rotating Masses 591
Example 29.3. Four bodies in a plane are rigidly attached to a shaft, rotating at 500 r.p.m.
by means of levers. Their masses, radii of rotation and relative angular positions are given below :
Body Mass in kg Radius in metres Angle
A 2 12 0
B 4 08 60
C 6 04 120
D 8 02 135
Find the magnitude and position of the balancing mass, if it is placed at 08 m from the axis of
rotation in the same plane.
Solution. Given : Angular velocity of the shaft () = 500 r.p.m and radius of balancing mass
(r) = 08 m
Let m = Magnitude of the balancing mass, and
= Angle, which the balancing mass makes with A.
Resolving all the assumed *forces horizontally,
H = m
1
r
1
cos
1
+ m
2
r
2
cos
2
+ m
3
r
3
cos
3
+ m
4
r
4
cos
4
= (2 12 cos 0) + (4 08 cos 60)
+ (6 04 cos 120) + (8 02 cos 135)
= (24 10) + (32 05) + 24 ( 05) + 16 ( 0707)
= + 167 ...(i)
and now resolving all the assumed *forces vertically,
V = m
1
r
1
sin
1
+ m
2
r
2
sin
2
+ m
3
r
3
sin
3
+ m
4
r
4
sin
4
= (2 12 sin 0) + (4 08 sin 60)
+ (6 04 sin 120) + (8 02 sin 135)
V = (24 0) + (32 0866) + (24 0866) + (16 0707)
= + 598 ...(ii)
Resultant assumed force,

2 2 2 2
( ) ( ) (167) (598) 621 R H V = + = + =
We know that m r = 621

621 621
776 kg
08
m
r
= = = Ans.
and
598
tan 35808
167
V
H

= = =

or = 74.4
Since H and V are both positive, therefore the resultant of these assumed forces lies in the
first quadrant. Thus the balancing force must act in its opposite direction i.e., in the third quadrant.
Therefore actual angle of the balancing mass with A
= 180 + 74.4 = 254.4 Ans.
* If the assumed force is taken into consideration, then the magnitude of balancing body is the mass which
can produce an assumed force equal to the resultant of the assumed forces [as per item (iv)]
Contents
592 A Textbook of Engineering Mechanics
29.9. GRAPHICAL METHOD FOR THE BALANCING OF SEVERAL ROTATING
MASSES IN ONE PLANE BY ANOTHER MASS IN THE SAME PLANE
Fig. 29.4.
The magnitude and position of the balancing body may also be obtained graphically as
discussed below :
1. First of all, draw the space diagram with the given masses of the bodies and their positions
as shown in Fig. 294 (a).
2. Find out the centrifugal forces (or assumed forces) exerted by each body on the rotating
shaft.
3. Now draw the vector diagram with the obtained centrifugal forces (or assumed forces),
such that ab represents in magnitude and direction the force exerted by the mass m
1
to
some scale. Similarly draw bc, cd and de which may represent in magnitude and direction
the forces exerted by the masses m
2
, m
3
, m
4
....... and so on.
4. Now, as per polygon law of forces, ea represents in magnitude and direction of the resultant
force.
5. The balancing force is, then equal to the resultant force; but in the opposite direction.
6. Now find out the magnitude of the balancing mass. This can be done by calculating the
mass of a body, which can produce a force or assumed force equal to the resultant force.
Example 29.4. Three bodies A, B and C of mass 10 kg, 9 kg and 16 kg revolve in the same
plane about an axis at radii of 100, 125 and 50 mm respectively with a speed of 100 r.p.m. The
angular positions of B and C are 60 and 135 respectively from A.
Find the position and magnitude of a body D, at a radius of 150 mm, to balance the system.
Solution. Given : Mass of body A (m
1
) = 10 kg ; Radius of the rotating body A (r
1
) = 100 mm;
Angle which the body A makes with the horizontal (
1
) = 0 ; Mass of body B (m
2
) = 9 kg ; Radius of
the rotating body B (r
2
) = 125 mm ; Angle which the body B makes with the horizontal (
2
) = 60;
Mass of body C (m
3
) = 16 kg ; Radius of rotating body C (r
3
) = 50 mm ; Angle which the body C
makes with the horizontal (
3
) = 135 ; Angular velocity () = 100 r.p.m. and radius of balancing
mass D (r) = 150 mm.
Contents
Chapter 29 : Balancing of Rotating Masses 593
Let m = Mass of the balancing body D, and
= Angle, which the balancing body makes with A.
The example may be solved analytically or graphically. But we shall solve by both the meth-
ods, one by one.
Analytical method
Resolving all the assumed forces horizontally,
H = m
1
r
1
cos
1
+ m
2
r
2
cos
2
+ m
3
r
3
cos
3
= (10 100 cos 0) + (9 125 cos 60) + (16 50 cos 135)
= (1000 10) + (1125 05) + 800 ( 0707) = 997 ...(i)
and now resolving the assumed forces vertically,
V = m
1
r
1
sin
1
+ m
2
r
2
sin
2
+ m
3
r
3
sin
3
= (10 100 sin 0) + (9 125 sin 60) + (16 50 sin 135)
= (1000 0) + (1125 0866) + (800 0707) = 1540 ...(ii)
Resultant assumed force,

