A

Laboratory Manual
for

Dynamics of Machinery
(3151911)

B.E. Semester 5
(Mechanical)

Directorate of Technical Education

Gandhinagar, Gujarat
 Government Engineering College - Rajkot
MECHANICAL ENGINEERING DEPARTMENT

CERTIFICATE

This is to certify that Mr./Miss

___________________________________________ of Mechanical Branch, Sem-
V, Enrollment No.____________________________, has satisfactorily completed
his/her term work for the subject Dynamics of Machinery (3151911) during odd
term 2023-24.

Date :

Sign of Faculty Head of the Department

 Preface
Main motto of any laboratory/practical/field work is for enhancing required skills as well as
creating ability amongst students to solve real time problems by developing relevant
competencies in the psychomotor domain. By keeping in view, GTU has designed competency
focused outcome-based curriculum for engineering degree programs where sufficient weightage
is given to practical work. It shows the importance of enhancement of skills amongst the
students and it pays attention to utilize every second of time allotted for practical amongst
students, instructors and faculty members to achieve relevant outcomes by performing the
experiments rather than having merely study type experiments. It is essential for effective
implementation of competency focused outcome-based curriculum that every practical is keenly
designed to serve as a tool to develop and enhance relevant competency required by the various
industries among every student. These psychomotor skills are very difficult to develop through
traditional chalk and board content delivery methods in the classroom. Accordingly, this lab
manual is designed to focus on the industry-defined relevant outcomes, rather than the old
practice of conducting practical to prove concepts and theories.
By using this lab manual students can go through the relevant theory and procedure in advance
before the actual performance which creates an interest and students can have basic ideas prior
to performance. This in turn enhances predetermined outcomes amongst students. Each
experiment in this manual begins with competency, industry relevant skills, course outcomes as
well as practical outcomes (objectives). The students will also achieve safety and necessary
precautions to be taken while performing practical.
This manual also provides guidelines to faculty members to facilitate student centric lab
activities through each experiment by arranging and managing necessary resources in order that
the students follow the procedures with required safety and necessary precautions to achieve the
outcomes. It also gives an idea of how students will be assessed by providing rubrics.
Dynamics of machinery is the course designed to give fundamental knowledge of behavior of
machines under the influence of external-time varying loads. It provides a platform for the
students to correlate theoretical concepts with the practical applications thereof, by performing
experiments. They will learn the basics of static and dynamic balancing, and their effects on
dynamic response on structures resulting in mechanical vibrations. Students will get insight into
mathematical modeling of real-life complex systems and their analysis for natural-damped and
undamped vibrations, forced-damped and undamped vibrations. Moreover, they will also learn
about the behavior of rotating shafts and validate theoretically evaluated critical speeds of
shafts. They will also be able to understand gyroscopic effects in automobiles, ships, air-planes.
Utmost care has been taken while preparing this lab manual however there are always chances
of improvement. Therefore, we welcome constructive suggestions for improvement and
removal of errors if any.
 Dynamics of Machinery (3151911)

VISION & MISSION

INSTITUTE

VISION
❖ To bring out technically competent and socially responsible engineers.

MISSION
❖ To improve pedagogical skills and subject knowledge of the faculty members.
❖ To take cognizance of social, ethical and environmental issues.
❖ To nurture innovative thinking and experimentation for addressing real life
problems.
❖ To fortify industry interaction for up gradation of the skills of students for
meeting upcoming professional challenges.

DEPARTMENT
VISION
❖ Attain national recognition by providing quality education to the emerging
generation of Mechanical engineers to meet the current social and industrial
needs.

MISSION
❖ Impart the fundamental theoretical and practical knowledge of the field.
❖ Prepare technically competent and socially responsible engineers by engaging
them in academic, co-curricular and extra-curricular activities.
❖ Encourage the students for the progress of the nation by cultivating sustainable
and innovative cutting-edge technologies.

PROGRAM EDUCATIONAL OBJECTIVES (PEO’S)

PEO Description

PEO1 Acquire knowledge and proficiency in Mechanical engineering for

successful careers, higher studies and research.
PEO2 Apply modern tools, techniques, skills and contemporary engineering
practice to solve complex problems.
PEO3 Cultivate leadership ability and practice professional ethics for
sustainable development of society.

PROGRAM SPECIFIC OUTCOMES (PSO’S)

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 Dynamics of Machinery (3151911)

PSO’s Description

PSO 1 Investigate the problem and design solution by applying engineering

knowledge with a multidisciplinary approach
PSO 2 Achieve ability in product design and mechanical system analysis by
acquiring knowledge of advanced technologies and relevant
software’s.
PSO 3 Address core issues by engaging in lifelong learning practices with a
consideration of managerial, cost effective and ethical approach.

PROGRAM OUTCOMES (PO’S)

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 Dynamics of Machinery (3151911)

PO’s Description
PO1 Engineering knowledge: Apply the knowledge of mathematics, science,
Mechanical engineering fundamentals and specialization to the solution of
complex engineering problems.
PO2 Problem analysis: Identify, formulate, review research literature, and analyze
complex mechanical engineering problems reaching substantiated conclusions
using first principles of mathematics, natural sciences, and mechanical
engineering
PO3 Design/development of solutions: Design solution for complex mechanical
engineering problems and design system components or processes that meet
the specified needs with appropriate consideration for the public health and
safety, and the cultural, societal, and environmental considerations.
PO4 Conduct investigations of complex problems: Use research-based
knowledge and research methods including design of experiments, analysis
and interpretation of data, and synthesis of the information to provide valid
conclusions.
PO5 Modern tool usage: Create, select and apply appropriate techniques,
resources and modern engineering and IT tools including prediction and
modeling the complex mechanical engineering activities with an
understanding of the limitations.
PO6 The engineer and society: Apply reasoning informed by the contextual
knowledge to assess social, health, safety, legal and cultural issues and the
cons and the consequent responsibilities relevant to the professional
engineering practice
PO7 Environment and sustainability: Understand the impact of the professional
engineering solutions in societal and environmental contexts, and demonstrate
the knowledge of, and need for sustainable development.
PO8 Ethics: Apply ethical principles and commit to professional ethics and
responsibilities and norms of the engineering practice.
PO9 Individual and team work: Function effectively as an individual, and as a
member or leader in diverse teams, and in multidisciplinary settings.
PO10 Communication: Communicate effectively on complex engineering activities
with the engineering community and with society at large, such as, being able
to comprehend and write effective reports and design documentation, make
effective presentations, and give and receive clear instructions.

PO11 Project management and finance: Demonstrate knowledge and

understanding of the engineering and management principles and apply these
to one’s own work, as a member and leader in a team, to manage projects and
in multidisciplinary environments.
PO12 Life-long learning: Recognize the need for, and have the preparation and
ability to engage in independent and life-long learning in the broadest context
of technological change.
Practical – Course Outcome matrix

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 Dynamics of Machinery (3151911)

Course Outcomes (COs):

Sr. No. CO statement
CO-1 Summarize dynamic forces and turning moments in mechanisms.
CO-2 Minimize unbalance in mechanical systems by means of static and dynamic
balancing.
CO-3 Analyze gyroscopic effects in airplanes, ships and automobiles.
CO-4 Demonstrate longitudinal vibrations, transverse vibrations and torsional
vibrations in single degree of freedom systems.
CO-5 Determine critical speed of the shaft.

sr Objective(s) of Experiment CO CO CO CO CO
no. 1 2 3 4 5

1 To study the balancing of several masses

rotating in a single plane-Static Balancing,
analytically and experimentally.

2 To study the balancing of several masses

rotating in different planes - Dynamic
Balancing, analytically and experimentally.

3 To study balancing of reciprocating masses

analytically and experimentally.

4 To understand and analyze the gyroscopic

effects using the motorized gyroscope.

5 To demonstrate longitudinal vibration of

helical spring and to determine natural
frequency of vibration oscillation analytically
and experimentally.

6 To study the natural frequency of undamped

torsional vibration for a single rotor shaft
system and to demonstrate undamped torsional
vibration.

7 To study the natural frequency of undamped

torsional vibration for a two-rotor shaft
system and to demonstrate undamped
torsional vibration.

8 To study free damped vibrations of a single

degree of freedom system. and to
demonstrate free damped vibrations.

9 To study the dynamic forces and turning

moments in mechanisms analytically.

4
 Dynamics of Machinery (3151911)

10 To study and analyze the single DOF forced

vibration system at various damping ratios and
frequency ratios.

11 To determine critical speed of shaft

theoretically and experimentally.

Industry Relevant Skills

The following industry-relevant competencies are expected to be developed in the students by
undertaking the practical work of this laboratory.
1. Field balancing of electric motor rotors, rotary (single stage/multi-stage) pump
shafts, rope drums, and reciprocating HP & LP boiler dosing pumps, IC engines etc.
2. Identification of major causes of mechanical vibrations and to take remedial steps or
corrective actions to keep machinery safe within their operating range.

Guidelines for Teachers

1. Teachers should provide the guideline with the demonstration of practicality to the
students with all features.
2. Teacher shall explain basic concepts/theory related to the experiment to the students
before starting of each practical.
3. Involve all the students in the performance of each experiment.
4. Teachers are expected to share the skills and competencies to be developed in the
students and ensure that the respective skills and competencies are developed in the
students after the completion of the experimentation.
5. Teachers should give opportunities to students for hands-on experience after the
demonstration.
6. Teachers may provide additional knowledge and skills to the students even though
not covered in the manual but are expected from the students by the concerned
industry.
7. Give practical assignments and assess the performance of students based on tasks
assigned to check whether it is as per the instructions or not.
8. Teacher is expected to refer to the complete curriculum of the course and follow the
guidelines for implementation.

Instructions for Students

1. Students are expected to carefully listen to all the theory classes delivered by the faculty
members and understand the Course Outcomes (COs), content of the course, teaching and
examination scheme, skill set to be developed, etc.
2. Students shall organize the work in the group and make a record of all observations.
3. Students shall develop maintenance skills as expected by industries.
4. Students shall attempt to develop related hands-on skills and build confidence.
5. Students shall develop the habits of evolving more ideas, innovations, skills, etc. apart
from those included in the scope of the manual.
6. Students shall refer to technical magazines and data books.
7. Students should develop a habit of submitting the experimentation work as per the
schedule and s/he should be well prepared for the same.

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 Dynamics of Machinery (3151911)

Common Safety Instructions

The department is always intended to ensure the safe operation of the laboratories. Students are
expected to conduct experiments in a safe manner respecting the physical well-being of their
fellow students and themselves. Students should read and understand all contents which are
highlighted in the laboratories in the department.

