Unit-Ii Static & Dynamic Balancing

UNIT-II
Static & Dynamic Balancing

A.Pandiyan
Associate Professor
Department of Mechanical Engineering
Saveetha School of Engineering
Saveetha University
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Unit II: Balancing of Rotating Masses
Static and dynamic balancing
Balancing of single rotating mass by balancing

masses in same plane and in different planes.
Balancing of several rotating masses by

balancing masses in same plane and in different
planes.
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It is assumed that the student is already familiar with the
following concepts.
Angular motion.
Centrifugal force.
Basic vector diagram construction.
Basic trigonometry
CENTRIFUGAL FORCE:
 A particle made to travel along a circular path generates
a centrifugal force directed outward along the radial
line form the center of rotation to the particle. As the
particle rotates about the center point, so does the
centrifugal force.
CENTRIFUGAL FORCE:
 Centrifugal force is an inertia force and is actually the
body is reaction to an externally applied force. For
circular motion the external force is known as centripetal
force. The centripetal force acts on the particle in a
radially Inward direction. They both have the same
magnitude but differ in the direction of action.
Introduction:
 When man invented the wheel, he very quickly learnt that if
it wasn’t completely round and if it didn’t rotate evenly
about it’s central axis, then he had a problem!
 What the problem he had?
 The wheel would vibrate causing damage to itself and it’s

support mechanism and in severe cases, is unusable.
 A method had to be found to minimize the problem.
 The mass had to be evenly distributed about the rotating

center line so that the resultant vibration was at a minimum.
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Introduction:
 Balancing is an essential technique applied to mechanical
parts of rotational functionality
wheels
shafts
flywheels…,
 in order to eliminate the detected irregularities found within
it, and that may cause excessive vibrations during operation,
and act as undesirable disturbances on the system being in
use.
 Such irregularities may rise due to the inhomogeneous
distribution of material within the part,
bending and deflection of rotating shafts &
eccentricity of mass from the axis of rotation of

the rotating disks and rotors.
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Introduction:
 These irregularities lead to small eccentric masses that
disturb mass distribution of the part, and
 the last generate centrifugal forces when the part is in

rotation;
 the magnitude of these forces increases rapidly with speed

of rotation, and enhances vibrations level during operation,
and cause serious problems.
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Causes of Unbalance:
 In the design of rotating parts of a machine every care is

taken to eliminate any out of balance or couple,
 but there will be always some residual unbalance left in the

finished part because of
slight variation in the density of the material or
inaccuracies in the casting or
inaccuracies in machining of the parts.

Balancing
"is the process of attempting to improve the mass
distribution of a body so that it rotates in its bearings
without unbalanced centrifugal forces”
Note: Mass balancing is routine for rotating
machines, some reciprocating machines,
and vehicles
Mass balancing is necessary for
quiet operation
high speeds
long bearing life
operator comfort
controls free of malfunctioning, or a "quality" feel

Rotating components for balancing
• Pulley & gear shaft • Starter armatures • Airspace

assemblies components
• High speed
machine • flywheels • Impellers
tool spindles
• Centrifuge rotors • Electric motor • Fan and blowers

rotors
• Compressor rotors • Turbochargers • Precision shafts
• crank shafts • Grinding wheels • Steam &

GasTurbine
rotors
Importance of balancing
To avoid vibration.
In heavy industrial machines such as

Steam Turbines
Electrical Generators, failure occur due to more vibrations.
Vibrations audible and uncomfortable.
Ex: When a car wheel out of balance, ride is ?
In case of simple wheel, balancing simply involves

moving the C.G. to C.O.R.
Benefits of balancing
Increase quality of operation.
Minimize vibration.
Minimize audible and signal noises.
Minimize structural fatigue stresses.
Minimize operator annoyance and fatigue.
Increase bearing life.
Minimize power loss.

Rotating Unbalance occurs due to the following reasons.
The shape of the rotor is unsymmetrical.
Un symmetrical exists due to a machining error.
The material is not uniform, especially in Castings.
A deformation exists due to a distortion.