2 2 2 2
( ) ( ) (997) (1540) 1835 R H V = + = + =
We know that m r = 1835

1835 1835
122 kg
150
m
r
= = = Ans.
and
1540
tan 15446
997
V
H

= = =

or = 57.1
Since H and V are both positive, therefore the resultant of these forces lies in the first
quadrant. It is thus obvious, that the balancing force must act in its opposite direction. Therefore
actual angle of the balancing body,
= 180 + 57.1 = 237.1 Ans.
Graphical Method
Fig. 29.5.
Contents
594 A Textbook of Engineering Mechanics
1. First of all, draw the space diagram, with the given masses and their positions as shown in
Fig. 295 (a).
2. Take some convenient point a and draw ab equal to m
1
r
1
(10 100 = 1000) to some
scale and parallel to the 10 kg mass.
3. Through b draw bc equal to m
2
r
2
(9 125 = 1125) to scale and parallel to the 9 kg mass.
4. Similarly, through c draw cd equal to m
3
r
3
(16 50 = 800) to scale and parallel to the
16 kg mass.
5. Join da, which represents the magnitude and direction of the assumed resultant force.
Now the assumed balancing force will be given by ad to the scale.
6. Measuring ad to scale, we find that ad = 1835 kg-mm.
7. Therefore m 150 = 1840
or
1835
122 kg
150
m = = Ans.
8. Now measuring the inclination of da with respect to the body A, we find that
= 237.1 Ans.
Example 295. A circular disc, rotating around a vertical spindle, has the following masses
placed on it.
Position of load
Load Magnitude
with respect to Y-Y Distance from centre
A 0 degree 250 mm 25 kg
B 60 degree 300 mm 35 kg
C 150 degree 225 mm 50 kg
Determine the unbalanced force on the spindle, when the disc is rotating at 240 r.p.m. Also
determine the magnitude and angular position of a mass, that should be placed 2625 mm, to give
balance when rotating.
Solution. Given : No. of revolution (N) = 240 r.p.m and radius of balancing mass
(r) = 2625 mm = 02625 m
The example may be solved analytically or graphically. But we shall solve this problem
graphically as discussed below :
Fig. 29.6.
Contents
Chapter 29 : Balancing of Rotating Masses 595
Fig. 29.7. Centrifugal governor
Magnitude and angular position of the balancing mass
1. First of all, draw the space diagram, with the given masses and their positions as shown in
Fig. 296 (a).
2. Take some convenient point a and draw ab equal to m
1
r
1
= 25 250 = 625 to some
scale and parallel to the 25 kg mass.
3. Through b, draw bc equal to m
2
r
2
= 35 300 = 1050 to scale and parallel to the 35 kg
mass.
4. Similarly, through c draw cd equal to m
3
r
3
= 5 225 = 1125 to scale and parallel to the
5 kg mass.
5. Join da, which represents the magnitude and direction of the assumed resultant force.
Now the assumed balancing force will be given by ad to the scale.
6. Measuring ad to scale, we find that ad = 1575.
7. Therefore m 2625 = 1575
or
1575
6 kg
2625
m = =
Ans.
8. Now measuring the inclination of da with respect to Y-Y, we find that
= 263 Ans.
Unbalanced force on the spindle
We know that angular velocity of the spindle,
2 2 240
8 rad/s
60 60
N
= = =
and the unbalanced force on the spindle,
P = m
2
r = 6(8)
2
0.2625 = 995 N Ans.
2910. CENTRIFUGAL GOVERNOR
A centrifugal governor is a device to keep the engine speed, more or less, uniform at all the
load conditions. It is based on the principle of balancing of rotating masses. A centrifugal governor,
in its simplest form, consists of two heavy balls (known as fly
balls or governor) of equal mass attached to the arms as shown in
Fig. 297.
The arms are pivoted at their upper ends to a rotating shaft
known as spindle. The flyballs are also connected to a sleeve
through the links. The sleeve revolves with the spindle and can
also slide up and down on the rotating shaft. The spindle (or the
centrifugal governor) is driven by the shaft of an engine either by
a belt or gear arrangement. The sleeve, with its upward or
downward movement, controls a throttle valve through levers.
This valve, in turn, controls the supply of oil in the engine.
When the engine is running at its normal speed, the posi-
tion of control valve, flyballs and sleeve will be in their normal
positions. Now, if load on the engine increases, it will decrease the
speed of the engine shaft. The decrease in the speed of engine
shaft will decrease the speed of centrifugal governor (or more accurately spindle of the governor) as
a result of which the flyballs will come down due to decreased centrifugal force.
Contents
596 A Textbook of Engineering Mechanics
The downward movement of fly balls will push down the sleeve. It will change the position of
throttle valve, in such a way, that it increases the supply of fuel, which will increase the engine speed.
Similarly, if load on the engine decreases, it will increase the speed of the engine shaft. The increase
in the speed of engine shaft will increase the speed of centrifugal governor, as a result of which the
flyballs will go up due to increased centrifugal force. The upward movement of the flyballs will pull
up the sleeve. It will change the position of the throttle valve, in such a way, that it decreases the
supply of fuel which will decrease the engine speed.
2911. WATT GOVERNOR
The simplest form of a centrifugal governor is a Watt
governor. It is basically a conical pendulum with links connecting
flyballs and sleeve of negligible mass. Now consider a Watt
governor as shown in Fig. 298.
Let m = Mass of a flyball
= Angular velocity of the flyball.
r = Radius of the path of rotation
of the flyball,
h = *Height of the governor, and
T = Tension in the arm.
We know that centrifugal force acting on the ball,
P
c
= m
2
r
Taking moments of centrifugal force (m
2
r), weight of flyball (m.g) and tension in arm (T)
about the pivot O and equating the same,
m
2
r h = (mg) r ...(Moment of T about O is zero)

