Today’s lecture - Week 2

“Balancing”

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 1

 Today’s entertainment

“machine out of balance” 4 min 15 sec

https://www.youtube.com/watch?v=gruIqoY2h4I

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 2

 Brainteaser

Why don’t planes spin their

wheels before landing to reduce
tyre scrub?
http://science-at-home.org/wp-content/uploads/2011/09/landing.jpg

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 3

 NZ Regulations re Noise
The Health and Safety in Employment Regulations 1995 requires that no
employee is exposed to noise above the following levels:
• LAeq8h of 85dB(A)
and
• LPeak of 140dB.
LAeq8h 85 dB(A) means the level of daily noise exposure normalised to the
average eight-hour working day. Noise level exposure must not exceed the A-
weighted sound energy of 85 decibels over an eight-hour period.
A-weighted sound energy measurements ensure that the testing equipment
reflects how humans hear noise.
LPeak 140 dB is the highest frequency unweighted (pure sound) peak sound
pressure level. Any noise, even if it is for a short time, must not exceed 140dB
Because this can cause instantaneous hearing damage.

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 4

AS/NZS 1270:2002 Acoustics – Hearing protectors

Class LAeq, 8 hour dBA

Class 1 less than 90
Class 2 90 to 95
Class 3 95 to 100
Class 4 100 to 105
Class 5 105 to 110

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 5

Soundproof wall

http://www.acousticalsurfaces.com/wp/assets/Retro.jpg

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 6

Soundproof door

http://davidrohi.en.ecplaza.net/sitebuilder/images/6.jpg

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 7

 Notice one – Week 2 - 2019

ITEM Due time and date where

Homeworks 1 -5 Available on AUT Blackboard Online at AUT Blackboard
Weeks 2, 4, 6, 8 & 10
Test No 1 Week 5 Online at AUT Blackboard

Test No 2 Week 9 Online at AUT Blackboard

Lab Report A Week 6 Online at AUT Blackboard

Held in Week 4
Lab Report B Week 10 Online at AUT Blackboard
Held in Week 8

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 8

 Notice two – Week 2 - 2019

Homework Due time and date where

1. Acoustics & Balancing Week 2 Online at AUT Blackboard
Shafts Mon 9am to Sun 9pm
2. Epicyclic Gearboxes Week 4 Online at AUT Blackboard
Mon 9am to Sun 9pm
3. Mechanisms Week 6 Online at AUT Blackboard
Mon 9am to Sun 9pm
4. Vibrations Week 8 Online at AUT Blackboard
Mon 9am to Sun 9pm
5. Transmission Elements Week 10 Online at AUT Blackboard
Mon 9am to Sun 9pm

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 9

 Notice - Clutch Lab A held in Week 4 - 2019

ITEM Due time and date Where

held in class Week 4

Clutch Lab A In class
as a demonstration

Clutch Lab A due 9pm Sun 25 August

online lab report
Online Report Week 6

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 10

 Today’s quote

“Step with care and great tact

and remember that life's a great balancing act”

Dr. Seuss

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 11

 Lecture objectives

This first lecture on balancing is to:

• Explain the importance of balancing

• Examine the ISO standard for balancing

• Consider balancing a rotor in a single plane

oIn the static case
oAnd in the dynamic case

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 12

 Balancing

• Balancing is the process of improving mass

distribution to reduce unbalanced forces in bodies
that are free to rotate

• Bodies such as rotors and shafts

• Bodies can be statically balanced and dynamically

balanced

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 13

 Balancing

Why balancing is necessary?

• Out of balance rotating machines experience centrifugal forces

that can cause harmful effects to bearings, foundations,
associated equipment and personnel

• The out of balance centrifugal force CF = mrω2

• It is proportional to the square of the speed omega (ω rad/sec)

• For simplicity any rotating machine can be referred to as the

rotor

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 14

 Balancing
The specific effects of unbalance:

• The inertial forces (mω2r) produce fluctuating loads on bearings and

structures

• Higher dynamic bearing pressures shorten bearing life

• Fatigue failures of housing, brackets, shafts, foundations…

• Shortened life of machines and plant

• Operator and passenger fatigue

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 15

 Causes of unbalancing
• Asymmetry of rotor parts

• Non-homogeneity of rotor material

• Eccentricity of rotor

• Misalignment of bearings

• Distortion and deformation of rotor at operating speeds

• Fluid dynamic forces e.g. cavitation and turbulence

• Differing thermal expansion rates

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 16

 Static unbalance

This is due to one or more unbalanced masses in a single plane

(that is a thin rotor)
May be compensated for by the static balancing method
For balance..
All three masses must be arranged
so that the rotor’s COM (centre of
mass) is in the centre
m1 g

m3 g
m2 g

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 17

 Dynamic unbalance

This is due to one or more unbalanced masses in a two or more

planes (i.e. a thick rotor)
Must be compensated for by dynamic balancing
For balance..
The rotating couples of all
three masses must
dynamically balanced

m1 rω2 m3rω2

m2rω2

Rotating shaft
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 18
 ISO 1940-1 standard for balancing

This is the ISO standard criterion for a balance quality that will
allow the entire assembly to run smoothly with acceptably
small vibrations

• But what vibration level is acceptable?