GENERAL LABORATORY RULES:

⮚ BE PREPARED. Read and fully comprehend the lab procedure as set forth in the lab
manual before you begin any experiment. If you do not understand the procedure, see
your instructor/faculty.
⮚ THINK SAFETY. Work deliberately and carefully. No horseplay

⮚ ALL LABORATORY STUDENTS MUST BE SUPERVISED Never work alone

⮚ KNOW THE HAZARDS OF ANY MATERIALS OR MACHINERY YOU ARE

WORKING WITH. The laboratory manual and/or instructor will review specific
safety issues on individual experiments before you perform any tests.
⮚ ALL STUDENTS MUST WEAR APPROPRIATE SAFETY EQUIPMENT. Safety
equipment must be utilized based on specific experiment requirements.
⮚ ALL STUDENTS MUST WEAR APPROPRIATE LABORATORY ATTIRE. No
open toed shoes; no loose-fitting clothing; Jewelry should be removed; long hair
should be tied back
⮚ NO FOOD OR BEVERAGE IN THE LABORATORY.

⮚ KNOW EMERGENCY PROCEDURES. Make note of fire escape routes and

emergency phone locations.
⮚ REPORT ANY PERCEIVED SAFETY HAZARDS. Immediately report any spills,
equipment malfunctions, injuries or other perceived safety hazards to your Instructor /
TA / or staff member.
⮚ KEEP YOUR WORK AREA CLEAN.
FAILURE TO CONFORM WITH ANY OF THE ABOVE RULES MAY RESULT IN NOT
BEING ALLOWED TO PARTICIPATE IN THE LABORATORY EXPERIMENT.

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 Dynamics of Machinery (3151911)

Rubric for Dynamics of Machinery Lab Experiment

Sr. Criteria Excellent Very Good Good > 60% Fair>40%

No. >80% >70 %

4 3 2 1

1 C1-Interpretation Interpret and Interpret and Interpret Difficulties in

and understanding understand understand practical but Interpreting
objective of experiments experiments difficult to practical and
experiment. accurately. with few understand understanding
errors. experiments. experiments.
25% Marks

2 C2-Clearity in Students can Students can Students can Poor

Practical concepts thoroughly understand partially understanding
25% Marks understand the the concept understand the of concept and
concept of of practical concept of lack of attitude
practical and and clarity in practical and for clarity in
clarity in the the practical. partially practical
practical. understanding
the practical.

3 C3-Ethical Always shows Shows Shows ethical Shows ethical

conduct and ethical conduct ethical conduct & conduct
Teamwork in Lab & attitude of conduct & attitude of sometimes but
session working in a attitude of working in a does not
team. working in a team perform any
25% Marks team many sometimes. duties of the
times. assigned role.

4 C4-Timely All captions and All captions Few Many

completion and readings are and readings captions/readin captions/readin
quality of lab accurate with are accurate gs gs
report neat with neat /diagrams/grap /diagrams/grap
diagrams/graph diagrams/gra hs need hs need
25% Marks s and submits in phs but do correction and correction and
time. not submit in do not submit do not submit
time. in time. in time.

7
 Dynamics of Machinery (3151911)

Index
(Progressive Assessment Sheet)
Sr Objective(s) of Experiment Pa Date of Date of Asses Sign. Rema
. ge Performan Submissio s- rks
of
N ce n ment
N
o. Teacher
o. Mark
with Date
s
To study the balancing of
several masses rotating in a
1. single plane-Static Balancing,
analytically and
experimentally.
To study the balancing of
several masses rotating in
2. different planes - Dynamic
Balancing, analytically and
experimentally.
To study balancing of
reciprocating masses
3.
analytically and
experimentally.
To understand and analyze the
4. gyroscopic effects using the
motorized gyroscope.
To demonstrate longitudinal
vibration of helical spring and
to determine natural frequency
5.
of vibration oscillation
analytically and
experimentally.
To study the natural frequency
of undamped torsional
6. vibration for a single rotor shaft
system and to demonstrate
undamped torsional vibration.
To study the natural frequency
of undamped torsional
7. vibration for a two-rotor shaft
system and to demonstrate
undamped torsional vibration.
To study free damped
vibrations of a single degree of
8. freedom system. and to
demonstrate free damped
vibrations.
To study the dynamic forces
9. and turning moments in
mechanisms analytically.
To study and analyze the single
10
DOF forced vibration system at
8
 Dynamics of Machinery (3151911)

various damping ratios and

.
frequency ratios.
11 To determine critical speed of
. shaft theoretically and
experimentally.
Total Marks

9
 Dynamics of Machinery (3151911)

Experiment No: 1
To study the balancing of several masses rotating in a single plane-Static Balancing,
analytically and experimentally.
Date:
Competency and Practical Skills: Students will be able to understand the fundamentals of
static balancing and will be able to analyze the analytical, and graphical results with
experiment/simulation results.
Relevant CO: 2
Objectives:
a) Understand and verify the fundamental laws of static balancing.
b) Calculate the mass and angular position required for balancing the unbalanced force.
c) Analyze the analytical results with the simulation results.
d) Evaluate how a change in mass and position can affect the balance of the rotating
body.
Equipment/Instruments:
Dynamic balancing apparatus having variable speed drive motor with controller,
Known balancing masses (eg. 50 g, 100g, 150g, 200g etc.),
High precision digital weighing scale and
Bolts-nuts and Spanner set.

Theory:
The high speed of engines and other machines is a common phenomenon nowadays. It is,
therefore, very essential that all the rotating and reciprocating parts should be completely
balanced as far as possible. If these parts are not correctly balanced, the dynamic forces are
set up. These forces not only increase the loads on bearings and stresses in the various
members but also produce unpleasant and even dangerous vibrations.
Balancing of Rotating Masses:
We have already discussed, that whenever a certain mass is attached to a rotating shaft, it
exerts some centrifugal force, whose effect is to bend the shaft and to produce vibrations in it.
In order to prevent the effect of centrifugal force, another mass is attached to the opposite
side of the shaft, at such a position so as to balance the effect of the centrifugal force of the
first mass. This is done in such a way that the centrifugal force of both masses is made to be
equal and opposite. The process of providing the second mass in order to counteract the effect
of the centrifugal force of the first mass is called the balancing of rotating masses.
The following cases are essential from the subject point of view:
1. Balancing of a single rotating mass by a single mass rotating in the same plane.
2. Balancing a single rotating mass by two masses rotating in different planes.
3. Balancing of different masses rotating in the same plane.
4. Balancing of different masses rotating in different planes.

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 Dynamics of Machinery (3151911)

Static Balancing:
Consider a disturbing mass m1 attached to a shaft rotating at ω rad/s as shown in Figure 1. Let
r 1 be the radius of rotation of the mass m1 (i.e., the distance between the axis of rotation of
the shaft and the centre of gravity of the mass m1).
We know that the centrifugal force exerted by the mass m1 on the shaft,

F c1=m1∗ω∗r 1 ……………………… (1)

Figure 1 Balancing of a single rotating mass by a single mass rotating in the same plane.
This centrifugal force acts radially outwards and thus produces a bending moment on the
shaft. In order to counteract the effect of this force, a balancing mass ( m2) may be attached in
the same plane of rotation as that of disturbing mass ( m1) such that the centrifugal forces due
to the two masses are equal and opposite.
Let, r 2 = Radius of rotation of the balancing mass m2 (i.e., distance between the axis of
rotation of the shaft and the centre of gravity of mass m2).
Centrifugal force due to massm2,

F c2=m2∗ω∗r 2 ……………………… (2)

Equating equations (1) and (2),

m1∗ω∗r 1=m2∗ω∗r 2 ………….……. (3)

m1∗r 1 =m2∗r 2 ……………………… (4)

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 Dynamics of Machinery (3151911)

Part A
Balancing of Several Masses Rotating in Same Plane: -
Balancing of several masses can be done by two methods:
1. Analytical method
2. Graphical method

Consider any number of masses (say four) of magnitude m1 ,m2 , m3 ∧m4at distances of
r 1 , r 2 , r 3 ∧r 4 from the axis of the rotating shaft. Let θ1 , θ2 ,θ3 ∧θ4 be the angles of these masses
with the horizontal line OX, as shown in Figure 2. Let these masses rotate about an axis
through O and perpendicular to the plane of paper, with a constant angular velocity of ω
rad/sec. The magnitude and position of the balancing mass may be found out analytically or
graphically as discussed below:

Figure 2 Space diagram.

Analytical Method: -
The magnitude and direction of the balancing mass may be obtained, analytically, as
discussed below:
a) First of all, find out the centrifugal force (or the product of the mass and its radius of
rotation) exerted by each mass on the rotating shaft.
❑
b) Resolve the centrifugal forces horizontally and vertically and find their sums, i.e., ∑ H
❑
❑
and ∑ V .
❑

c) We know that sum of horizontal components of the centrifugal forces,

❑
…. (5)
∑
❑
H =m1∗r 1∗cos θ1 +m2∗r 2∗cos θ 2+......

d) The sum of vertical components of the centrifugal forces,

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 Dynamics of Machinery (3151911)

❑
…. (6)
∑
❑
V =m1∗r 1∗sin θ1+ m2∗r 2∗sinθ 2+ .....

e) Magnitude of the resultant centrifugal force

F c =√ ❑ ………….……. (7)

f) If θ is the angle, which the resultant force makes with the horizontal, then
❑
………….……. (8)
∑
❑
V
tanθ=
❑
g) The balancing force is then equal to the resultant force, but in the opposite direction.
h) Now find out the magnitude of the balancing mass, such that

F c =m∗r ………….……. (9)

where, m = Balancing mass, and r = Its radius of rotation

Graphical Method: -
The magnitude and position of the balancing mass may also be obtained graphically as
discussed below:
a) First of all, draw the space diagram with the positions of the several masses, as shown in
Figure 2
b) Find out the centrifugal force (or product of the mass and radius of rotation) exerted by
each mass on the rotating shaft.
c) Now draw the vector diagram with the obtained centrifugal forces (or the product of the
Masses and their radii of rotation), such that ab represents the centrifugal force exerted by
the mass m1 (or m1 r 1) in magnitude and direction to some suitable scale. Similarly, bc, cd
and de to represent centrifugal forces of other masses m2, m3 and m4 (or m2 r 2, m3 r 3 and
m4 r 4 )
d) Now, as per polygon law of forces, the closing side ae represents the resultant force in
Magnitude and direction, as shown in Figure 3.
e) The balancing force is, then, equal to the resultant force, but in the opposite direction.
f) Now find out the magnitude of the balancing mass (m) at a given radius of rotation (r)
such that,
2
m . ω .r = Resultant centrifugal force
m .r = Resultant of m1 r 1 , m2 r 2 , m3 r 3 ∧m4 r 4

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 Dynamics of Machinery (3151911)

Figure 3 Vector diagram.

