3.

0 Balancing of Rotating Masses

3.1. Introduction
The high speed of engines and other machines is a common phenomenon now-a-days. 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 properly balanced, the dynamic forces are set
up. These forces not only increase the loads on bearings and stresses in the various members, but
also produce unpleasant and even dangerous vibrations. In this study we shall discuss the
balancing of unbalanced forces caused by rotating masses, in order to minimize pressure on the
main bearings when an engine is running.
3.2. Balancing of Rotating Masses
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 the 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 balancing of rotating masses.
The following cases are important from the subject point of view:
1. Balancing of a single rotating mass by a single mass rotating in the same plane.
2. Balancing of 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.
The following cases shall be discussed, in detail, in the following pages.
3.3. Balancing of a Single Rotating Mass By a Single Mass Rotating in the Same Plane
Consider a disturbing mass m1 attached to a shaft rotating at ω rad/s as shown in Fig. 3.1.
Let r1 be the radius of rotation of the mass m1 (i.e. distance between the axis of rotation of the
shaft and the centre of gravity of the mass m1).
The centrifugal force exerted by the mass m1 on the shaft,

This centrifugal force acts radially outwards and thus produces 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.
3.4. Balancing of a Single Rotating Mass By Two Masses Rotating in Different Planes
As discussed in the previous article that by introducing a single balancing mass in the same plane
of rotation as that of disturbing mass, the centrifugal forces are balanced. In other words, the two
forces are equal in magnitude and opposite in direction. But this type of arrangement for
balancing gives rise to a couple which tends to rock the shaft in its bearings. Therefore in order
to put the system in complete balance, two balancing masses are placed in two different planes,
parallel to the plane of rotation of the disturbing mass, in such a way that they satisfy the
following two conditions of equilibrium.
1. The net dynamic force acting on the shaft is equal to zero. This requires that the line of
action of three centrifugal forces must be the same. In other words, the centre of the
masses of the system must lie on the axis of rotation. This is the condition for static
balancing.
2. The net couple due to the dynamic forces acting on the shaft is equal to zero. In other
words, the algebraic sum of the moments about any point in the plane must be zero.
The conditions (1) and (2) together give dynamic balancing. The following two possibilities
may arise while attaching the two balancing masses:
1. The plane of the disturbing mass may be in between the planes of the two balancing
masses, and
2. The plane of the disturbing mass may lie on the left or right of the two planes
containing the balancing masses.
Now both cases shall be discussed one by one.
1. When the plane of the disturbing mass lies in between the planes of the two balancing
masses
It may be noted that equation (i) represents the condition for static balance, but in order to
achieve dynamic balance, equations (ii) or (iii) must also be satisfied.

2. When the plane of the disturbing mass lies on one end of the planes of the balancing masses
3.5. Balancing of Several Masses Rotating in the Same Plane

1. Analytical method
The magnitude and direction of the balancing mass may be obtained, analytically, as discussed
below:
1. 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.
Example 3.1. Four masses m1, m2, m3 and m4 are 200 kg, 300 kg, 240 kg and 260 kg
respectively. The corresponding radii of rotation are 0.2 m, 0.15 m, 0.25 m and 0.3 m
respectively and the angles between successive masses are 45°, 75° and 135°. Find the position
and magnitude of the balance mass required, if its radius of rotation is 0.2 m.
3.6. Balancing of Several Masses Rotating in Different Planes
Example 3.2. A shaft carries four masses A, B, C and D of magnitude 200 kg, 300 kg, 400 kg
and 200 kg respectively and revolving at radii 80 mm, 70 mm, 60 mm and 80 mm in planes
measured from A at 300 mm, 400 mm and 700 mm. The angles between the cranks measured
anticlockwise are A to B 45°, B to C 70° and C to D 120°. The balancing masses are to be placed
in planes X and Y. The distance between the planes A and X is 100 mm, between X and Y is 400
mm and between Y and D is 200 mm. If the balancing masses revolve at a radius of 100 mm, find
their magnitudes and angular positions.
Example 3.4. A, B, C and D are four masses carried by a rotating shaft at radii 100, 125, 200
and 150 mm respectively. The planes in which the masses revolve are spaced 600 mm apart and
the mass of B, C and D are 10 kg, 5 kg, and 4 kg respectively.
Find the required mass A and the relative angular settings of the four masses so that the shaft
shall be in complete balance.
Example 21.5. A shaft carries four masses in parallel planes A, B, C and D in this order along
its length. The masses at B and C are 18 kg and 12.5 kg respectively, and each has an
eccentricity of 60 mm. The masses at A and D have an eccentricity of 80 mm. The angle between
the masses at B and C is 100° and that between the masses at B and A is 190°, both being
measured in the same direction. The axial distance between the planes A and B is 100 mm and
that between B and C is 200 mm. If the shaft is in complete dynamic balance, determine:
1. The magnitude of the masses at A and D ; 2. the distance between planes A and D ;
and
3. The angular position of the mass at D.
Example 3.7. A shaft is supported in bearings 1.8 m apart and projects 0.45 m beyond bearings
at each end. The shaft carries three pulleys one at each end and one at the middle of its length.
The mass of end pulleys is 48 kg and 20 kg and their centre of gravity are 15 mm and 12.5 mm
respectively from the shaft axis. The centre pulley has a mass of 56 kg and its centre of gravity is
15 mm from the shaft axis. If the pulleys are arranged so as to give static balance, determine:
1. relative angular positions of the pulleys, and 2. dynamic forces produced on the bearings
when the shaft rotates at 300 r.p.m.

