Dynamics of Machines (ME 8594)

Unit-2
by
Dr. B. Janarthanan
Professor
Department of Mechanical Engineering
Mohamed Sathak A.J. College of Engineering
ME8594 DYNAMICS OF MACHINES
OBJECTIVES:
1. To understand the force-motion relationship in components
subjected to external forces and analysis of standard mechanisms.
2. To understand the undesirable effects of unbalances resulting
from prescribed motions in mechanism.
3. To understand the effect of Dynamics of undesirable vibrations.
4. To understand the principles in mechanisms used for speed control
and stability control.
OUTCOMES:
Upon the completion of this course the students will be able to
CO1 Calculate static and dynamic forces of mechanisms.
CO2 Calculate the balancing masses and their locations of
reciprocating and rotating masses.
CO3 Compute the frequency of free vibration.
CO4 Compute the frequency of forced vibration and damping
coefficient.
CO5 Calculate the speed and lift of the governor and estimate the
gyroscopic
24 September 2021
effect on automobiles, ships and airplanes.
B. Janarthanan Dynamics of Machines 2
ME8594 DYNAMICS OF MACHINES
UNIT II BALANCING
Static and dynamic balancing – Balancing of rotating
masses – Balancing a single cylinder engine – Balancing
of Multi-cylinder inline, V-engines – Partial balancing in
engines – Balancing of linkages – Balancing machines-
Field balancing of discs and rotors.

BOOKS
1. Rattan, S.S, “Theory of Machines”, 4th Edition, Tata
McGraw-Hill, 2014.
2. Khurmi R.S., Theory of Machines, 14th Edition, S Chand
Publications, 2005

24 September 2021 B. Janarthanan Dynamics of Machines 3

Balancing
• High speed of engines and other machines is common
now-a-days
• Often unbalance of forces is produced in rotary and
reciprocating machinery due to the inertia forces
associated with the moving masses
• If these unbalanced forces are not properly balanced, the
dynamic forces are set up
• These forces not only increase the loads on bearings and
stresses in the various members, but also provide
unpleasant and even dangerous vibrations
• Balancing is the process of designing or modifying
machinery so that the unbalance is reduced to an
acceptable level and if possible eliminated entirely

24 September 2021 B. Janarthanan Dynamics of Machines 4

Balancing
• In a revolving rotor, the centrifugal force remains balanced
as long as the centre of mass of the rotor lies on the axis of
the shaft
• When the centre of mass does not lie on the axis or there
is eccentricity, an unbalanced force is produced
• This type of unbalance is very common e.g. steam turbine
rotors, engine crank shafts, rotary compressors and
centrifugal pumps
• To prevent the adverse effect of this centrifugal force,
another mass will be attached in the opposite side
• The process of providing a suitable mass at a suitable
location and radius of rotation in order to counteract the
effect of the centrifugal force is called balancing

24 September 2021 B. Janarthanan Dynamics of Machines 5

Static balancing
• Static balance refers to the ability of a stationary
object to balance. This happens when the
object’s centre of gravity is on the axis of
rotation.
• A system of rotating masses is said to be in
static balance if the combined mass centre of
the system lies on the axis of rotation
• ie., the net dynamic forces acting on the shaft is
equal to zero

24 September 2021 B. Janarthanan Dynamics of Machines 6

Dynamic balance
• When several masses rotate in different
planes, in addition to being out of balance,
also form couples
• A system of rotating masses is said to be
in dynamic balance, when there does not
exist any resultant centrifugal force as well
as resultant couple
• ie., in addition to the conditions of static
balancing, the net couple due to dynamic
forces is equal to zero
24 September 2021 B. Janarthanan Dynamics of Machines 7
Static balancing (Courtesy: Rattan)

24 September 2021 B. Janarthanan Dynamics of Machines 8

Static balancing (Courtesy: Rattan)