Set up diagram: Draw below a line sketch of the experimental setup.

Safety and necessary Precautions:

1. Keep safe distance from the rotating discs and motor-pulley-belt sets. Do not start the
electric motor before ensuring tight assembly of the balancing masses to be attached to
the disc/s.
2. Observe the behavior of the system by keeping close watch over the effect of unbalanced
masses. There may be detrimental vibrations due to unknowingly large unbalanced
masses, if attached mischievously.
3. Stop the apparatus immediately if found some mal-functioning of the system. Re-run the
setup after carefully inspecting and overcoming the problems, if any.

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 Dynamics of Machinery (3151911)

Procedure: -

⮚ First of all, arrange the set up.

⮚ From the given data calculate the required balancing mass at a particular radius for the
vibrating system.

⮚ Check out the system under normal conditions.

⮚ Attach masses at a given radius and at a given angular position from the data.

⮚ Observe the unbalanced force causing the system to vibrate.

⮚ Now attach the balancing mass that we have calculated from observation data

⮚ Again, observe the system and difference of vibration of setup before and after
attaching the balancing mass.

Observation Table: -
Sr. Mass Radius of Angular position m*r
No. m (kg) rotation r (cm) θ (degrees) (kg-cm)
1
2
3
4

Calculation: -

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 Dynamics of Machinery (3151911)

Result Table: -
Balance mass radial
Sr. Balance mass Balance mass angular position position
No (kg) (θ)
(r)
1

Conclusion:

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

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 Dynamics of Machinery (3151911)

Part B – Virtual Lab simulation

(V-Lab- link – https://dom-nitk.vlabs.ac.in/exp/multiple-mass-in-single-plane/)
Experimental setup and procedure

⮚ In the simulation window, the front view and side view of a rotating shaft with two
unbalanced masses in different planes are displayed.

⮚ There are pointers given on the right side of the screen for choosing the values of input
variables, viz., two unbalanced masses on the shaft ( m1 , m2), their radii of rotation (
r 1 , r 2 ¿ , relative angular position (theta1) and distance between their planes ( l 1) as
shown in Figure 4. The variables can be set by moving the slider left or right. After
setting these variables, it is required to move on to the next pane by clicking on the
navigation button at the bottom right corner.

Figure 4 Simulation Window.

⮚ After moving on to the next page, the radii and positions of the balancing masses have
to be entered by adjusting the pointer as shown in Figure 5. After setting the values, it
is required by the user to calculate the values of balancing masses and their angular
position.

⮚ Click on submit to submit the results and press the play/pause button to pause the
simulation as displayed in Figure 5

⮚ Compare analytically calculated results and the error in the result with the simulation
results, displayed at the bottom of the simulator page as shown in Figure 6.

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 Dynamics of Machinery (3151911)

Figure 5 Balance mass and its positions.

Figure 6 Error in the result

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 Dynamics of Machinery (3151911)

Observation table:
Sr.
m1 m2 r1 r2 θ1 l1
No
1

Calculations: -

Result Table: -

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 Dynamics of Machinery (3151911)

Balance Balance mass Error in Error in

Balance mass
Sr. mass mass position
angular position radial position
No
(kg) (θ) (%) (%)
(r)
1

Conclusion:

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________
.
Tutorial problems:
1. Four masses A, B, C, and D revolve at equal radii and are equally spaced along a shaft.
The mass B is (Last three digits of your enrolment number x 5) kg and the radii of C and
D make angles of 90° and 240° respectively with the radius of B. Find the magnitude of
the masses A, C, and D and the angular position of A so that the system may be
completely balanced.

Quiz: Answer the following questions

(Give a neat diagram/sketch wherever necessary).
1. Why is balancing necessary for rotors of high speed engines?
2. How is balancing done practically for rotors of pump shafts and motor shafts?
3. Explain the method of wheel balancing of a passenger car.
4. What are soft bearing and hard bearing balancing machines? Explain in detail.

Suggested Reference:

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 Dynamics of Machinery (3151911)

⮚ Theory of Machines, S. S. Rattan, Tata Mc-Graw Hill

⮚ Dynamics of Machinery, Farazdak Haideri, Nirali Prakashan.

⮚ Theory of Machines, R. S. Khurmi, J. K. Gupta, S. Chand

References used by the students:

Rubric-wise marks obtained:

Rubrics 1 2 3 4 Total
Marks

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 Dynamics of Machinery (3151911)

Experiment No: 2
To study the balancing of several masses rotating in different planes - Dynamic
Balancing, analytically and experimentally.
Date:
Competency and Practical Skills: Students will be able to understand the fundamentals of
dynamic balancing and will be able to compare the analytical, and graphical results with
experiment/simulation results.
Relevant CO: 2
Objectives:
a) Understand and verify the fundamental laws of dynamic balancing.
b) Calculate the mass and angular position required for balancing the unbalanced force.
c) Analyze the analytical results with the simulation results.
d) Evaluate how a change in mass and position can improve the balance of the rotating
body.
Equipment/Instruments:
Dynamic balancing apparatus having variable speed drive motor with controller,
Known balancing masses (eg. 50 g, 100g, 150g, 200g etc.),
High precision digital weighing scale and
Bolts-nuts and Spanner set.
Theory:
When several masses revolve in different planes, they may be transferred to a reference
plane (briefly written as R. P.), which may be defined as the plane passing through a point on
the axis of rotation and perpendicular to it. The effect of transferring a revolving mass (in one
plane) to a reference plane is to cause a force of magnitude equal to the centrifugal force of
the revolving mass to act in the reference plane, together with a couple of magnitudes equal
to the product of the force and the distance between the plane of rotation and the reference
plane. In order to have a complete balance of the several revolving masses in different planes,
the following two conditions must be satisfied:
1. The forces in the reference plane must balance i.e., the resultant force must be zero.
2. The couples about the reference plane must balance, i.e. the resultant couple must be
zero.
Let us now consider four masses m1 ,m2 , m3 ∧m4 revolving in planes 1, 2, 3, and 4
respectively as shown in Figure 7 (a). The relative angular positions of these masses are
shown in the end view as displayed in Figure 7 (b). The magnitude of the balancing masses
ml and mm in planes L and M may be obtained as discussed below:
a) Take one of the planes, say L as the reference plane (R.P.). The distances of all the other
planes to the left of the reference plane may be regarded as negative, and those to the
Right as positive.
b) Tabulate the data as shown in Table 1. The planes are tabulated in the same order in
which they occur, reading from left to right.

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 Dynamics of Machinery (3151911)

c) A couple may be represented by a vector drawn perpendicular to the plane of the couple.
The couple C 1 introduced by transferring m1 to the reference plane through O is
proportional to m1 . r 1 .l 1 and acts in a plane through O m1 and perpendicular to the paper.
The vector representing this couple is drawn in the plane of the paper and perpendicular
to as shown by in Figure 7 (c).
d) The vector O m1 as shown by O C1 in Figure 7 (c). Similarly, the vectors O C2 , OC 3∧O C 4
are drawn perpendicular to O m2 , O m3 ∧Om4 respectively and in the plane of the paper.
Table 1 Detail of several masses with couple
Plane Mass Radius ( Cent . force ÷ ω2 ) Distance from ( Couple ÷ ω 2 )
(m.r) Plane L (m.r.l)
(m) (r)
(l)
1 m1 r1 m1 . r 1 −l 1 m1 . r 1 l1
L (R.P.) mL rL m L .r L 0 0
2 m2 r2 m2 .r 2 l2 m2 .r 2 . l2
3 m3 r3 m3 .r 3 l3 m3 .r 3 . l 3
M mM rM mM . rM lM m M . r M . lM
4 m4 r4 m4 . r 4 l4 m4 . r 4 . l4

Figure 7 Balancing of several masses rotating in different planes.

23
 Dynamics of Machinery (3151911)

e) The couple vectors as discussed above are turned counterclockwise through a right angle
for convenience of drawing as shown in Figure 7 (d). We see that their relative position
remains unaffected. Now the vectors O C2 , OC 3∧O C 4 are parallel and in the same
direction as O m2 , O m3 ∧Om4 while the vector O C1 is parallel to O m4 but in opposite
directions. Hence the couple vectors are drawn radially outwards for the masses on one
side of the reference plane and radially inward for the masses on the other side of the
Reference plane.
f) Now draw the couple polygons as shown in Figure 7 (e). The vector d’o’ represents the
balanced couple. Since the balanced couple C M is proportional to m M . r M . l m therefore,
' '
' ' vector d o …… (10)
C M =m M .r M .l m =vector d o ∨mM =
r M .l m

From this expression, the value of the balancing mass m M in the plane M may be
obtained, the inclination ∅ of this mass may be measured from Figure 7 (b).
g) Now draw the force polygon as shown in Figure 7 (f). The vector eo (in the direction
from e to o) represents the balanced force. Since the balanced force is proportional to
therefore,
vector eo …… (11)
m L .r L =vector eo∨mL =
rL
From this expression, the value of the balancing mass m in the plane L may be obtained
and the angle of inclination α of this mass with the horizontal may be measured from
Figure 7 (b).

Part A

Procedure:
The following procedure should be followed to verify the balancing conditions can be
achieved by adding balancing mass.

⮚ Start the motor and see that the system rotates. Wait until the initial vibrations stop.
Now check the unloaded system is in a balanced condition of vibration and
oscillation.

⮚ Stop the motor and load the discs A and B and D at different points with suitable
radius and weight to get the unbalanced condition.

⮚ Switch on the motor and observe the system is out of balance, switch off the motor

⮚ Place the balancing weights in places as calculated

⮚ Now start the motor and observe that the rotor remains horizontal hence there are no
vibrations and oscillations.

24
 Dynamics of Machinery (3151911)

Set up diagram: Draw below a line sketch of the experimental setup.