 An eccentricity exists due to a gap of fitting.
 An eccentricity exists in the inner ring of rolling
bearing.
 Non-uniformity exists in either keys or keyseats.
 Non-uniformity exists in the mass of flange

Unbalance is caused by the displacement of the mass
centerline from the axis of rotation.
Centrifugal force of "heavy" point of a rotor exceeds the

centrifugal force exerted by the light side of the rotor and
pulls the entire rotor in the direction of the heavy point.
Balancing is the correction of this phenomena by the

removal or addition of mass
 Unbalance due to
unequal distribution
of masses
 Unbalance due to
unequal distance of masses
. Types of Balance
Static Balance
Dynamic Balance
. Types of Unbalance
Static Unbalance
Dynamic Unbalance
For a body to be completely balanced it must have two things
Static Balance
This occurs when there is no resultant centrifugal force

and the centre of gravity is on the axis of rotation.
Dynamic Balance
This occurs when there is no resulting turning moment

along the axis.
BALANCING IN ONE PLANE
 Consider a thin disc or wheel on which the centre of gravity is not the
same as the centre of rotation.
 A simple test for static balance is to place the wheel in frictionless

bearings.
 The centre of gravity will always come to rest below the centre of
rotation (like a pendulum).
 If it is balanced it will remain stationary no matter which position it is

turned to.
 If the centre of gravity is distance r from the centre of rotation then

when it spins at ω rad/s, centrifugal force is produced.
 This has a formula C.F.= M ω2 r
 where M is the mass of the disc.
 This is the out of balance force.

 In order to cancel it out an equal and opposite force is needed.
 This is simply done by adding a mass M2 at a radius r2 as shown.
 The two forces must have the same magnitudes.
Mω2 r = M2 ω2 r2
M r = M2 r2
 Placing a suitable mass at a suitable radius moves the centre of

gravity to the centre of rotation.
 This balance holds true at all speeds down to zero hence it is balanced
so long as the products of M and r are equal and opposite.
 Now consider that our disc is out of balance because there are three
masses attached to it as shown.
 The 3 masses are said to be coplanar and they rotate about a common
centre.
 The centrifugal force acting on each mass is F = M r ω2.
 The radius of rotation is r and the angular velocity is ω in

radians/second.
 The force acting on each one is hence
F1=M1r1ω2
F2=M2r2ω2
F3=M3r3ω2
 These are vector quantities and we can add them up to find the
resultant force as shown.
 If the system was balanced, there would be no resultant force

so the force needed to balance the system must be equal and
opposite of the resultant (the vector that closes the polygon).
 The balancing mass M4 is then added at a suitable radius and angle

such that the product M r is correct.
 The result obtained would be the same whatever the value of ω and
 when ω = 0 we have static balance. In order to make the solution

easier,
 we may make ω = 1 and calculate M r for each vector.
 This is called the M r polygon or vector diagram.

 Note that angles will be given in normal mathematical terms with

anticlockwise being positive from the x axis as shown.
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.
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Balancing of Several Masses Rotating in the Same Plane
• The magnitude and position of the balancing mass may be found out
analytically or graphically as discussed below :
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1. Analytical method
1. First of all, find out the centrifugal force exerted by each mass on the rotating shaft.
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2. Graphical method
• The magnitude and position of the balancing mass may also be
obtained graphically as discussed below :
Hareesha N G, Dept of Aero Engg, DSCE,

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Blore
2. Graphical method
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MASSES NOT IN THE SAME PLANE
Consider 2 masses statically balanced as shown but

acting at different places along the axis.
It is clear that even with static balance, centrifugal force
will produce a turning moment about the centre of gravity
for the system.
In this simple case, the problem is solved by adding equal

and opposite forces at the two points as shown.
Consider the turning moment due to a single mass.
 The centrifugal force produced is F = Mrω2
 The turning moment about the reference plane = T.M. = F x