1. Relative angular position of the pulleys

The position of the shaft and pulleys is shown in Fig. 21.13 (a).
First of all, draw the force polygon to some suitable scale, as shown in Fig. 3.13 (c), from the
data given in Table 3.7 (column 4). It is assumed that the mass of pulley B acts in vertical
direction. We know that for the static balance of the pulleys, the centre of gravity of the system
must lie on the axis of rotation. Therefore a force polygon must be a closed figure. Now in Fig.
3.13 (b), draw OA parallel to vector bc and OC parallel to vector co. By measurement, we find
that
Angle between pulleys B and A = 161° Ans.
Angle between pulleys A and C = 76° Ans.
and Angle between pulleys C and B = 123° Ans.
Notes: 1. The dynamic force at the two bearings are equal in magnitude but opposite in direction.
2. The dynamic force at the two bearings may also be obtained as discussed below:
From couple polygon as shown in Fig. 3.13 (d), we see that the vector o′ c′ in the direction from
o′ to c′ represents the out-of-balance couple.
By measurement, we find that
Out-of-balance couple
= vector o′ c′ = 0.97 kg-m2
= 0.97 × ω2 = 0.97 (31.42)2 = 957.6 N-m
Since the shaft is in static balance, therefore it is only subjected to an unbalanced couple which is
same about all planes and the bearing reactions are then equal and opposite. We know that
 4.0 Governors
4.1. Introduction
The function of a governor is to regulate the mean speed of an engine, when
there are variations in the load e.g. when the load on an engine increases, its
speed decreases, therefore it becomes necessary to increase the supply of
working fluid. On the other hand, when the load on the engine decreases, its
speed increases and thus less working fluid is required. The governor
automatically controls the supply of working fluid to the engine with the
varying load conditions and keeps the mean speed within certain limits.
When the load increases, the configuration of the governor changes and a
valve is moved to increase the supply of the working fluid; conversely,
when the load decreases, the engine speed increases and the governor
decreases the supply of working fluid.
4.2. Types of Governors
The governors may, broadly, be classified as
1. Centrifugal governors, and 2. Inertia governors.