Observations: -
Distance between the two pulleys = _______________
Observation Table: -
Distance mrsin mrcos m*r*x*sin m*r*x*cos θ
Angular of planes θ θ θ
Mass Radius of (kg – cm2)
Plane position from RP
rotation r (kg - (kg - 2
(kg – cm )
s m
θ x (cm) cm) cm)
(kg) (cm)
(degree)

25
 Dynamics of Machinery (3151911)

Calculations:

26
 Dynamics of Machinery (3151911)

Result Table: -
Balance mass Balance mass
Plane Balanced Mass
radial position angular position
(θ)
(r) (%)

Conclusion:

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

27
 Dynamics of Machinery (3151911)

Part B – Virtual Lab simulation

(V-Lab- link – https://dom-nitk.vlabs.ac.in/exp/muliple-mass-in-multiple-plane/)
Procedure:

⮚ In the simulation window, the front view and side view of a rotating shaft with two
unbalanced masses in different planes as displayed in Figure 8.

⮚ There are pointers given on the right side of the screen for choosing the values of
input variables, viz., two unbalanced masses on the shaft (m1 , m2), their radii of
rotation (r 1 , r 2), relative angular position (theta1) and distance between their planes (
l 1). The variables can be set by moving the slider left or right. After setting these
variables, it is required to move on to the next pane by clicking on the navigation
button at the bottom right corner.

Figure 8 Simulation Window

⮚ After moving on to the next page, the radii and positions of the balancing masses
have to be entered by adjusting the pointer as shown in Figure 9. After setting the
values, it is required by the user to calculate the values of balancing masses and their
angular position.

⮚ Once the values of masses and their angular position from the previous step are
calculated, the user needs to navigate to the next pane, enter the values in the boxes
provided, and balancing masses with their angular positions is displayed instantly as
shown in Figure 10.

28
 Dynamics of Machinery (3151911)

⮚ Click on the submit button to submit the results and press the play/pause button to
pause the simulation, and the direction change button to reverse the direction of
rotating masses. Refer to Figure 11.

Figure 9 Radii and positions of the balancing masses

.
Figure 10 Balancing masses with their angular positions

29
 Dynamics of Machinery (3151911)

Figure 11 Information regarding different buttons.

⮚ Further, it can be noted that, the correct values of balancing masses and their angular
positions as calculated by the system is also displayed at the bottom of the simulation
window as shown in Figure 12.

30
 Dynamics of Machinery (3151911)

Figure 12 Result display window.

Calculations: -

31
 Dynamics of Machinery (3151911)

Result Table: -
Balance mass Balance mass
Plane Balanced Mass
radial position angular position
(θ)
(r) (%)

Conclusion: -
___________________________________________________________________________
_________________________________________________________________________
__

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

Tutorial problems:
1. A rotating shaft carries four masses A, B, C and D which are radially attached to it. The
mass centres are 30 mm, 38 mm, 40 mm and 35 mm respectively from the axis of
rotation. The masses A, C and D are (Last three digits of your enrolment number + 5) kg,
(Last three digits of your enrolment number + 10) kg and (Last three digits of your
enrolment number + 15) kg respectively. The axial distances between the planes of
rotation of A and B are 400 mm and between B and C is 500 mm. The masses A and C
are at right angles to each other. Find for a complete balance, 1. the angles between the
masses B and D from mass A, 2. the axial distance between the planes of rotation of C
and D, 3. the magnitude of mass B.
2. Four masses A, B, C and D are completely balanced. Masses C and D make angles of 90°
and 210° respectively with B in the same sense. The planes containing B and C are 300
mm apart. Masses A, B, C and D can be assumed to be concentrated at radii of 360, 480,
240 and 300 mm respectively. The masses are as follows
B = Last three digits of your enrolment number + 5 Kg,

32
 Dynamics of Machinery (3151911)

C = Last three digits of your enrolment number + 10 kg

D = Last three digits of your enrolment number + 15
Determine the (i) mass A and its angular position (ii) positions of planes A and D
A rotor has the following properties:

Mass Radius l
Plane θ
m (Kg) (m) (m)
Last three digits of your
1 0.1 0 ---
enrolment number + 5
Last three digits of your
2 0.12 60 0.16
enrolment number + 10
Last three digits of your
3 0.14 135 0.32
enrolment number +15
Last three digits of your
4 0.12 270 0.56
enrolment number + 20

Sample: Enrolment no: 190190119005

Mass Radius l
Plane θ
m (Kg) (m) (m)
1 005+5=10 Kg 0.1 0 ---
2 005+10=15 Kg 0.12 60 16
3 005+15=20 Kg 0.14 135 0.32
4 005+20=25 Kg 0.12 270 0.56

If the shaft is balanced by two counter masses located at 100 mm radii and revolving in
planes midway of planes 1 and 2, and midway of 3 and 4, determine the magnitude of the
masses and their respective angular positions.
Quiz: Answer the following questions (Give neat diagram/sketch wherever necessary).
1. Two masses in different planes are necessary to rectify the dynamic unbalance. Comment.

Suggested Reference:

⮚ Theory of Machines, S. S. Rattan, Tata Mc-Graw Hill

⮚ Dynamics of Machinery, Farazdak Haideri, Nirali Prakashan.

⮚ Theory of Machines, R. S. Khurmi, J. K. Gupta, S. Chand

33
 Dynamics of Machinery (3151911)

References used by the students:

Rubric wise marks obtained:

Rubrics 1 2 3 4 Total
Marks

34
 Dynamics of Machinery (3151911)

Experiment No: 3
To study balancing of reciprocating masses analytically and experimentally.
Date:
Competency and Practical Skills: Students will be able to understand the fundamentals of
reciprocating mass balancing and will be able to analyze the analytical results with
experiment results.
Relevant CO: 2
Objectives:
a) Understand and verify the fundamental laws of balancing of reciprocating mass.
b) Calculate the mass and angular position required for balancing the unbalanced force.
c) Analyze the analytical results with the experimental results.
Equipment/Instruments:
Dynamic balancing apparatus having variable speed drive motor with controller,
Known balancing masses (eg. 50 g, 100g, 150g, 200g etc.),
High precision digital weighing scale and
Bolts-nuts and Spanner set.
Theory:
The force rewarded to accelerate mass m is

[
F=m× r ×ω 2 cos θ+
cos 2 θ
n ] …………. (12)

2 2 cos 2θ …………. (13)

F=m× r ×ω × cos θ+m ×r ×ω ×
n

2
Where, m ×r ×ω × cos θ=primary accelerating force …..…… (14)

2 cos 2θ ………. (15)

m ×r ×ω × =secondary accelerating force
n
As n is, usually, much greater than unity, the secondary force is small compared with the
primary force and can be safely neglected for slow speed engines.

Figure 13 Reciprocating engine mechanism.

35
 Dynamics of Machinery (3151911)

In the slider crank mechanism shown in Figure 13, the mass at B of the reciprocating parts is
accelerating. Thus, a primary force is required to accurate the reciprocating mass. This force
acts in a direction from B to A. the reaction of this force tends to move the frame in a
direction from A to B. To prevent this; an attempt has to be made to balance this reaction.
The usual approach is by addition of a relating counter mass at radius directly opposite the
crank, which however, provides only a partial balance. This counter mass is in addition to the
mass used to balance the rotating unbalance due to the mass at the crank pin.
The horizontal component of the centrifugal force due to the balancing mass is
2
m ×r ×ω × cos θ in the line of stroke. This neutralizes the unbalanced reciprocating force.
But the rotating mass also has a component m ×r ×ω 2 × sin θ perpendicular to the line of
stroke, which remains unbalanced. The unbalanced force is zero at the end of the stroke when
° ° °
θ=0 ∨180 and maximum at the middle when, θ=90 . The magnitude of the unbalance force
remains the same i.e. equal to m ×r ×ω 2 . Thus, instead of sliding to and fro on its mounting,
the mechanism tends to jump up and down.
To minimize the effect of the unbalanced force, a compromise is, usually, made i.e. 2/3 of
reciprocating mass is balanced (or a value between ½ and ¾). It ‘C’ is the traction of the
reciprocating mass thus balanced, then
Primary force balanced by the mass = C × m× r × ω2 ×cos θ
Primary force unbalanced by the mass = ( 1−C ) ×m× r ×ω 2 × cos θ
Vertical component of centrifugal force =C × m× r × ω2 × sinθ
Which remains unbalanced
Resultant unbalanced force at any instant
¿ √❑
The resultant unbalanced force is maximum when C = ½
If mcr is the mass at the crank pin and C is the fraction of the reciprocating mass at piston m p
to be balanced, the total mass at the crank pin man be considered as (mcr + C . m p) which is to
be completely balanced.
Procedure: -

Figure 14 Experimental Setup layout

The following procedure should be followed to verify the partial balancing conditions can be
achieved by adding balancing mass.

36
 Dynamics of Machinery (3151911)

⮚ Start the motor and see that the system rotates. Wait until the initial vibrations stop.
Now check the unloaded system is in a balanced condition of vibration and
oscillation.

⮚ Stop the motor and load the disc B and D at different points with suitable radius and
weight to get an unbalanced condition.

⮚ Switch on the motor and observe the system is out of balance, switch off the motor

⮚ Place the balancing weights in places as calculated.

⮚ Now start the motor and observe that the rotor remains horizontal hence there are no
vibrations and oscillations.
Observations: -
Data for inside cylinder locomotive
1) Equivalent rotating mass per cylinder (kg) = _______________
2) Equivalent reciprocating mass per cylinder (kg) = _______________
3) Fraction of the reciprocating mass at piston = _______________
4) Angle between two cranks (degree) = _______________
5) Distance between centre lines of wheels (m) = _______________
6) Stroke length (m) = _______________
7) Distance between centre line of cylinder (m) = _______________
8) Radius of balanced mass (m) = _______________

Observation Table: -
Radius of
Mass Angular position m*r
Masses rotation
m (kg) θ (degrees) (kg - cm)
r (cm)
A
B
C
D

37
 Dynamics of Machinery (3151911)

Calculations:

38
 Dynamics of Machinery (3151911)

Result Table: -
Balance mass Balance mass
Plane Balanced Mass
radial position angular position
(θ)
(r) (%)

Conclusion: -
___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________
Tutorial problems:
1. The cylinder axes of a V-engine are at right angles to each other. The weight of each
piston is 2 kg and of each connecting rod is 2.8 kg. The weight of the rotating parts like
crank webs and the crank pin is 1.8 kg. The connecting rod is 400 mm long and its centre
of mass is 100 mm from the crankpin centre. The stroke of the piston is 160 mm. Show
that the engine can be balanced for the revolving and the primary force by a revolving
counter mass. Also, find the magnitude and the position if its centre of mass from the
crankshaft centre is 100 mm. What is the value of the resultant secondary force if the
speed is (last three digits of your enrolment number) rpm?
2. The stroke of each piston of a six-cylinder two-stroke inline engine is 320 mm and the
connecting rod is 800 mm long. The cylinder centre lines are spaced at 500 mm. The
cranks are at 60° apart and the firing order is 1-4-5-2-3-6. The reciprocating mass per
cylinder is 100 kg and the rotating parts are 50 kg per crank. Determine the out-of-
balance forces and couples about the mid plane if the engine rotates at (last three digits of
your enrolment number) rpm.