= Mrω2x
 For dynamic and static balance we must work out the

resultant turning moment and add masses at appropriate
points to cancel it out.
 The appropriate points will be on two planes not coplanar

with any of the original masses.
 This involves drawing two vector diagrams and since ω is

common to all vectors we can again take ω =1 and draw
vectors representing Mr and Mrx.
Balancing of Several Masses Rotating in Different Planes
• 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.
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Balancing of Several Masses Rotating in Different Planes
 Let us now consider four masses m1, m2, m3 and m4 revolving in
planes 1, 2, 3 and 4 respectively as shown in Fig. (a).
 The relative angular positions of these masses are shown in the end
view [Fig. (b)].
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The magnitude of the balancing masses mL and mM in planes L and M
may be obtained as discussed below :
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BALANCING OF
RECIPROCATING
MASSES
COMPLETE BALANCING OF RECIPROCATING PARTS
Conditions to be fulfilled:
1. Primary forces must balance i.e., primary force polygon is enclosed.
2. Primary couples must balance i.e., primary couple polygon is

enclosed.
3. Secondary forces must balance i.e., secondary force polygon is

enclosed.
4. Secondary couples must balance i.e., secondary couple polygon is

enclosed.
5. Usually, it is not possible to satisfy all the above conditions fully for
multi-cylinder engine.
6. Mostly some unbalanced force or couple would exist in the

reciprocating engines
Partial Balancing of Locomotives
The locomotives, usually, have two cylinders with cranks
placed at right angles to each other in order to have
uniformity in turning moment diagram.
The two cylinder locomotives may be classified as :
1. Inside cylinder locomotives
2. Outside cylinder locomotives.

In the inside cylinder locomotives, the two
cylinders are placed in between the planes of two
driving wheels as shown in Figure (a)
A single or uncoupled
locomotive is one, in
which the effort is
transmitted to one pair
of the wheels only
whereas in the outside cylinder locomotives, the two
cylinders are placed outside the driving wheels, one on
each side of the driving wheel, as shown in Figure(b).
coupled locomotives,
the driving wheels are
connected to the
leading
and trailing wheel by
an outside coupling
rod.
EFFECT OF PARTIAL BALANCING OF
RECIPROCATING PARTS OF TWO
CYLINDER LOCOMOTIVES
 The reciprocating parts are only partially balanced.
 Due to this partial balancing of the reciprocating parts,

there is an unbalanced primary force along the line of
stroke and also an unbalanced primary force
perpendicular to the line of stroke.
 The effect of an unbalanced primary force along the line
of stroke is to produce
 1. Variation in tractive force along the line of

stroke
 2. Swaying couple.
 The effect of an unbalanced primary force
perpendicular to the line of stroke is to produce
variation in pressure on the rails, which results in
hammering action on the rails.
 The maximum magnitude of the unbalanced force along

the perpendicular to the line of stroke is known as a
hammer blow
Variation of Tractive Force
The resultant unbalanced force due to the two
cylinders, along the line of stroke, is known
as tractive force
Let the crank for the first cylinder be inclined at
an angle θ with the line of stroke, as shown in
Figure.
Since the crank for the second cylinder is at right
angle to the first crank, therefore the angle of
inclination for the second crank will be (90° + θ ).
Let m = Mass of the reciprocating parts per
cylinder, and
c = Fraction of the reciprocating parts to
be balanced.
We know that unbalanced force along the line of
stroke for cylinder 1
= (1– c)m.ω2.r cosθ
Similarly, unbalanced force along the line of stroke
for cylinder 2,
= (1− c)m.ω2 ⋅ r cos(90° + θ)
As per definition, the tractive force,
FT = Resultant unbalanced force along the
line of stroke
= (1− c)m.ω2.r cos θ + (1− c)m.ω2.r cos(90° + θ)
= (1− c)m.ω2.r(cosθ −sin θ)

The tractive force is maximum or minimum when
(cos θ – sin θ ) is maximum or minimum.
For (cos θ – sin θ ) to be maximum or minimum,
Thus, the tractive force is maximum or minimum