• ISO 1940-1 standard sets different acceptable unbalance

levels for different classes of machines

• It is based on a permitted (max) residual unbalance or “U”

(gmm) and the specific unbalance “e” (mm or μm)

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 19

 The permitted residual unbalance or U (gmm)

• U is mass x distance U = md

• In general, the larger the rotor mass the larger U is permitted

to be

• But for a given mass, U must be reduced as speed increases

• It is convenient to relate U to rotor mass m

• Giving us the specific unbalance term e = U/m

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 20

 Specific unbalance or e (mm or μm)

• Specific unbalance e = U/m (and U = em)

• ‘e’ is given in gmm/kg or mm or μm

• It is actually the displacement of the centre of mass [COM]

from the axis of rotation

• For the same ISO balance grade (G) ‘e’ varies inversely with
the rotor speed ω

• So that eω = constant

• ISO have based their classification grades on this constant

relationship

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 21

 ISO 1940-1, Table 1
Balance quality grades

Balance grade G……

eω mm/s

Rotor type
description

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 22

 ISO 1940-1, Figure 1B
Max permissible e (μm)
Balance grades G…
Lines of constant eω

e μm

Maximum service
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 23
speed rev.min
 Balancing Problem 1

A rotor is to be balanced to a grade G 2.5 7 tonne mass

The rotor weighs 7 tonnes and turns at 2500
rev/min
Assume it is circular and of homogenous 2500 rev/min
material so find:

1. The acceptable specific unbalance e

2. The residual unbalance U
3. What is the offset of its COM from the
shaft centreline?
4. What is the out of balance force?
5. What is eω (= a constant) grade G 2.5

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 24

 Balance problem 1
ISO 1940-1, table 1
Balance quality grades

Solution

This table describes the sorts of machines that

are covered by G 2.5

eω = 2.5 mm/s

Grade 2.5

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 25

 Balance problem 1
ISO 1940-1, figure 1B
Max permissible e (μm)
Solution

Find acceptable specific unbalance e (gmm/kg or

μm)

This graph gives the value for e = 10 μm

or 10 x 10-6 m or 10 gmm/kg
Balance
Find the residual unbalance U (gmm) grade G 2.5

e = U/m
e = 10 μm
U = em = 10 gmm/kg x 7000 kg

U = 70,000 gmm (or 70 kg offset by 1mm)

Or 7000 kg offset by 1/100 mm

Maximum service
© J. Prince speed
2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 = 2500 rev/min 26
 Balancing Problem 1

Answers 3. What is the offset of its COM from the

shaft centreline?
1. The acceptable specific unbalance e
e = 10 μm = 10 gmm/kg 70 kg offset by 1mm Answer
Answer
or 7000 kg offset by 1/100 mm (10 μm)
2. The residual unbalance U 4. What is the out of balance force?
OOBF = mω2r
OOBF = 7000 x (2500 x 2π/60)2 x 10 x 10-6
U = 70,000 gmm Answer
OBF = 4797.0 N Answer
5. What is eω?

𝑒𝑒𝜔𝜔 = 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐
2𝜋𝜋
𝑒𝑒𝜔𝜔 = 10 × 10−6 × 2500 = 2.6 𝑚𝑚𝑚𝑚/𝑠𝑠
60
Answer

= Grade 2.5
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 27
 Balancing in a single plane

For balance a body must be in equilibrium

ΣM=0 ΣF=0

Static balancing

If a body is free to rotate, any off centre mass will cause the body
to settle in a fixed (the same) position

When a body is statically balanced its COM lies at the centre of

rotation and it will remain settled in any position

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 28

 Static Balancing

If a body is free to rotate, any off centre mass present will cause
the body to settle in a fixed position

mg
For balance..
the rotor’s COM will be
directly below the shaft
centreline

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 29

 First – the static balancing solution
To be statically balanced

ΣM=0 𝑚𝑚1 𝑔𝑔𝑟𝑟1 = 𝑚𝑚2 𝑔𝑔𝑟𝑟2

Σ𝑚𝑚𝑚𝑚 = 0 r1 r2
If it is statically balanced
m1g
1. the COM lies at the fulcrum
m2g