39
 Dynamics of Machinery (3151911)

Quiz: Answer the following questions

(Give a neat diagram/sketch wherever necessary).
1. Why are reciprocating masses partially balanced?
2. In the context of balancing reciprocating masses, what is the significance of firing order
in a multi-cylinder inline engine?
2. Explain the method of direct and reverse cranks to determine the unbalance forces in
radial engines.
3. Discuss the method of Balancing of v- engines and determine the expression for
magnitude and direction of resultant primary force.
4. Explain method of balancing of radial engines.
5. Discuss in details the balancing of V-engines
Suggested Reference:

⮚ Theory of Machines, S. S. Rattan, Tata Mc-Graw Hill

⮚ Dynamics of Machinery, Farazdak Haideri, Nirali Prakashan.

⮚ Theory of Machines, R. S. Khurmi, J. K. Gupta, S. Chand

References used by the students:

Rubric wise marks obtained:

Rubrics 1 2 3 4 Total
Marks

40
 Dynamics of Machinery (3151911)

Experiment No: 4
Aim: To understand and analyze the gyroscopic effects using the motorized gyroscope.
Date:
Competency and Practical Skills: Students will be able to understand the fundamentals of
gyroscopic effects and will be able to analyze the analytical results with experiment results.
Relevant CO: 3
Objectives:
a) Understand and verify the fundamentals of the gyroscopic effect.
b) Calculate the gyroscopic couple and its direction.
c) Analyze the analytical results with the experimental results.
Equipment/Instruments:
Motorized gyroscope, known masses, stop watch, digital stroboscope etc.
Theory:
Gyroscope is a body that spins about an axis and is free to rotate in other directions under the
action of external forces. Examples are Locomotives, automobiles, and airplanes making a
turn. In certain cases, the gyroscopic forces are undesirable whereas in other cases the
gyroscopic effect may be utilized in developing desirable.
Gyroscopic effect:

Figure 15 Detail of axis in gyroscopic effect.

To a body revolving or spinning about an axis by say ‘OX’ & if a couple represented by a
vector ‘OY’ perpendicular to ‘OX’ is applied, then the body tries to process about an axis
‘OZ’ which is perpendicular both to ‘OX’ & ‘OY’. Thus, the plane of spin, plane of
precession, and plane of the gyroscopic couple are mutually perpendicular. The above-
combined effect is known as a gyroscopic effect.
The motor is coupled to a disc rotor, which is balanced. The disc shaft rotates about the ‘XX’
axis in two ball bearings housed in frame no. 1. This frame can swing about the ‘YY’ axis
bearing provided in the yoke type frame no. 2. In a steady position, frame no. 1 is balanced.
The yoke frame is free to rotate about the vertical axis ‘ZZ’. Thus, freedom of rotation about
three perpendicular axes is given to the rotor.

41
 Dynamics of Machinery (3151911)

Figure 16 Experimental Setup Layout

Safety and Necessary Precautions:
1. When the speed of rotor spin is changed, some time is required to obtain the constant
speed due to the rotor inertia. Hence, it is advised to wait until the rotor spin reaches
constant speed.
2. The mass applied should not exceed 2 kg.
3. Observe the steady speed before measuring
Procedure: -
Rule no. 1:
"The spinning body exerts a torque or couple in such a direction which tends to make the axis
of spin coincides with that of the precession”.
To study rule no. 1 following procedure may be adopted:

⮚ Balance the initial horizontal position of the rotor.

⮚ Start the motor by increasing the voltage with a dimmer and wait until it attains
constant speed.

⮚ Process the yoke frame about the vertical axis by applying the necessary force by
hand to the same (in the clockwise sense seen from above).

⮚ It will be observed that the rotor frame swings about the horizontal axis ‘YY’ motor
side is seen coming upward & the weight pan side going downwards.

⮚ Rotate the vertical yoke axis in the anticlockwise direction seen from above and

⮚ Observe that the rotor frame swings in the opposite sense as compared to that in the
previous case following the rule.

42
 Dynamics of Machinery (3151911)

Rule no. 2:
‘The spinning body processes in such a way as to make the axis of spin coincide with that of
the couple applied, through a 90° turn axis’.
To study rule no. 2 following procedure may be adopted:

⮚ Balance the rotor position on the horizontal frame.

⮚ Start the motor by increasing the voltage with the autotransformer and wait till the
disc attains constant speed.

⮚ Add weight (0.5 kg, 1 kg, etc.) in the weight pan and start the stopwatch to note the
time in seconds required to precession, through 90°.

⮚ The vertical yoke processes about the ‘OZ’ axis as per rule no. 2.

⮚ Speed may be measured by the tachometer.

Observations: -
1) Mass of rotor assembly: ____________ kg
2) Rotor diameter: ____________ m
3) Rotor thickness: ____________ m
4) Distance of belt of weight pan from disc center: ____________ m
5) Motor Phase and rpm: ______ rpm, single/three

Observation Table: -
Mass in the Change in Change in
Sr. Speed
pan angle time
No N (rpm)
m (kg) dφ (degrees) dt (seconds)

Calculation: -
2π N
⮚ Angular velocity of the precession of disc, ω= 60 rad/s, where N = speed of disc

⮚ Angular velocity of the precession of yoke about a vertical axis,

43
 Dynamics of Machinery (3151911)

d∅ π
ω p= rad/s
dt 180
2
D
⮚ I = Moment of inertia of disc = m kg-cm/s²,
8
Where, g = gravitational acceleration = 9.81 m/s²

⮚ T actual=I ×ω × ω p N-m

⮚ T theoretical=W × L N-m, Where W = Weight on pan & L = Distance of bolt center

from the disc center in cm

⮚ Graphs: Plot T actual V s ω and T theoretical V s ω. Comment on the results.

Result Table: -
Sr. Angular velocity of Angular velocity of T actual T theoretical
No. the precession of the precession of (N-m) (N-m)
disc yoke
ω (rad/s) ω p (rad/s)

Conclusion:

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

Tutorial problems:
1. The moment of inertia of an airplane air screw is 20 kg.m2 and the speed of rotation is
1400 rpm counterclockwise when viewed from the front. The speed of the flight is 160
km/hr. Calculate the gyroscopic reaction of the air screw on the airplane when it makes a

44
 Dynamics of Machinery (3151911)

right-hand turn on a path of a 200 m radius.

2. The turbine of the rotor of a ship has a mass of 3000 kg. & radius of gyration of 0.4 m,
and clockwise speed of 2500 r.p.m. when looking from the stern. Determine gyroscopic
couple and its effect when (i) The ship steers to the left on a curve of 100 m radius at a
speed of 36 km/hr. and (ii) When the ship is pitching in S.H.M., the bow falls with its
maximum velocity. The period of pitching is 40 Sec. and the total angular displacement
between the bow extreme positions of pitching is 12⁰.

3. A car of total mass 2200 kg has a track width 1.5 m. Each wheel having an effective
diameter 0.66 m and the mass moment of inertia 2.4 kg m². The mass moment of inertia
of rotating parts of the engine is 1.2 kg m². The engine axis is parallel to the rear axle and
the crankshaft rotates in the same sense as the road wheels. The gear ratio of the engine to
the rear wheel is 3. The centre of mass of the car is 0.55 m above the road level. If the car
is rounding a curve of 80 m radius at a speed of 100 km/h, determine the load distribution
on the inner and outer wheels.

4. A two-wheeler motor vehicle and its rider weigh 225 kg and their combined centre of
gravity is 600 mm above the ground level, when the vehicle is upright. Each road wheel is
of 600 mm diameter and has a moment of inertia of 1 kgm 2. The rotating parts of the
engine have a moment of inertia of 0.175 kgm2. The engine rotates at 5.5 times the speed
of the road wheels and in the same sense. Determine the angle of heel necessary, when
the vehicle is rounding a curve of 30 m radius at a speed of 55 km/hr.
Quiz: Answer the following questions
(Give a neat diagram/sketch wherever necessary).
1. Explain the following terms with neat sketch, i) axis of spin, ii) angular velocity of spin, iii)
axis of precession, iv) angular velocity of precession.
5. Explain the following terms with neat sketch
6. i) Active Gyroscopic Couple
7. ii) Reactive Gyroscopic Couple
8. Explain the effect of gyroscopic couple and centrifugal couple on the reaction of the four
wheels of a vehicle negotiating a curve.
9. Explain the effect of gyroscopic couples on airplanes.
10. Explain effect of gyroscopic couple on Ship during Pitching.
11. Explain in what way the gyroscopic couple affects the motion of an aircraft while taking a
turn.
Suggested Reference:

⮚ Theory of Machines, S. S. Rattan, Tata Mc-Graw Hill

⮚ Dynamics of Machinery, Farazdak Haideri, Nirali Prakashan

45
 Dynamics of Machinery (3151911)

⮚ Theory of Machines, R. S. Khurmi, J. K. Gupta, S. Chand

References used by the students:

Rubric wise marks obtained:

Rubrics 1 2 3 4 Total
Marks

46
 Experiment No: 5
To demonstrate longitudinal vibration of helical spring and to determine natural
frequency of vibration oscillation analytically and experimentally.
Date:
Competency and Practical Skills: Students will be able to demonstrate the longitudinal
vibration and to analyze the natural frequency of vibration analytically, and experimentally.
Relevant CO: 4
Objectives:
a) Understand and demonstrate the longitudinal vibration of helical springs.
b) Calculate the natural frequency of longitudinal vibration analytically and
experimentally.
c) Analyze the experimental results with the analytical results.
Equipment/Instruments:
Vibration apparatus, spring mass system, known masses, digital balance, stop watch.

Theory:

Figure 17 Spring mass system - Free body diagram.