when θ = 135° or 315°.
∴ Maximum and minimum value of the tractive
force or the variation in tractive force
= ±(1− c)m.ω2.r(cos135° − sin135°)
= ± 2 (1− c)m.ω2.r
Swaying Couple
The unbalanced forces along the line of stroke for
the two cylinders constitute a couple about the
centre line YY between the cylinders as shown in
Figure.
Swaying Couple
This couple has swaying effect about a vertical axis,
and tends to sway the engine alternately in clockwise
and anticlockwise directions.
Hence the couple is known as swaying couple.
Swaying Couple
Let a = Distance between the centre lines of the two
cylinders.
Swaying Couple
The swaying couple is maximum or minimum when
(cosθ + sin θ) is maximum or minimum. For (cosθ
+ sin θ) to be maximum or minimum,
Swaying Couple
Thus, the swaying couple is maximum or minimum
when θ = 45° or 225°.
∴ Maximum and minimum value of the swaying
couple
Swaying Couple
Note : In order to reduce the magnitude of the swaying couple,
revolving balancing masses are introduced. But, as discussed
in the previous article, the revolving balancing masses cause
unbalanced forces to act at right angles to the line of stroke.
These forces vary the downward pressure of the wheels on the
rails and cause oscillation of the locomotive in a vertical plane
about a horizontal axis. Since a swaying couple is more
harmful than an oscillating couple, therefore a value of ‘c’
from 2/3 to 3/4, in two-cylinder locomotives with two pairs of
coupled wheels, is usually used. But in large four cylinder
locomotives with three or more pairs of coupled wheels, the
value of ‘c’ is taken as 2/5.
Hammer Blow
 The maximum magnitude of the unbalanced force
along the perpendicular to the line of stroke is
known as hammer blow.
 We know that the unbalanced force along the

perpendicular to the line of stroke due to the
balancing mass B, at a radius b, in order to
balance reciprocating parts only is B. ω2.b sin θ
 This force will be maximum when sin θ is unity, i.e.

when θ = 90° or 270°.
∴ Hammer blow = B.ω2.b
Hammer Blow
 The maximum magnitude of the unbalanced force
along the perpendicular to the line of stroke is
known as hammer blow.
 We know that the unbalanced force along the

perpendicular to the line of stroke due to the
balancing mass B, at a radius b, in order to
balance reciprocating parts only is B. ω2.b sin θ
 This force will be maximum when sin θ is unity, i.e.

when θ = 90° or 270°.
∴ Hammer blow = B.ω2.b
Hammer Blow
The effect of hammer blow is to cause the variation in
pressure between the wheel and the rail.
This variation is shown in Fig. 22.6, for one revolution

of the wheel.
Hammer Blow
Let P be the downward pressure on the rails (or static
wheel load).
∴ Net pressure between the wheel and the rail
= P ± B.ω2.b
Hammer Blow
If (P–B.ω2.b) is negative, then the wheel will be lifted
from the rails.
Therefore the limiting condition in order that the
wheel does not lift from the rails is given by
P = B.ω2.b
and the permissible value of the angular speed,
STATIC BALANCING
(SINGLE PLANE BALANCING)
Single plane balancing
Adequate for rotors which are short in length,

such as pulleys and fans
F=mr
2
m
 Magnitude of
r unbalance
O2
Vibration
Elasticity of the bearing
occurs
Balancing of several masses
revolving in the same plane using a
Single balancing mass
m3r3 2 y
m3  2
m2r2 
m2
2
1
3 m1 x
bearing m1r1 2
m4 mb
m4r4 2
Graphical method of determination
magnitude and
Angular position of the balancing mass
m4r4 2
m3r3 2
b
m b r b 2
O m2r2 2
m1r1 2
Force vector polygon

Determination of magnitude and
Angular position of the balancing mass
m1r1 2 cos 1+ m2r2 2 cos  2
+ m3r3 2cos  3+ m4r4 2 cos  4
= mb cos b
m1r1 2 sin 1+ m2r2 2 sin  2
+ m3r3 2sin  3+ m4r4 2 sin  4
= mb sin b
magnitude ‘m b’ and position ‘b’ can be determined
by solving the above two equations.
Dynamic or "Dual-Plane" balancing
Dynamic balancing is required for components

such as shafts and multi-rotor assemblies.
Dynamic or "Dual-Plane" balancing
Statically balanced
mr
2
but dynamically unbalanced
r
r
Brg A Brg B
l
mr
2
Load on each support Brg

due to unbalance = (m r  l)/ L
2
Several masses revolving in different planes
Apply dynamic couple on the rotating shaft
Dynamic unbalance
Balancing of several masses rotating in different planes
A B C D
Fc
End view Fb