24 September 2021 B. Janarthanan Dynamics of Machines 9

Static balancing
• 𝐹 = 𝑚1 𝑟1 𝜔2 + 𝑚2 𝑟2 𝜔2 + 𝑚3 𝑟3 𝜔2
• The rotor is said to be statically balanced if
F=0
• If F is not zero, a counterweight of mass
𝑚𝑐 at radius 𝑟𝑐 is introduced
• 𝑚1 𝑟1 𝜔2 + 𝑚2 𝑟2 𝜔2 + 𝑚3 𝑟3 𝜔2 + 𝑚𝑐 𝑟𝑐 𝜔2 = 0
• 𝑚1 𝑟1 + 𝑚2 𝑟2 + 𝑚3 𝑟3 + 𝑚𝑐 𝑟𝑐 = 0
• 𝛴𝑚r + 𝑚𝐶 𝑟𝐶 = 0

24 September 2021 B. Janarthanan Dynamics of Machines 10

Static balancing
• Dividing the above eqn. into x and y
components
• 𝛴𝑚r cos𝜃 + 𝑚𝐶 𝑟𝐶 cos 𝜃𝑐 = 0
• 𝛴𝑚r sin𝜃 + 𝑚𝐶 𝑟𝐶 sin 𝜃𝑐 = 0
• 𝑚𝐶 𝑟𝐶 cos 𝜃𝑐 = −𝛴𝑚r cos𝜃
• 𝑚𝐶 𝑟𝐶 sin 𝜃𝑐 = −𝛴𝑚r sin𝜃
• 𝒎𝑪 𝒓𝑪 = σ 𝒎𝒓 𝐜𝐨𝐬 𝜽 𝟐 + σ 𝒎𝒓 𝐬𝐢𝐧 𝜽 𝟐

− σ 𝒎𝒓 𝐬𝐢𝐧 𝜽
• 𝒕𝒂𝒏 𝜽𝒄 =
− σ 𝒎𝒓 𝐜𝐨𝐬 𝜽
24 September 2021 B. Janarthanan Dynamics of Machines 11
Dynamic balancing (Courtesy: Rattan)

24 September 2021 B. Janarthanan Dynamics of Machines 12

Dynamic balancing

24 September 2021 B. Janarthanan Dynamics of Machines 13

Dynamic balancing

24 September 2021 B. Janarthanan Dynamics of Machines 14

Dynamic balancing

24 September 2021 B. Janarthanan Dynamics of Machines 15

Dynamic balancing

24 September 2021 B. Janarthanan Dynamics of Machines 16

Dynamic balancing

24 September 2021 B. Janarthanan Dynamics of Machines 17

Dynamic balancing

24 September 2021 B. Janarthanan Dynamics of Machines 18

Dynamic balancing

24 September 2021 B. Janarthanan Dynamics of Machines 19

Problem
• A shaft carries four masses A, B, C and D of magnitude
200 kg, 300 kg, 400 kg and 200 kg respectively and
revolving at radii 80 mm, 70 mm, 60 mm and 80 mm in
planes measured from A at 300 mm, 400 mm and 700
mm. The angles between the cranks measured
anticlockwise are A to B 45°, B to C 70° and C to D 120°.
The balancing masses are to be placed in planes X and
Y. The distance between the planes A and X is 100 mm,
between X and Y is 400 mm and between Y and D is
200 mm. If the balancing masses revolve at a radius of
100 mm, find their magnitudes and angular positions.