Following equation is obtained under static equilibrium condition as shown in Figure 17,
𝑚𝑔=𝑘Δ𝑠𝑡 ………………………… (16)

𝑅𝑒𝑠𝑡𝑜𝑟𝑖𝑛𝑔 𝑓𝑜𝑟𝑐𝑒=𝑚𝑔 𝑘(Δ𝑠𝑡+𝑥) =𝑘𝑥 …………… (17)

𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑛𝑔 𝑓𝑜𝑟𝑐𝑒=𝑚ẍ …………………..… (18)

Differential equation of motion for a single degree freedom spring mass system
𝑚ẍ+𝑘𝑥=0 …………………..… (19)

47
 kx …………………..… (20)
x+ =0
m

k 2
…………………..… (21)
=ωn
m

ω n= √ ❑ …………………..… (22)

1 …………………..… (23)
f n= √❑
2π

Set up diagram: Draw below a line sketch of the experimental setup.

Procedure: -

⮚ Measure the free length of spring

⮚ Put some weight on a weight pan and note down the stretched length of spring.

⮚ Take the difference of stretched length and free length of spring which is deflection of
spring.

⮚ Repeat steps 2 and 3 for different values of weight and note down reading in
Observation Table 1.

⮚ Now take the weight of any value and put on a weight pan.

⮚ Pull the weight pan down and release it.

⮚ Note down the time taken for 10 numbers of oscillations.

48
 ⮚ Find natural frequency analytically and compare it experimentally.

Observation Table 1: -
Sr. Mass Stretch Deflection Stiffness Mean
Length of δ (cm) Stiffness
No. m (kg) K= m / δ
Spring (kg/cm)
(kg/cm)
(cm)
1

Observation Table 2:
Time For Time required Average Frequency
Sr. Mass Deflection 10 for one Time ‘T’ ‘f’ (Hz)
δ (m) Oscillations Oscillation (Second)
No. m (kg)
(Second)
(Second)
1

Calculations:
Spring Deflection δ = _______________ m
Weight Attached, W = mg = _____________________ N
Where,
m = Mass of Pan ____________ Kg + Added Mass ____________
Stiffness of Spring, k = W / δ N/m
1
Frequency of Oscillation, f n= √ ❑Cps
2π

49
Result Table:
Sr. Theoretical natural Experimental natural
% Error
No. frequency (fn) frequency (fn)

Conclusion:

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

50
___________________________________________________________________________

Tutorial problems:
1. Determine the equivalent spring stiffness and the natural frequency of the following
vibrating systems for the following conditions:
a) Mass is suspended to a spring
b) Mass is suspended at the bottom of two springs in series
c) Mass is fixed in between two springs
d) Mass is fixed to the midpoint of a spring
e) Mass is fixed to a point on a bar joining free ends of two springs.
Take: S1 = 5 N/mm,
m = 0.5 * (Last two digit of your enrollment number + 20) in kg
S2 = 8 N/mm, a = 20 mm and b = 12 mm

2. Determine the natural frequency of the following vibrating system.

51
Quiz: Answer the following questions
(Give a neat diagram/sketch wherever necessary).
1. Why does the amplitude of free vibration gradually diminish in practical systems?
2. Why is it important to find the natural frequency of a vibrating system?
3. What effect does a decrease in mass have on the frequency of a system?
4. What effect does a decrease in the stiffness of the system have on the natural period?
5. Define the terms i) Longitudinal vibrations, ii) lateral vibrations and iii) Torsional
vibration.
Suggested Reference:

⮚ Theory of Machines, S. S. Rattan, Tata Mc-Graw Hill

⮚ Dynamics of Machinery, Farazdak Haideri, Nirali Prakashan

⮚ Theory of Machines : Kinematics and Dynamics, Sadhu Singh, Pearson

⮚ Theory of Machines, R. S. Khurmi, J. K. Gupta, S. Chand

References used by the students:

Rubric wise marks obtained:

Rubrics 1 2 3 4 Total
Marks
Experiment No: 6
To study the natural frequency of undamped torsional vibration for a single rotor shaft
system and to demonstrate undamped torsional vibration.
Date:

52
Competency and Practical Skills: Students will be able to demonstrate the undamped
torsional vibration for a single rotor shaft system and will be able to analyze and compare the
analytical and experimental results of natural frequencies.
Relevant CO: 4
Objectives:
a) Demonstrate the undamped torsional vibration for a single rotor shaft system.
b) Calculate the natural frequency of undamped torsional vibration for a single rotor
shaft system analytically and experimentally.
c) Analyze the experimental results with the analytical results.

Equipment/Instruments:
Vibration apparatus, stop watch.

Theory:
When the particles of the shaft or disc move in a circle about the axis of the shaft, then the
vibrations are known as torsional vibrations. The shaft is twisted and untwisted alternatively
and the torsional shear stresses are induced in the shaft. Since there is no damping in the
system these are undamped vibrations. Also, there is no external force is acting on the body
after giving an initial angular displacement then the body is said to be under free or natural
vibrations. Hence the given system is an undamped free torsional vibratory system.
Set up diagram:

Figure 18 Experimental Setup layout

Procedure: -

⮚ Fix the rotor at the threaded spindle fitted in the bearing over the upright of the frame.

53
 ⮚ Fix the gripping chuck over the spindle.

⮚ Fix the stationary spindle bracket at suitable length from the rotor and fix another
gripping chuck to the stationary spindle.

⮚ Thread the shaft through the spindle and tighten the chucks.

⮚ Twist the rotor through some angle and release.

⮚ Note down the time required for 10 oscillations.

⮚ Repeat the procedure for different lengths of the shaft.

Observations: -

⮚ Shaft diameter (d) = _______________(m)

⮚ Diameter of disc, (D) = _______________(m)

⮚ Mass of the disc, (m) = _______________(kg)

⮚ Modulus of rigidity for shaft, (C) = 80 * 10 9 (N/m²)

Observations table:
Time required Average Experimental
Length of Time for 10 for one Time natural
Sr.
shaft oscillations oscillation
No. ‘T’ (sec) frequency
L (m) (sec) (sec)
‘f’ (Hz)
1

Calculations:
Theoretical natural frequency of undamped torsional vibration for a single rotor shaft system.
1 …………………..… (24)
f n= √❑
2π
Where,
J = Polar moment of inertia of shaft = (π/32) x d4

54
 2
mD
I = Mass moment of inertia of disc. =
8

Result Table:
Sr. Theoretical natural Experimental natural
% Error
No. frequency (fn) frequency (fn)

Conclusion:

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

55
Tutorial problems:
1. Determine the frequency of torsional vibrations of the disc shown in fig. if both the
ends of the shaft are fixed and the diameter of the shaft is 40 mm. The disc has a mass
of 96 kg and a radius of gyration of 0.4 m. Take modulus of rigidity for the shaft
material as 85 GN/m2. l1 = your height in meters and l2 = 0.8 m

Suggested Reference:

⮚ Theory of Machines, S. S. Rattan, Tata Mc-Graw Hill

⮚ Dynamics of Machinery, Farazdak Haideri, Nirali Prakashan

⮚ Theory of Machines, R. S. Khurmi, J. K. Gupta, S. Chand

References used by the students:

Rubric wise marks obtained:

Rubrics 1 2 3 4 Total
Marks
Experiment No: 7
To study the natural frequency of undamped torsional vibration for a two-rotor shaft
system and to demonstrate undamped torsional vibration.
Date:
Competency and Practical Skills: Students will be able to demonstrate the undamped
torsional vibration for a two-rotor shaft system and will be able to analyze the analytical, and
experiment results of natural frequency.
Relevant CO: 4
Objectives:

56
 a) Demonstrate the undamped torsional vibration for a two-rotor shaft system.
b) Calculate the natural frequency of undamped torsional vibration for a two-rotor shaft
system analytically and experimentally.
c) Analyze the experimental results with the analytical results.
Equipment/Instruments:
Vibration apparatus, stop watch.
Theory:
The system which requires two coordinates independently to describe its motion completely
is called a two degree of freedom system. The system having two degrees of freedom has two
natural frequencies. The two-rotor system consists of a shaft having torsional stiffness K and
two rotors having their inertias as I a∧I b at its two ends. Torsional vibration occurs only when
the rotor A and rotor B rotates in the opposite direction. If the rotor A and rotor B rotates in
the same direction then it has zero frequency. When the rotors rotate in the opposite direction
then the amplitude of vibration at the two ends will be in the opposite direction and there
exists a point on the shaft having zero amplitude called node point.
In order to locate the node point, let the distance of the small rotor from the node point be La
and hence distance of the bigger rotor is (L - La).
Therefore,
I a × La=I b ( L−La )=I b × L−I b × La …………..… (25)
Or I b × L=( I a × La ) + ( I b × La )= La ( I a + I b ) …………..… (26)
I b × L=La ( I a+ I b ) …………………..… (27)

Therefore,
I b× L
La= …………………..… (28)
( I a+ I b)

Set up diagram:

57
 Figure 19 Experimental Setup layout
Procedure: -

⮚ Fix two discs to the shaft and fit the shaft in bearings.

⮚ Turn the disc in an angular position in the opposite direction by hand and release.

⮚ Note down the time required for a particular number of oscillations.

⮚ Fit the cross arm to one of the discs say A and again note down the time.

⮚ Repeat the procedure with different equal masses attached to the ends of the cross arm
and note down the time.

Observations: -

⮚ Shaft diameter (d) = _______________(m)

⮚ Diameter of disc A, ( Da ) = _______________(m)

⮚ Diameter of disc B, ( Db ) = _______________(m)

⮚ Mass of the disc A, (ma) = _______________(kg)

⮚ Mass of the disc B, (mb) = _______________(kg)

⮚ Modulus of rigidity for shaft, (C) = 80 * 10 9 (N/m²)

Observations table:

58
 Length of shaft Time required Average Experimental
Time for 10 for one time natural
Sr. between the
oscillations oscillation
rotor ‘T’ (sec) frequency
No. (sec)
(sec)
L (m) ‘f’ (Hz)
1

Calculations:
Theoretical natural frequency of undamped torsional vibration for a two-rotor shaft system.
1 …………………..… (29)
f n= √❑
2π
Where,
J = Polar moment of inertia of shaft = (π/32) x d4
2
m Da
I a= Mass moment of inertia of disc A. =
8
2
m Db
I b= Mass moment of inertia of disc B. =
8
La= Distance of the disc A from node point.
Lb= Distance of disc B from node point.

