Inertia properties of some homogeneous bodies A = cross-sectional area m = mass C = location of the centroid z m = lA l/2 C x z b/2 b/2 a/2

a/2 C c/2 c/2 y m = abc 1 m(b2 + c2 ) 12 1 I y = m(a2 + c2 ) 12 1 I z = m(a2 + b2 ) 12 Ix = l/ 2 y Ix = Iz = Iy = 0 m 2 l 12 = mass density Ix , Iy , Iz = moments of inertia with respect to x, y, z axis

x z 4 m = R2 3 2 I x = I y = I z = mR2 5

C R x z

C R x

y 3R/8

2 m = R3 3 83 Ix = Iy = mR2 320 2 I z = mR2 5

z R h/2 C h/2 x z h/2 C h/2 x R1 R2 y

2 2 m = h(R1 R2 )

m = R2 h y Ix = Iy = 1 m(3R2 + h2 ) 12

1 I z = mR2 2

Ix = Iy =

1 2 2 m(3R1 + 3R2 + h2 ) 12

1 2 2 I z = m(R1 + R2 ) 2