2. it is stable in any position

3. and it is also dynamically balanced

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 30

 Now considering several masses in a single plane
The moment of mass1 is…

𝑚𝑚𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 = 𝑚𝑚1 𝑔𝑔𝑟𝑟1 cos 𝛼𝛼1 + 𝑚𝑚2 𝑔𝑔𝑟𝑟2 cos 𝛼𝛼2 + 𝑚𝑚2 𝑔𝑔𝑟𝑟2 cos 𝛼𝛼2
m2g
r2
For static balance α2 r3
α3
Σ𝑚𝑚𝑔𝑔𝑟𝑟 cos 𝛼𝛼=0
α1 m3g
Σ𝑚𝑚𝑟𝑟 cos 𝛼𝛼=0 r1

m1g
This can be solved analytically and graphically

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 31

 Graphical solution
Using vectors… This called the mr polygon or the
“force” polygon
Draw vector ab
m3r3 a
magn = m1r1 parallel to r1 c
Repeat for vectors bc and ca units kgm
m2r2
m1r1
For balance
Again if the rotor is statically
Σ𝑚𝑚𝑚𝑚 = 0 b balanced it is dynamically
The vector directions are the same as the
balanced m2g
centrifugal inertia forces the masses would r2
experience if the rotor was rotating r3 m3g

m1g r1
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 32
 Secondly – the dynamic balancing solution for a single plane
For dynamic balance these two inertia forces
must be…
ω
1. inline

2. & equal in magnitude

m1ω2r1 m2ω2r2
For equilibrium

ΣF=0 𝑚𝑚1 ω2𝑟𝑟1 = 𝑚𝑚2 ω2𝑟𝑟2

𝑚𝑚1 𝑟𝑟1 = 𝑚𝑚2 𝑟𝑟2

Σ𝑚𝑚𝑚𝑚 = 0

Same as for the static balance case

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 33
 And considering several rotating masses in a single plane

m2ω2r2
A force polygon can be drawn

(CF = mω2r) r2
For dynamic balance this polygon ω m3ω2r3
must close
r3
m1ω2r1 r1

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 34

 Graphical solution using the Forces or mω2r polygon
Use vectors…
units kgm/s2
Draw vector ab
m3ω2r3 a
magn = m1ω2r1 parallel to r1 c

Repeat for vector bc and ca m2ω2r2

m1ω2r1
For balance
Σ𝑚𝑚𝜔𝜔2 𝑟𝑟 = 0 b
Again if the rotor is statically
balanced it is dynamically
The vector directions are the same as the
centrifugal inertia forces for the rotor balanced m2ω2r2
r2
r3
m1ω2r1 m3ω2r3
r
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 35
The Forces or mω2r polygon becomes the “forces” mr polygon
units kgm
As ω2 is common to all vectors it can be
cancelled a’
m3r3
and the forces polygon simplifies to the c’
mr polygon m2r2
m1r1
the same as in the static case
Σ𝑚𝑚𝑚𝑚 = 0 b’
For balance the polygon must be
closed

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 36

 Problem solving tips
Work across the 2 pages
First in the answer book open out two pages • it is easier
and work across them • and less prone to error

Then follow a simple set of steps to solve each

problem

Step one
Step three
Draw a diagram/sketch of the problem
List any formula you expect may apply and
Make it as complete as you can start ticking off values known and unknown
You may need to draw several views
Step four
Step two
Use Steps 1,2, & 3 to solve the problem
List all the relevant variables and their known
values and units (usually use fundamental SI
units)

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 37

 Calculator tips
Use the correct technique

Always use the calculator correctly and in the

same way

Place calculator firmly on desk (not across

several sheets of paper or worse in your
hand)

Enter numbers etc with the same hand the

same way each time

Record major steps in the calculation, so they

can be corrected quickly if you later find an
error

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 38

 Recording and correcting

And record major steps in the calculation, so

they can be corrected quickly if you later
find an error

It enable corrections to be made quickly

Which saves time in the exam

It is also good practice to follow in logbooks

as it gives confidence that the answer has
been checked

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 39

 Accuracy vs. Precision – the difference
ISO standard 5725-1 Defining the vocabulary of metrology

Accurate Precise Accurate + precise

(also true)
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 40
 Graphical tips Draw the “forces” mr polygon to scale
First in the exam book open out two pages and
work across them scale p cm = q kgm
mB Work across the 2 pages q kgm
• it is easier
• and less prone to error

Out of balance mr value

rB
mBrB

mArA
mA angle z degrees
rA

scale y cm = x m
xm
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 41
 Graphical tips Draw the “forces” mr polygon to scale
Use the correct tools
scale p cm = q kgm
Use a pencil HB and rubber
mB
Transfer the angles using a
roller rule or parallel rule