Fd
Fa
L M
Plane Mass Radius Force / 2, Dist. From Couple / 2
M r M r =F , ref plane Mrl =C
( kg) (cm) (kg. cm) l , (cm) (kg cm 2)
A Ma ra Mara -la -Mara la
L Ml rl Ml rl 0 0
(Ref.plane)
B Mb rb Mbrb lb Mbrb lb
C Mc rc Mcrc lc Mcrc lc
M Mm rm Mmrm d Mmrmd
D Md rd Mdrd ld Mdrdld
A B C D
Fm la
Fc
lb
lc
Fb
ld
Fa
Fl d
Fd
L, M
End view
Ref plane side view of the planes
Fc
Fm =?
Cc
Fd
Fb
Fc
Fa Cb Fm
Cd Ca
Fl=Ml rl Fb
F l =? Cm=Mmrmd Fa
Fd Couple polygon force polygon
From couple polygon, by measurement, Cm = Mm X r m X d

From force polygon, by measurement, Fl = Ml X rl
Example :
A shaft carries four masses in parallel planes A,B,C,&D in this order.

The masses at B & C are 18 kg & 12.5 kg respectively and each has an
eccentricity of 6 cm. The masses at A & D have an eccentricity of 8 cm.
The angle between the masses at B & C is 100 o and that between B &
A is 190o both angles measured in the same sense. The axial dist.
between planes A & B is 10cm and that between B & C is 20 cm. If the
shaft is complete dynamic balance,
Determine,
1 masses at A & D
2. Distance between plane C &D
3. The angular position of the mass at D
18 kg
A B C D
10 cm  =100o  =190 o
20 cm
12.5 kg
ld End view
Ma
Plane Mass Radius Force / 2, Dist. Couple / 2

M r Mr, From ref Mrl
kg cm kg. cm plane kg cm 2
l , cm
A Ma=? 8 8 Ma 0 0
B 18 6 108 10 1080
C 12.5 6 75 30 2250
D Md=? 8 8 Md ld=? 8 Md l d
A B C D 18 kg
10 cm  =100o  =190 o
20 cm
12.5 kg
Md
ld
Ma
Couple polygon force polygon

75
2,250
108 8 Md =63.5 kg. cm
1080
d= 203o
8 Ma = 78 kg .cm
8 Md ld= 2312 kg cm 2
O
O
From the couple polygon,
By measurement, 8 Md ld= 2,312 kg cm 2

M = 2312 / 8 = 289 kg cm
d ld
d= 203o
From force polygon,
By measurement, 8 Md = 63.5 kg cm
8 Ma = 78.0 kg cm
Md = 7.94 kg
Ma = 9.75 kg
ld = 289 /7.94 = 36.4 cm

A rigid rotor has all its unbalance in one plane and can be considered to consist of three masses
m1 = 5 kg, m2 = 3 kg at an angle of 165° counter clockwise from m1,
m3 = 8 kg at angle 85° clockwise from m1. The radii r1 = 20 cm, r2 = 8 cm, r3 = 14 cm. Determine
the balancing mass required at a radius of 10 cm. Specify the location of this mass with respect
to m1. [Use Analytical Method].
A rotating shaft carries four unbalanced masses 18 kg, 14 kg, 16 kg and 12 kg at radii 5 cm, 6 cm,
7 cm and 6 cm respectively. The 2nd, 3rd and 4th masses revolve in planes 8cm, 16cm and 28 cm
respectively measured from the plane of the first mass and are angularly located at 60°,135° and
270° respectively measured clockwise from the first mass looking from this mass end of the
shaft. The shaft is dynamically balanced by two masses, both located at 5 cm radii and revolving
in planes mid-way between those of 1st and 2nd masses and mid-way between those of 3rd and 4th
masses. Determine graphically or otherwise, the magnitudes of the masses and their respective
angular positions.
A shaft carries five masses A,B,C,D and E which revolve at the same radius in planes which are
equidistant from one another. The magnitude of A,C,D are 50 kg, 40 kg and 80 kg respectively.
The angle between A and C is 90° and that between C and D is 135°. Determine the magnitude
of the masses in planes B and E and their positions to put the shaft in complete rotating balance.
Four masses A, B, C and D revolve at equal radii and are equally spaced along a shaft. The mass
B is 7 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.
A four cylinder vertical engine has cranks 150 mm long. The planes of rotation of the first ,
second and fourth cranks are 400 mm , 200 mm and 200 mm respectively from the third crank
and their reciprocating masses are 50kg, 60 kg and 50 kg respectively. Find the mass of the
reciprocating parts for the third cylinder and the relative angular positions of the cranks in order
that the engine may be in complete primary balance.
The three cranks of a three cylinder locomotive are all on the same axle and are set at 120°. The
pitch of the cylinders is 1 metre and the stroke of each piston is 0.6 m. The reciprocating masses
are 300 kg for inside cylinder and 260 kg for each outside cylinder and the planes of rotation of
the balance masses are 0.8 m from the inside crank. If 40% of the reciprocating parts are to be
balanced, find : 1. the magnitude and the position of the balancing masses required at a radius of
0.6 m ; and 2. the hammer blow per wheel when the axle makes 6 r.p.s.
Four masses A, B, C and D are shown below are
completely balanced. The planes containing B and C
are 300 mm apart. The angle between planes
containing B and C is 900, B and D makes 2100 and
1200 respectively with D in the same sense. Determine
a)The magnitude and angular positions of
mass A
b)The position of planes A and D
A B C D
Mass (Kg) - 30 50 40
Radius 180 240 120 150
(mm)
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Take: 10kg-m=1cm