59
Result Table:
Sr. Theoretical natural Experimental natural
% Error
No. frequency (fn) frequency (fn)

2
Conclusion:

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

Tutorial problems:
1. The shaft shown in fig. carries two masses. The mass A is 300 kg with a radius of
gyration of 0.75 m and the mass B is 500 kg with a radius of gyration of 0.9 m. Determine
the frequency of the torsional vibrations. It is desired to have the node at the mid-section
of the shaft of 120 mm diameter by changing the diameter of the section having a 90 mm
diameter. What will be the new diameter?

60
Suggested Reference:

⮚ Theory of Machines, S. S. Rattan, Tata Mc-Graw Hill

⮚ Dynamics of Machinery, Farazdak Haideri, Nirali Prakashan

⮚ Theory of Machines, R. S. Khurmi, J. K. Gupta, S. Chand

References used by the students:

Rubric wise marks obtained:

Rubrics 1 2 3 4 Total
Marks

61
 Experiment No: 8
To study free damped vibrations of a single degree of freedom system and to
demonstrate free damped vibrations.
Date:
Competency and Practical Skills: Students will be able to demonstrate the free damped
vibrations and be able to calculate the damping factor (ξ) and damping coefficient of free
damped vibrations experimentally.
Relevant CO: 4
Objectives:
a) Demonstrate the free damped vibrations.
b) Draw Logarithmic decrement damping factor (ξ) and damping coefficient of free
damped vibrations experimentally.
Equipment/Instruments:
Vibration apparatus, stop watch.

Theory:
Logarithmic decrement is defined as the natural logarithm of the amplitude reduction factor.
The amplitude reduction factor is the ratio of any two successive amplitudes on the same side
of the mean position. If x 1and x 2 are successive values of the amplitude on the same side of
the mean position, then logarithmic decrement is given by,
x1
δ= …………..……….. (30)
x2
Figure 20 shows the experimental setup, which consists of a disc immersed in oil whose
damping is to be found. The disc is suspended with the help of a wire. The disc can then be
set to motion and with the help of the drum and pencil arrangement, the amplitude versus
linear traverse can be recorded.

Set up diagram:

62
 Figure 20 Experimental Setup layout
Procedure: -

⮚ Fix the shaft at a bracket fitted near the top beam of the frame.

⮚ Attach the rotor and damping drum to the bottom of the shaft.

⮚ Attach the descender to the frame.

⮚ Put the damping liquid into the damping reservoir.

⮚ Set the pen holder at a suitable position. Fix the paper over the recording drum.

⮚ Fix the guide bush at a suitable position.

⮚ Oscillate the rotor carefully so that lateral oscillation should not appear.

⮚ Lift the descender and gently press the pen over the paper.

⮚ Repeat the procedure by changing the depth of immersion and damping fluid.

Observations table:
Sr. Oil depth
Successive Amplitude
No (m)
x 1 (mm) x 2 (mm) x 3 (mm) x 4 (mm) x 5 (mm)

Calculations:
δ
Damping factor ζ =
2. Π

63
Conclusion:

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

Tutorial problems:

64
1. A vibrating system consists of a mass equivalent to 55 kg, a spring with a stiffness of 30
kN/m and a damper. The damping provided is only 20% of the critical value. Determine
the, (i) damping factor, (ii) critical damping coefficient, (iii) natural frequency of damped
vibrations, (iv) logarithmic decrement and (v) ratio of two consecutive amplitudes.

2. A machine mounted on springs and fitted with a dashpot has a mass of 60 kg. There are
three springs, each of stiffness 12 N/mm. The amplitude of vibrations reduces from 45 to
8 mm in two complete oscillations. Assuming that the damping force varies as the
velocity, determine the (i) damping coefficient, (ii) ratio of frequencies of damped and
undamped vibrations and (iii) Periodic time of damped vibrations.
Quiz: Answer the following questions
(Give a neat diagram/sketch wherever necessary).
1. Define damping. Explain different ways of providing the damping for reducing
vibrations.
2. Is the frequency of a damped free vibration smaller or greater than the natural frequency
of the system?
3. Define logarithmic decrement and derive an expression for it.
4. Derive expressions for equations of motion of under-damped and critically damped
systems.
5. Derive an expression for the equation of motion of an overdamped system.
6. Draw & explain the response curves for Over damped, Underdamped, and Critically damped
systems.
7. Draw the vector diagrams showing the effect of damping on the system response, for all the
three cases of question 8 above.

Suggested Reference:

⮚ Theory of Machines, S. S. Rattan, Tata Mc-Graw Hill

⮚ Dynamics of Machinery, Farazdak Haideri, Nirali Prakashan

⮚ Theory of Machines, R. S. Khurmi, J. K. Gupta, S. Chand

References used by the students:

Rubric wise marks obtained:

Rubrics 1 2 3 4 Total
Marks

65
 Experiment No: 9
To study the dynamic forces and turning moments in mechanisms analytically.
Date:
Competency and Practical Skills: Students will be able to understand the fundamentals of
the dynamic forces and turning moments in mechanisms analytically.
Relevant CO: 1
Objectives:
a) Calculate the velocity, acceleration and force acting on each link.
b) Dynamic force analysis of 4-bar mechanism and slider crank mechanism (Analytical
Methods)
c) Design of flywheel for IC engine and Punch press.
d) Static force analysis of 4-bar mechanism and slider crank mechanism (Use Analytical
Methods)
Tutorial problems:
1. The connecting rod of a vertical reciprocating engine is 2 m long between centres and
weighs 250 kg. The mass centre is 800 mm from the big end bearing. When suspended
as a pendulum from the gudgeon pin axis, it makes 8 complete oscillations in 22
seconds. Calculate the radius of gyration of the rod about an axis through its mass centre.
The crank is 400 mm long and rotates at 200 rpm. Find the inertia torque exerted on the
crankshaft when the crank has turned through 40° from the top dead centre and the
piston is moving downwards.
2. The piston diameter of an internal combustion engine is 125 mm and the stroke is 220
mm. The connecting rod is 4.5 times the crank length and has a mass of 50 kg. The mass
of the reciprocating parts is 30 kg. The centre of mass of the connecting rod is 170 mm
from the crank-pin centre and the radius of gyration about an axis through the centre of
mass is 148 mm. The engine runs at 320 rpm. Find the magnitude and the direction of
the inertia force and the corresponding torque on the crankshaft when the angle turned
by the crank is 140° from the inner dead centre.
Case Study

1. A Punching press executes 20 hoes of 20 mm diameter per minute in a FE410 plate of 15

mm thick. This causes the variation of speed in the flywheel attached to the press from
250 rpm to 225 rpm. The punching operation takes 1.5 seconds per hole. Assume that the
frictional losses account for 15% of the work supplied for punching. Find:
i. Power needed to operate the punching press in kW.
ii. Mass of flywheel with radius of gyration of 0.5 m.

3. A riveting machine is driven by a constant torque 3 kW motor. The moving parts

including the flywheel are equivalent to 150 kg at 0.6 m radius. One riveting operation
takes 1 second and absorbs 10 000 N-m of energy. The speed of the flywheel is 300
r.p.m. before riveting. Find the speed immediately after riveting. How many rivets can be
closed per minute?

66
4. A four-link mechanism is subjected to the following external forces as shown in table 01
and figure 01. Determine the shaft torque T 2 on the input link AB for static equilibrium of
the mechanism. ∠BAD = 60°.

Mag
ni
tu
L Le Fo d Point of application of
e force (mm)
(
N
)
80
∠
A 50 7
F 325 mm from A
3.
5
°
144
∠
B 66
F 5 297 mm form B
8
°
60
∠
C 56
F 4 373 mm from D
2
°
Fixed
A 10 li
- -
n
k
5. A slider-crank mechanism with the following dimensions is acted upon by a force F =
2kN at B as shown in figure 02. OA = 100 mm, AB = 450 mm. Determine the input
torque T on the link OA for the static equilibrium of the mechanism for the given

67
 configuration.

Quiz: Answer the following questions

(Give a neat diagram/sketch wherever necessary).
1. What are the requirements of an equivalent dynamically system?
2. What do you mean by piston effort and crank effort? Derive the expression of turning
moment at crankshaft in terms of piston effort and angle turn by the crank.

Suggested Reference:

⮚ Theory of Machines, R. S. Rattan, Tata Mc-Graw Hill

References used by the students:

Rubric wise marks obtained:

Rubrics 1 2 3 4 Total
Marks

68
 Experiment No: 10
To study and analyze the single DoF forced vibration system at various damping ratios
and frequency ratios.
Date:
Competency and Practical Skills: Students will be able to analyze the effect of various
damping ratios and frequency ratios in a single DOF forced vibration system experimentally.
Relevant CO: 4
Objectives:
a) Demonstrate the single DOF forced vibration system.
b) Analyze the effect of various damping ratios and frequency ratios in a single DOF
forced vibration system experimentally.
Equipment/Instruments:
Vibration apparatus, stop watch.
Theory:
Forced vibrations occur if any system is continuously driven or excited by an external force.
A simple example is a child's swing that is pushed on each downswing. Vibrations caused in
a rotating machinery due to a small unbalanced or disturbing mass may be considered to be
another example of a forced vibration.
Life of components and their joints in an assembly under vibration greatly depends on
amplitude of vibration. Hence, it is important to know the amplitude of vibration. Amplitude
of vibration tends to be high particularly at and near resonance that occur when the excitation
frequency is close to the natural frequency of a system. And therefore, the natural frequency
of vibration must be separated considerably from the excitation frequency.
A Spring-Mass-Damper model is considered in this experiment for finding its response to a
harmonic excitation. Resonance is characterized by a high value of amplitude of vibration.
The Spring-Mass-Damper arrangement is an idealized model of a machine resting on a
resilient pad or sheet. The machine, say a lathe-bed and its accessories, can be considered
rigid representing the mass in the SDOF system, and the resilient pad, a spring and damper
together. The concepts developed while studying a SDOF system are fundamental and useful
for studying complex systems also.

Figure 21 Forced damped vibration of single degree of freedom system.

69
The equation of motion for single DOF forced vibration system as shown in Figure 21 may
be written as
d²x dx …………..…….. (31)
m. +c . +k . x=F0 . sin sin ωt
dt
2
dt
The solution of above equation may be written as

x=x c + x p …………..…….. (32)

x c is the complementary solution which is transient type and dies out over a period of time
and it is given by,

x c =M .e (
−ωn .ζ . t )
. sin ( ω n . t+Ѱ ) …………..…….. (33)

F0 . sin sin ( ω n . t−ф ) …………..…….. (34)

x p=
k . √❑

Magnification factor 1 …………..…….. (35)

Ω=
√❑

Setup diagram: Draw below a line sketch of the experimental setup.