Out of balance mr value

rB
mBrB

mArA
mA angle z degrees
rA
scale y cm = x m
Transfer the magnitudes using
a triangular scale rule
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 42
 Balancing Problem 2
What are the out of balance forces on the rotor Prelim calcs…
shown below rotating at 120 rev/min?
Find the speed ω (rad/s)
[207 N, 23 deg, 1.31 m] mB=0.5 kg
2π
ω= × 120 = 12.57 rad/s Answer
60

Find the mr values (kgm)

rB=1.2 m
mA rA = 1.5kg ×0.6m = 0.9 kgm Answer

600 mB rB = 0.5kg × 1.2m = 0.6 kgm Answer

mA=1.5 kg
rA=0.6 m

scale 1 cm = 0.13333 m
1.3333 m
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 43
 Balancing Problem 2
What are the out of balance forces on the rotor Draw the “forces” mr polygon to scale
shown below rotating at 120 rev/min?

mB=0.5 kg OOB force = mr ob x ω2 = 1.31 x 12.572 = 207 N

Answer

Out of balance mr value =1.31 kgm Answer

rB=1.2 m
Out of balance force = 207 N
mBrB=0.6

600 23.4
degrees mArA=0.9
At an angle of 23.4
degrees Answer
rA=0.6 m
mA=1.5 kg

scale 1 cm = 0.13333 m scale 1 cm = 0.15 kgm

1.5 kgm
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 44
 Balancing Problem 2
If a 1.0 kg balance mass cancelled the out of The “forces” mr polygon
balance forces what would its radius and angular
position?
mB=0.5 kg

mrC = 1.31 kgm rB=1.2 m

Answer Balance mrC value = 1.31 kgm

rC = 1.31/mC = 1.31/1.0 = 1.31 m

mBrB=0.6
mA=1.5 kg
rA=0.6 m
mArA=0.9
At an angle of 23.4
rC=1.31 m
degrees
mC=1.0 kg
Answer 156.6 degrees
scale 1 cm = 0.15 kgm
scale 1 cm = 0.13333 m
A common problem… 1.5 kgm
Soln add a piece of paper
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 45
 Balancing Problem 3
Three masses lie in the same plane (as shown
Prelim calcs…
below)
• Find the out of balance mr value when rotating at Find the speed ω (rad/s)
300 rev/min
2π
• Find the radius and angular position of a 3 kg ω= × 300 = 31.42 rad/s Answer
60
balance mass
[83 kgmm, 3 kg, 27.6 mm, 31 deg] Find the mr values (kgmm)
mB=2 kg
mA=4 kg mA rA = 4 kg ×10 mm = 40 kgmm

rA=10 mm rB=25 mm mB rB = 2 kg × 25 mm = 50 kgmm

300
400 mC rC = 3.5 kg × 10 mm = 35 kgmm
rC=10 mm Answers
mC= 3.5 kg
scale 1 cm = 5 mm
50 mm
© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 46
 Balancing Problem 3
“forces” mr poly

OOB force = mr x ω2 = 82.7 x 10-3 x 31.422 = 81.64 N

mrB mrC
Answer
= 50 kgmm = 35 kgmm
mA=4 kg
mB=2 kg
rA=10 mm rB=25 mm
rC=10 mm mrA
310 mrD
= 40 kgmm
mD=3 kg = 82.7 kgmm
mC= 3.5 kg 310
rD=27.6 mm

scale 1 cm = 5 mm
For balance 50 mm
mrD = 82.7 kgmm scale 1 cm = 10 kgmm
Answer
mD = 3 kg 100 kgmm

rD = mr/m = 82.7/3 = 27.6 mm © J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 47

 Balancing Cheat Sheet
ISO 1940-1 sets different acceptable unbalance Single plane balance
levels for different classes of machines
For dynamic balance the inertia forces must be
balanced
Specific unbalance e = U/m
(CF = mω2r) for dynamic balance the forces polygon
U is mass x distance U = md must close

As ω2 is common to all vectors it can be cancelled

For a single plane balance problem and the forces polygon simplifies to the mr
polygon the same as in the static case
To be statically balanced 𝜮𝜮𝒎𝒎𝒎𝒎 = 𝟎𝟎

ΣM=0 𝑚𝑚1 𝑔𝑔𝑟𝑟1 = 𝑚𝑚2 𝑔𝑔𝑟𝑟2 𝜮𝜮𝒎𝒎𝒎𝒎 = 𝟎𝟎

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 48

 Recapping this lecture

In this lecture we have:

• Defined the basic terms and concepts of balancing

• Examined the ISO standards for balancing

• Examined the theory of single plane balancing

• Solved several simple single plane balancing problems

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 49

 MD II Information

Coursework marks Coursework total mark 50

assessment tasks
Exam mark 50

Homework 10 Total mark 100

assignments

Laboratory reports 20

Tests 20

Coursework total mark 50

© J. Prince 2019 MECHANICS DYNAMICS II ENME611 - Balancing 01 50