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6/5/2019 Hareesha N G, Dept of Aero Engg, DSCE, Blore 123
It is assumed that the mass of pulley B acts in vertical direction.
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.


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UNIT-II

Static & Dynamic Balancing

Balancing of single rotating mass by balancing

Balancing of several rotating masses by

Basic vector diagram construction.

 What the problem he had?

 The wheel would vibrate causing damage to itself and it’s

 A method had to be found to minimize the problem.

 The mass had to be evenly distributed about the rotating

eccentricity of mass from the axis of rotation of

 the last generate centrifugal forces when the part is in

 the magnitude of these forces increases rapidly with speed

 In the design of rotating parts of a machine every care is

 but there will be always some residual unbalance left in the

slight variation in the density of the material or

inaccuracies in the casting or

inaccuracies in machining of the parts.

Note: Mass balancing is routine for rotating

machines, some reciprocating machines,

long bearing life

controls free of malfunctioning, or a "quality" feel

• Pulley & gear shaft • Starter armatures • Airspace

• Centrifuge rotors • Electric motor • Fan and blowers

• Compressor rotors • Turbochargers • Precision shafts

• crank shafts • Grinding wheels • Steam &

In heavy industrial machines such as

Electrical Generators, failure occur due to more vibrations.

Vibrations audible and uncomfortable.

Ex: When a car wheel out of balance, ride is ?

In case of simple wheel, balancing simply involves

Minimize audible and signal noises.

Minimize structural fatigue stresses.

Minimize operator annoyance and fatigue.

Increase bearing life.

Minimize power loss.

The shape of the rotor is unsymmetrical.

Un symmetrical exists due to a machining error.

The material is not uniform, especially in Castings.

A deformation exists due to a distortion.

 An eccentricity exists in the inner ring of rolling

 Non-uniformity exists in either keys or keyseats.

 Non-uniformity exists in the mass of flange

Centrifugal force of "heavy" point of a rotor exceeds the

Balancing is the correction of this phenomena by the

This occurs when there is no resultant centrifugal force

This occurs when there is no resulting turning moment

 A simple test for static balance is to place the wheel in frictionless

 If it is balanced it will remain stationary no matter which position it is

 If the centre of gravity is distance r from the centre of rotation then

 This has a formula C.F.= M ω2 r

 where M is the mass of the disc.

 This is the out of balance force.

 In order to cancel it out an equal and opposite force is needed.

 This is simply done by adding a mass M2 at a radius r2 as shown.

 The two forces must have the same magnitudes.

 Placing a suitable mass at a suitable radius moves the centre of

 The centrifugal force acting on each mass is F = M r ω2.

 The radius of rotation is r and the angular velocity is ω in

 The force acting on each one is hence

 If the system was balanced, there would be no resultant force

 The balancing mass M4 is then added at a suitable radius and angle

 when ω = 0 we have static balance. In order to make the solution

 we may make ω = 1 and calculate M r for each vector.