2
g
h =

Example 296. A centrifugal governor is fitted with two balls each of mass 25 kg. Find the
height of the governor, when it is running at 75 r.p.m. Also find the speed of the governor, when the
balls (i) rise by 20 mm and (ii) fall by 20 mm. Neglect friction of the governor.
Solution. Given : Mass of flyballs (m) = 25 kg and angular frequency (N) = 75 r.p.m.
Height of the governor
We know that angular velocity of the governor,
2 2 75
25 rad/s
60 60
N
= = =
and height of governor,
2 2
98
0159 m 159 mm
(25 )
g
h = = = =

Ans.
(i) Speed of the governor when the balls rise by 20 mm
In this case height of governor, h
1
= 159 20 = 139 mm = 0139 m

2
1
98
705
0139
g
h
= = =
* It is the vertical distance between the centres of flyballs and pivot of the governor.
Superfluous data
Fig. 29.8. Watt governor
Contents
Chapter 29 : Balancing of Rotating Masses 597
or = 84 rad /s
Speed of the governor,
1
60 60 84
802 r.p.m.
2 2
N

= = =

Ans.
(ii) Speed of the governor when the balls fall by 20 mm
In this case height of governor, h
2
= 159 + 20 = 179 mm = 0179 m

2
2
98
547
0179
g
h
= = =
or = 74 rad /s
Speed of the governor
2
60 60 74
707 r.p.m.
2 2
N

= = =

Ans.
EXERCISE 292
1. Three masses A, B and C of 20 kg, 18 kg and 32 kg respectively revolve at radii of 04,
05 and 02 m respectively, in one plane. The angular positions of B and C are 60 and
135 respectively from A. Find the magnitude and position of mass D on a radius of 06
m to balance the system. [Ans. 245 kg ; 212.9]
2. In a mechanism, four masses m
1
, m
2
, m
3
and m
4
are 20 kg, 30 kg, 24 kg and 26 kg
respectively. The corresponding radii of rotation are 200 mm, 150 mm, 250 mm and 300
mm respectively. The angles between the successive masses are 45, 75 and 135
respectively. Estimate the position and magnitude of the mass, which when attached at a
radius of 200 mm in the same plane of radiation will balance the system.
[Ans. 248.7 ; 116 kg]
3. In a mechanism, there are four masses, m
1
, m
2
, m
3
and m
4
of 10 kg, 8 kg, 6 kg and 12 kg
respectively. These masses are attached in an anticlockwise order to a disc or radii of 60
mm, 120 mm, 150 mm and 90 mm respectively. The angles between m
1
and m
2
is 30,
between m
2
and m
3
is 70 and between m
3
and m
4
is 130. Determine graphically the
magnitude and directions of fifth mass to be attached to the disc at a radius of 120 mm,
which will balance the system. [Ans. 667 kg ; 227 ]
4. A centrifugal governor is rotating with an angular velocity of 60 r.p.m. find the change,
in its vertical height when its speed increases to 61 r.p.m. [Ans. 9 mm]
QUESTIONS
1. What is balancing ? Discuss its advantages.
2. Describe the procedure for the balancing of rotating bodies.
3. State clearly the difference between (i) balancing of a single rotating body by another
body in the same plane, and (ii) balancing of a single rotating body by two bodies in two
different planes.
4. How will you balance several bodies rotating in one plane by a body in the same plane
analytically ?
Contents
598 A Textbook of Engineering Mechanics
5. Explain the graphical method for balancing several bodies in one plane by a body in the
same plane.
OBJECTIVE TYPE QUESTIONS
1. In order to balance a rotating body, another body of the same mass is attached to the
rotating body on its opposite side.
(a) Yes (b) No
2. A rotating body can only be balanced by
(a) single body (b) two bodies
(c) any number of bodies
3. The principle involved in balancing a system of balancing masses is that the resultant
centrifugal force of the rotating bodies should be equal and opposite to that of the balanc-
ing body.
(a) Agree (b) Disagree
4. In order to balance a system of rotating bodies, we must know the angular velocity () of
the rotating shaft.
(a) True (b) False
5. A single body can be balanced only by another body of
(a) smaller mass (b) same mass
(c) bigger mass (d) any one of them
ANSWERS
1. (b) 2. (c) 3. (a) 4. (b) 5. (d).
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