24 September 2021 B. Janarthanan Dynamics of Machines 20

24 September 2021 B. Janarthanan Dynamics of Machines 21
Problem

24 September 2021 B. Janarthanan Dynamics of Machines 22

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 23

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 24

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 25

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 26

Problem (Static balancing)

• 𝒎𝑪 𝒓𝑪 = σ 𝒎𝒓 𝐜𝐨𝐬 𝜽 𝟐 + σ 𝒎𝒓 𝐬𝐢𝐧 𝜽 𝟐

− σ 𝒎𝒓 𝐬𝐢𝐧 𝜽
• 𝒕𝒂𝒏 𝜽𝒄 =
− σ 𝒎𝒓 𝐜𝐨𝐬 𝜽

24 September 2021 B. Janarthanan Dynamics of Machines 27

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 28

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 29

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 30

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 31

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 32

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 33

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 34

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 35

Balancing of reciprocating mass
(Courtesy: R.S. Khurmi)

• Unbalanced Shaking force, 𝐹𝐵𝐻 = 𝐹𝑢

• Shaking couple, 𝐹𝑁 × 𝑥 or 𝐹𝐵𝑉 × 𝑥
24 September 2021 B. Janarthanan Dynamics of Machines 36
Primary and secondary unbalanced
forces (Courtesy: R.S. Khurmi)

• From the above, the max. sec. unbalanced force

is 1/n times the max. primary unbalanced force
• At moderate speeds, the sec. unbalanced force
is so small that it may be neglected

24 September 2021 B. Janarthanan Dynamics of Machines 37

Partial balancing of primary unbalanced
forces (Courtesy: R.S. Khurmi)

24 September 2021 B. Janarthanan Dynamics of Machines 38

Partial balancing of primary unbalanced
forces (Courtesy: R.S. Khurmi)

24 September 2021 B. Janarthanan Dynamics of Machines 39

Problem

24 September 2021 B. Janarthanan Dynamics of Machines 40

Balancing of locomotives

24 September 2021 B. Janarthanan Dynamics of Machines 41

Partial balancing of primary unbalanced
forces
Effect of unbalanced force along the line of stroke
• Variation of tractive force
• Swaying couple
Effect of unbalanced force perpendicular to the line
of stroke
• Hammer blow

24 September 2021 B. Janarthanan Dynamics of Machines 42

Partial balancing of primary unbalanced
forces
• Hammer blow: the max. vertical unbalanced
force caused by the mass provided to balance
the reciprocating masses
• Variation of tractive force: is caused by the
unbalanced primary force which acts along the
line of stroke
• Swaying couple: unbalanced primary force along
the line of stroke are separated by a distance, l
apart and thus constitutes a couple. This tends
to make the leading wheels sway from side to
side
24 September 2021 B. Janarthanan Dynamics of Machines 43
Variation of tractive force

24 September 2021 B. Janarthanan Dynamics of Machines 44

Swaying couple

24 September 2021 B. Janarthanan Dynamics of Machines 45

Hammer blow

24 September 2021 B. Janarthanan Dynamics of Machines 46

Hammer blow

24 September 2021 B. Janarthanan Dynamics of Machines 47

Problems

24 September 2021 B. Janarthanan Dynamics of Machines 48

Problems

24 September 2021 B. Janarthanan Dynamics of Machines 49

Problems

24 September 2021 B. Janarthanan Dynamics of Machines 50

Problems

24 September 2021 B. Janarthanan Dynamics of Machines 51

Balancing of radial engines (direct and
reverse crank method)
• The method of direct and reverse cranks is
used in balancing of radial or V-engines, in
which the connecting rods are connected
to a common crank.
• Since the plane of rotation of the various
cranks (in radial or V-engines) is same,
therefore there is no unbalanced primary
or secondary couple.

24 September 2021 B. Janarthanan Dynamics of Machines 52

Problems

24 September 2021 B. Janarthanan Dynamics of Machines 53

Problems

24 September 2021 B. Janarthanan Dynamics of Machines 54

Problems

24 September 2021 B. Janarthanan Dynamics of Machines 55

Problems

24 September 2021 B. Janarthanan Dynamics of Machines 56

Contact
Dr. B. Janarthanan
Professor
Department of Mechanical Engineering
Mohamed Sathak A.J. College of Engineering
Email : vbjana@gmail.com,
mech.janarthanan@msajce-edu.in

24 September 2021 B. Janarthanan Dynamics of Machines 57