The centrifugal governors are based on the balancing of centrifugal force on

the rotating balls by an equal and opposite radial force, known as the
controlling force*.It consists of two balls of equal mass, which are attached
to the arms as shown in Fig. 4.1. These balls are known as governor balls
or fly balls. The balls revolve with a spindle, which is driven by the engine
through bevel gears. The upper ends of the arms are pivoted to the spindle,
so that the balls may rise up or fall down as they revolve about the vertical
axis. The arms are connected by the links to a sleeve, which is keyed to the
spindle. This sleeve revolves with the spindle; but can slide up and down.
The balls and the sleeve rise when the spindle speed increases, and falls
when the speed decreases. In order to limit the travel of the sleeve in
upward and downward directions, two stops S, S are provided on the spindle.
The sleeve is connected by a bell crank lever to a throttle valve. The supply
of the working fluid decreases when the sleeve rises and increases when it
falls. When the load on the engine increases, the engine and the governor
speed decreases. This results in the decrease of centrifugal force on the
balls. Hence the balls move inwards and the sleeve moves downwards.
The downward movement of the sleeve operates a throttle valve at the other
end of the bell crank lever to increase the supply of working fluid and thus
the engine speed is increased. In this case, the extra power output is
provided to balance the increased load. When the load on the engine
decreases, the engine and the governor speed increases, which results in the
increase of centrifugal force on the balls. Thus the balls move outwards and
the sleeve rises upwards. This upward movement of the sleeve reduces the
supply of the working fluid and hence the speed is decreased. In this case,
the power output is reduced.
4.4. Terms Used in Governors
The following terms used in governors are important from the subject point
of view;
1. Height of a governor. It is the vertical distance from the centre of
the ball to a point where the axes of the arms (or arms produced)
intersect on the spindle axis. It is usually denoted by h.
2. Equilibrium speed. It is the speed at which the governor balls,
arms etc., are in complete equilibrium and the sleeve does not tend to
move upwards or downwards.
3. Mean equilibrium speed. It is the speed at the mean position of
the balls or the sleeve.
4. Maximum and minimum equilibrium speeds. The speeds at the
maximum and minimum radius of rotation of the balls, without tending
to move either way are known as maximum and minimum equilibrium
speeds respectively.
Note: There can be many equilibrium speeds between the mean and the
maximum and the mean and the minimum equilibrium speeds.
5. Sleeve lift. It is the vertical distance which the sleeve travels due
to change in equilibrium speed
 4.5. Watt Governor
The simplest form of a centrifugal governor is a Watt governor, as shown in
Fig. 4.2. It is basically a conical pendulum with links attached to a sleeve of
negligible mass. The arms of the governor may be connected to the spindle
in the following three ways:
1. The pivot P, may be on the spindle axis as shown in Fig. 4.2 (a).
2. The pivot P, may be offset from the spindle axis and the arms when
produced intersect at O, as shown in Fig. 4.2 (b).
3. The pivot P, may be offset, but the arms cross the axis at O, as shown in
Fig. 4.2 (c).
Example 4.1. Calculate the vertical height of a Watt governor when it
rotates at 60 r.p.m. Also find the change in vertical height when its speed
increases to 61 r.p.m.

4.6. Porter Governor

The Porter governor is a modification of a Watt’s governor, with central load
attached to the sleeve as shown in Fig. 4.3 (a). The load moves up and
down the central spindle. This additional downward force increases the
speed of revolution required to enable the balls to rise to any predetermined
level.
Consider the forces acting on one-half of the governor as shown in Fig. 4.3
(b).
Though there are several ways of determining the relation between the
height of the governor (h) and the angular speed of the balls (ω), yet the
following two methods are important from the subject point of view:
1. Method of resolution of forces; and
2. Instantaneous centre method.
1. Method of resolution of forces
Considering the equilibrium of the forces acting at D, we have
Again, considering the equilibrium of the forces acting on B. The point B is in
equilibrium under the action of the following forces, as shown in Fig. 4.3
(b).
(i) The weight of ball (w = m.g),
(ii) The centrifugal force (FC),
(iii) The tension in the arm (T1), and
(iv) The tension in the link (T2).
Resolving the forces vertically,
Example 3.2. A Porter governor has equal arms each 250 mm long and
pivoted on the axis of rotation. Each ball has a mass of 5 kg and the mass of
the central load on the sleeve is 25 kg. The radius of rotation of the ball is
150 mm when the governor begins to lift and 200 mm when the governor is
at maximum speed. Find the minimum and maximum speeds and range of
speed of the governor.
Example 4.3. The arms of a Porter governor are each 250 mm long and
pivoted on the governor axis. The mass of each ball is 5 kg and the mass of
the central sleeve is 30 kg. The radius of rotation of the balls is 150 mm
when the sleeve begins to rise and reaches a value of 200 mm for maximum
speed. Determine the speed range of the governor. If the friction at the
sleeve is equivalent of 20 N of load at the sleeve, determine how the speed
range is modified.
It is know that when the sleeve moves downwards, the friction force (F) acts
upwards and the minimum speed is given by
It is also known that when the sleeve moves upwards, the frictional force (F)
acts downwards and the maximum speed is given by