Safety and necessary Precautions:

⮚ Do not run the motor at low voltage.

⮚ Do not increase the speed at once.

⮚ Damper is always in the perpendicular direction.

⮚ A motor bolt is properly tightly packed with weight.

⮚ A beam is properly tight in bearing with a bolt.

70
 Part - A
Procedure: -

⮚ Connect the exciter Motor to the control panel.

⮚ Start the Motor and allow the system to vibrate.

⮚ Wait for 5 minutes for amplitude to build up for a particular forcing frequency.

⮚ Adjust the position of the strip chart recorder. Take the record of amplitude Vs. time
on a strip chart recorder by starting the recorder motor.

⮚ Take record by changing forcing frequency.

⮚ Repeat the experiment for different damping.

⮚ Plot the graph of amplitude v/s. frequency for each damping.

Observations table:

Stiffness Mass Force Force

Sr. Damping
amplitude frequency Remark
No (k) (N/m) (m) (kg) Ratio
(N) (rad/s)
1

Calculations:

71
 Part - B
Procedure: -

⮚ Set a value of Stiffness and Mass for the system. Set a small value of damping ratio
(less than half of 0.707). Notice the natural frequency of the system as shown in
Figure 6 the graphs. You can set a value of operating frequency which will be marked
in the graph.

⮚ Click on the right arrow to load the graph of magnification factor and phase angle
versus frequency ratio.

⮚ Click on the left arrow to come back to the system display screen. Edit the damping
ratio. Set to a value between 0.35 and 0.707.

⮚ Click on the right arrow to load the graph of magnification factor and phase angle
versus frequency ratio. Observe the change in Magnification factor curve as shown in
Figure 7.

⮚ Once again click on the left arrow to come back to the system display screen. Edit the
damping ratio. Set to a value higher than 0.707.

⮚ Click on the right arrow to load the graph of magnification factor and phase angle
versus frequency ratio and notice the change in Magnification Factor values against
frequency ratio.

72
 Figure 22 Input variables for Forced damped vibration of SDF system.

Figure 23 Magnification factor and Phase angle for forced damped vibration of SDOF
system.

Observation table:

Stiffness Mass Force Force

Sr. Damping
amplitude frequency Remark
No (k) (N/m) (m) (kg) Ratio
(N) (rad/s)
1

Calculations:

73
Conclusion:

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

Tutorial problems:
1. When a single cylinder engine of total mass 300 kg is placed on four springs, the
springs are compressed by 2 mm. A dashpot offering 400 Newtons of damping force
at relative velocity of 200 mm/sec is attached to the engine to damp out the vibrations.
The reciprocating mass of the engine is 20 kg and stroke of the piston is 130 mm. The
engine is running at 1500 rpm. Find out amplitude of vibrations neglecting secondary
unbalance.
Quiz: Answer the following questions (Give neat diagram/sketch wherever necessary).

74
 1. Explain why a constant force on the vibrating mass has no effect on the steady-state
vibration.
2. What will be the frequency of the applied force with respect to the natural frequency
of the system if the magnification factor is less than unity?
3. Give a physical explanation of why the magnification factor is nearly equal to 1 for
small values of frequency ratio (r) and is small for large values of frequency ratio (r).
4. Classify the vibration measuring instruments.
5. Clearly explain the working principle of vibrometer and accelerometer.
6. Explain the working principle of seismic instruments.
7. Explain in brief vibration isolation and isolation materials.

Suggested Reference:

⮚ Theory of Machines, S. S. Rattan, Tata Mc-Graw Hill

⮚ Dynamics of Machinery, Farazdak Haideri, Nirali Prakashan

⮚ Theory of Machines, R. S. Khurmi, J. K. Gupta, S. Chand

References used by the students:

Rubric wise marks obtained:

Rubrics 1 2 3 4 Total
Marks

75
 Experiment No: 11
To determine critical speed of shaft theoretically and experimentally.
Date:
Competency and Practical Skills: Students will be able to understand the fundamentals of
critical speed of shaft and will be able to analyze the analytical results with experiment
results.
Relevant CO: 5
Objectives:
a) Understand the fundamental critical speed of the shaft.
b) Analyze the analytical results with the experimental results.
Equipment/Instruments:
Whirling of shaft apparatus, stroboscope.

Theory:

Figure 24 Critical speed of the shaft

In actual practice, a rotating shaft carries different mountings and accessories in the form of
gears, pulleys etc. When the gears or pulleys are put on the shaft, the centre of gravity of the
pulley or gear does not coincide with the centre line of the bearing or with the axis of the
shaft, when the shaft is stationary.
This means that the centre of gravity of the pulley or gear is at a certain distance from the
axis of rotation and due to this, the shaft is subjected to centrifugal force. This force will bend
the shaft, which will further increase the distance of centre of gravity of the pulley or gear
from the axis of rotation. The bending of the shaft not only depends on the value of
eccentricity (distance between centre of gravity of the pulley and axis of rotation) but also

76
depends upon the speed at which the shaft rotates. The speed, at which the shaft runs so that
the additional deflection of the shaft from the axis of rotation becomes infinite, is known as
critical or whirling speed.
Set up diagram: Draw below a line sketch of the experimental setup.

Safety and necessary Precautions:

1) The speed of the shaft should be increased gradually.
2) If the speed of the shaft increases, it may lead to violent instability.
Procedure: -

⮚ Fix the shaft to be tested in the fix ends.

⮚ Supply the main power to the motor through dimmer-stat.

⮚ Gradually increase the speed of the motor until the first mode of vibration is not
arrived.

⮚ Study the first mode of vibration and note down the corresponding speed of the shaft
with the help of a hand tachometer.

⮚ Gradually increase the speed of the motor again, until the second mode of vibration is
not arrived.

⮚ Study the second mode of vibration and note down the corresponding speed of the
shaft with the help of a hand tachometer.

77
 ⮚ Reduce the speed gradually and when the shaft stops rotating, cut-off the main power
supply.

⮚ Repeat the experiment for the shaft of different diameter.

Observations: -

⮚ Shaft diameter (d 1) = ____________ m

⮚ Shaft diameter (d 2) = ____________ m

⮚ Shaft diameter (d 3) = ____________ m

⮚ Length of the shaft ( L1 ¿ = ____________ m

⮚ Length of the shaft ( L2 ¿ = ____________ m

⮚ Length of the shaft ( L3 ¿ = ____________ m

⮚ Modulus of Elasticity (E) = ______________

⮚ Modulus of Rigidity (G) = _______________

⮚ Density of the shaft material (ρ) = ______________

Observations table:
(1) When both the ends are fixed:
Sr. Theoretical Whirling speed, Actual Whirling speed,
No. Nt (rpm) Na (rpm)

(2) When both the ends are supported:

Sr. Theoretical Whirling speed, Actual Whirling speed,
No. Nt (rpm) Na (rpm)

78
(3) When one end is fixed and one end is supported:
Sr. Theoretical Whirling speed, Actual Whirling speed,
No. Nt (rpm) Na (rpm)

Calculations:
4
πD 4
1. Moment of Inertia of shaft, I = m
64
2. Mass of the shaft, W =A . L . ρ
2
πD 2
3. Area of the shaft, A= m
4
1. When both the ends are fixed:
4
WL
Static deflection of shaft due to mass of the shaft, δ s= m
384 EI
0.4985
Frequency of transverse vibration, f n=
√❑
Critical or whirling speed of shaft (in rps) is equal to the frequency of transverse
vibration in Hz.
Nc (rps) = fn (Hz)
Nc (rpm) = 60. fn
2. When both the ends are supported:
4
5W L
Static deflection of shaft due to mass of the shaft,δ s= m
354 EI
0.4985
Frequency of transverse vibration, f n=
√❑
Critical or whirling speed of shaft (in rps) is equal to the frequency of transverse
vibration in Hz.
Nc (rps) = fn (Hz)
Nc (rpm) = 60. fn
3. When one end is fixed and one end is supported:
4
WL
Static deflection of shaft due to mass of the shaft,δ s= m
185 EI
0.4985
Frequency of transverse vibration, f n=
√❑

79
Critical or whirling speed of shaft (in rps) is equal to the frequency of transverse
vibration in Hz.
Nc (rps) = fn (Hz)
Nc (rpm) = 60. fn

80
Conclusion:

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________

___________________________________________________________________________
Tutorial problems:
1. A rotor having a mass of 5 kg is mounted midway on a simply supported shaft of
diameter 10 mm and length 400 mm. Because of manufacturing tolerances, the CG of the
rotor is 0.02 mm away from the geometric centre of the rotor. If the rotor rotates at 3000
rpm. find the amplitude of steady state vibrations and the dynamic force transmitted to the
bearings. Neglect the effect of damping. Take E = 2 x 10^11 N/m².

2. A vertical shaft of 5 mm diameter is 200 mm long and is supported in long bearings at its
ends. A disc of mass 50 kg is attached to the centre of the shaft. Neglecting any increase
in stiffness due to the attachment of the disc to the shaft, find the critical speed of rotation
and the maximum bending stress when the shaft is rotating at 75% of the critical speed.
The centre of the disc is 0.25 mm from the geometric axis of the shaft. E = 200 GN/m².

3. A vertical steel shaft 15 mm diameter is held in long bearings 1 meter apart and carries at
its middle a disc of mass 15 kg. The eccentricity of the centre of gravity of the disc from
the centre of the rotor is 0.30 mm. The modulus of elasticity for the shaft material is 200
GN/m²and the permissible stress is 70 MN/m². Determine: 1. The critical speed of the
shaft and 2. The range of speed over which it is unsafe to run the shaft. Neglect the mass
of the shaft.

4. A shaft of diameter 40 mm and length 2.5 m has a mass of 15 kg per meter. It is simply
supported and has 3 masses as shown in the figure below. Find the frequency of
transverse vibration by Dunkerley's method taking E = 200 GPa.

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5. Using Dunkerley's method; find the natural frequency of transverse vibration of the
system shown below:

Suggested Reference:

⮚ Theory of Machines, S. S. Rattan, Tata Mc-Graw Hill

⮚ Dynamics of Machinery, Farazdak Haideri, Nirali Prakashan

⮚ Theory of Machines, R. S. Khurmi, J. K. Gupta, S. Chand

References used by the students:

Rubric wise marks obtained:

Rubrics 1 2 3 4 Total
Marks

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