Example 4.4. In an engine governor of the Porter type, the upper and lower
arms are 200mm and 250 mm respectively and pivoted on the axis of
rotation. The mass of the central load is 15 kg, the mass of each ball is 2 kg
and friction of the sleeve together with the resistance of the operating gear
is equal to a load of 25 N at the sleeve. If the limiting inclinations of the
upper arms to the vertical are 30° and 40°, find, taking friction into account,
range of speed of the governor.
It is known that when the sleeve moves downwards, the frictional force (F)
acts upwards and the minimum speed is given by
Example 4.5. A Porter governor has all four arms 250 mm long. The upper
arms are attached on the axis of rotation and the lower arms are attached to
the sleeve at a distance of 30 mm from the axis. The mass of each ball is 5
kg and the sleeve has a mass of 50 kg. The extreme radii of rotation are 150
mm and 200 mm. Determine the range of speed of the governor.
First of all, let us find the minimum and maximum speed of the governor.
The minimum and maximum position of the governor is shown in Fig. 4. 8
(a) and (b) respectively.

From Fig. 4.8(b), we find that height of the governor,

Example 4.6. The arms of a Porter governor are 300 mm long. The upper
arms are pivoted on the axis of rotation. The lower arms are attached to a
sleeve at a distance of 40 mm from the axis of rotation. The mass of the load
on the sleeve is 70 kg and the mass of each ball is 10 kg. Determine the
equilibrium speed when the radius of rotation of the balls is 200 mm. If the
friction is equivalent to a load of 20 N at the sleeve, what will be the range of
speed for this position?

The equilibrium position of the governor is shown in Fig. 4.9. From the figure, we find that
height of the governor,
It is also known that when the sleeve moves upwards, the frictional force (F)
acts downwards and the maximum equilibrium speed is given by
Example 4.7. A loaded Porter governor has four links each 250 mm long,
two revolving masses each of 3 kg and a central dead weight of mass 20 kg.
All the links are attached to respective sleeves at radial distances of 40 mm
from the axis of rotation. The masses revolve at a radius of 150mm at
minimum speed and at a radius of 200 mm at maximum speed. Determine
the range of speed.

First of all, let us find the minimum and maximum speed of the governor.
The minimum and maximum position of the governor is shown in Fig. 4.10 (a) and (b)
respectively.

From Fig. 4.10 (a), we find that

Now from Fig. 4.10 (b), we find that

Example 4.8. All the arms of a Porter governor are 178 mm long and are
hinged at a distance of 38 mm from the axis of rotation. The mass of each
ball is 1.15 kg and mass of the sleeve is 20 kg. The governor sleeve begins
to rise at 280 r.p.m. when the links are at an angle of 30° to the vertical.
Assuming the friction force to be constant, determine the minimum and
maximum speed of rotation when the inclination of the arms to the vertical is
45°.
4.7. Proell Governor
The Proell governor has the balls fixed at B and C to the extension of the
links DF and EG, as shown in Fig. 4.12 (a). The arms FP and GQ are pivoted
at P and Q respectively.
Consider the equilibrium of the forces on one-half of the governor as shown
in Fig. 4.12 (b).
The instantaneous centre (I) lies on the intersection of the line PF produced
and the line from D drawn perpendicualr to the spindle axis. The
perpendicular BM is drawn on ID.
Example 4.9. A Proell governor has equal arms of length 300 mm. The
upper and lower ends of the arms are pivoted on the axis of the governor .
The extension arms of the lower links are each 80 mm long and parallel to
the axis when the radii of rotation of the balls are 150 mm and 200 mm. The
mass of each ball is 10 kg and the mass of the central load is 100 kg.
Determine the range of speed of the governor.

First of all, let us find the minimum and maximum speed of the governor.
The minimum and maximum position of the governor is shown in Fig. 4.13.
Now from Fig. 4.13 (b), we find that height of the governor,

Note : The example may also be solved as discussed below :

From Fig. 4.13 (a), we find that
Example 4.10. A governor of the Proell type has each arm 250 mm long.
The pivots of the upper and lower arms are 25 mm from the axis. The central
load acting on the sleeve has a mass of 25 kg and the each rotating ball has
a mass of 3.2 kg. When the governor sleeve is in mid-position, the extension
link of the lower arm is vertical and the radius of the path of rotation of the
masses is 175 mm. The vertical height of the governor is 200 mm.
If the governor speed is 160 r.p.m. when in mid-position, find: 1. length of
the extension link; and 2. tension in the upper arm.
From the equilibrium position of the governor, as shown in Fig. 4.15, we find that
Example 4.12. A Proell governor has all four arms of length 305 mm. The
upper arms are pivoted on the axis of rotation and the lower arms are
attached to a sleeve at a distance of 38 mm from the axis. The mass of each
ball is 4.8 kg and are attached to the extension of the lower arms which are
102 mm long. The mass on the sleeve is 45 kg. The minimum and maximum
radii of governor are 165 mm and 216mm. Assuming that the extensions of
the lower arms are parallel to the governor axis at the minimum radius, find
the corresponding equilibrium speeds.

The governor configuration at the minimum radius (i.e. when FG = 165 mm)
is shown in Fig. 4.16.
From Fig. 4.16, we find that

From Fig. 4.16, we find that height of the governor,

First of all, let us find the values of BD and γ in Fig. 4.16. We know that
4.8. Hartnell Governor
A Hartnell governor is a spring loaded governor as shown in Fig. 4.18. It
consists of two bell crank levers pivoted at the points O,O to the frame. The
frame is attached to the governor spindle and therefore rotates with it. Each
lever carries a ball at the end of the vertical arm OB and a roller the end of
the horizontal arm OR. A helical spring in compression provides equal
downward forces on the two rollers through a collar on the sleeve. The spring
force may be adjusted by screwing a nut up or down on the sleeve .
Example 4.13. A Hartnell governor having a central sleeve spring and two
right-angled bell crank levers moves between 290 r.p.m. and 310 r.p.m. for a
sleeve lift of 15mm. The sleeve arms and the ball arms are 80 mm and 120
mm respectively. The levers are pivoted at 120 mm from the governor axis
and mass of each ball is 2.5 kg. The ball arms are parallel to the governor
axis at the lowest equilibrium speed. Determine: 1. loads on the spring at
the lowest and the highest equilibrium speeds, and 2. stiffness of the spring.
Example 4.14. In a spring loaded Hartnell type governor, the extreme radii
of rotation of the balls are 80 mm and 120 mm. The ball arm and the sleeve
arm of the bell crank lever are equal in length. The mass of each ball is 2 kg.
If the speeds at the two extreme positions are 400 and 420 r.p.m., find: 1.
the initial compression of the central spring, and 2. the spring constant.

Example 4.15. A spring loaded governor of the Hartnell type has arms of
equal length. The masses rotate in a circle of 130 mm diameter when the
sleeve is in the mid position and the ball arms are vertical. The equilibrium
speed for this position is 450 r.p.m., neglecting friction. The maximum sleeve
movement is to be 25 mm and the maximum variation of speed taking in
account the friction to be 5 per cent of the mid position speed. The mass of
the sleeve is 4 kg and the friction may be considered equivalent to 30 N at
the sleeve. The power of the governor must be sufficient to overcome the
friction by one per cent change of speed either way at mid-position.
Determine, neglecting obliquity effect of arms; 1. The value of each rotating
mass: 2. The spring stiffness in N/mm; and 3. The initial compression of
spring.
Example 4.16. In a spring loaded governor of the Hartnell type, the mass of
each ball is 1kg, length of vertical arm of the bell crank lever is 100 mm and
that of the horizontal arm is 50 mm.
The distance of fulcrum of each bell crank lever is 80 mm from the axis of
rotation of the governor. The extreme radii of rotation of the balls are 75 mm
and 112.5mm. The maximum equilibrium speed is 5 per cent greater than
the minimum equilibrium speed which is 360 r.p.m. Find, neglecting obliquity
of arms, initial compression of the spring and equilibrium speed
corresponding to the radius of rotation of 100 mm.
Example 4.17. In a spring loaded governor of the Hartnell type, the mass of
each ball is 5 kg and the lift of the sleeve is 50 mm. The speed at which the
governor begins to float is 240 r.p.m., and at this speed the radius of the ball
path is 110mm. The mean working speed of the governor is 20 times the
range of speed when friction is neglected. If the lengths of ball and roller arm
of the bell crank lever are 120 mm and 100 mm respectively and if the
distance between the centre of pivot of bell crank lever and axis of governor
spindle is 140 mm, determine the initial compression of the spring taking
into account the obliquity of arms.
If friction is equivalent to a force of 30 N at the sleeve, find the total
alteration in speed before the sleeve begins to move from mid-position.

The minimum and maximum position of the governor balls is shown in Fig. 4.21 (a) and (b)
respectively.
Since the obliquity of arms is to be taken into account, therefore from the minimum position as
shown in Fig. 18.21 (a),

Now taking moments about point O for the minimum position as shown in Fig. 18.21 (a),
Now taking moments about point O as shown in Fig. 4.23, we get