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Moments of Inertia: Z Z P M P M O
Moments of Inertia: Z Z P M P M O
Moments of Inertia
4.1 Introduction
A system of n particle Pi , i = 1, 2, ..., n is considered. The mass of the particle Pi is
mi as shown in Fig. 4.1
z
zi
P1 (m1)
P2 (m2)
O
Pi (mi)
ri
yi
xi
(4.1)
4 Moments of Inertia
Iyy = B = mi z2i + xi2 ,
i
Izz = C = mi xi2 + y2i .
(4.2)
(4.3)
The products of inertia of the system about the axes xy, yz and zx are
Iyz = D = mi yi zi , Izx = E = mi zi xi , Ixy = F = mi xi yi .
(4.4)
Between the different moments of inertia one can write the relations
IO = Ix0y + Iy0z + Iz0x =
1
(Ixx + Iyy + Izz ) ,
2
and
Ixx = Iy0z + Iz0x .
For a continuous domain D, the previous relations become
Z
IxOy =
Ixx =
IO =
Ixy =
ZD
z2 dm, IyOz =
Z
D
x2 dm, IzOx =
Z
y2 + z2 dm, Iyy =
y2 dm,
Z
x2 + z2 dm, Izz =
x2 + y2 dm,
x + y + z dm,
ZD
D
xy dm, Ixz =
xz dm, Iyz =
yz dm.
(4.5)
dV
r
O
x
Fig. 4.2 Rigid body in space with mass m and differential volume dV
Ixx =
Z
Z
y2 + z2 dV, Iyy = z2 + x2 dV, Izz = x2 + y2 dV, (4.6)
V
Ixy = Iyx =
y z dV.
(4.7)
The moment of inertia given in Eq. (4.6) is just the second moment of the mass
distribution with respect to a cartesian axis. For example, Ixx is the integral of summation of the infinitesimal mass elements dV , each multiplied by the square of its
distance from the x axis.
The effective value of this distance for a certain body is known as its radius of
gyration with respect to the given axis. The radius of gyration corresponding to I j j
is defined as
r
Ij j
,
kj =
m
where m is the total mass of the rigid body, and where the symbol j can be replaced
by x, y or z. The inertia matrix of a rigid body is represented by the matrix
I =
d 2 dm,
4 Moments of Inertia
z
dm
d
r
y
O
where d is the perpendicular distance from dm to . The position of the mass element dm is located using the position vector r and then d = r sin , which represents
the magnitude of the cross product u r. The moment of inertia can be expressed
as
Z
Z
I = |u r|2 dm = (u r) (u r) dm.
D
= cos2
Z
y2 + z2 dm + cos2
Z
z2 + x2 dm + cos2
D
2 cos cos
Z
D
xy dm 2 cos cos
x2 + y2 dm
Z
D
yz dm 2 cos cos
zx dm.
D
(4.8)
z
dV
Centroid
( xc , yc , zc )
y
O C
z
y
y
x
x
(4.9)
The moment of inertia about the x axis can be written in terms of primed coordinates
by using Eqs. (4.6) and (4.9)
Z h
2
2 i
dV
Ixx = y0 + yc + z0 + zc
V
= ICx0 x0 + 2yc
y0 dV + 2zc
z0 dV + m y2c + z2c ,
(4.10)
where m is the total mass of the rigid body, and the origin of the primed coordinate
system was chosen at the mass center. One can write
Z
V
x0 dV =
Z
V
y0 dV =
z0 dV = 0,
(4.11)
and therefore the two integrals on the right hand side of Eq. (4.10) are zero. In a
similar way one can obtain Iyy and I. The results are summarized as follows
Ixx = ICx0 x0 + m y2c + z2c ,
Iyy = ICy0 y0 + m xc2 + z2c ,
Izz = ICz0 z0 + m xc2 + y2c ,
(4.12)
or, in general,
Ikk = ICk0 k0 + m d 2 ,
(4.13)
4 Moments of Inertia
where d is the distance between a given unprimed axis and a parallel primed
axis passing through the mass center C. Equation (4.13) represents the parallel
axes theorem. The products of inertia are obtained in a similar manner, using
Eqs. (4.7) and (4.9)
Z
Ixy =
x0 + xc
y0 + yc dV
= ICx0 y0 + xc
y0 dV + yc
x0 dV + m xc yc .
The two integrals on the previous equation are zero. The other products of inertia
can be calculated in a similar manner and the results written as follows
Ixy = ICx0 y0 + m xc yc ,
Ixz = ICx0 z0 + m xc zc ,
Iyz = ICy0 z0 + m yc zc .
(4.14)
From Eqs. (4.12) and (4.14), result that a translation of axes away from the mass
center results in an increase in the moments of inertia. The products of inertia may
increase or decrease, depending upon the particular case.
z
dV
r
y
O
x
y
x
Eq. (4.6) it results that the moments of inertia cannot be negative. Furthermore,
r2 dV,
(4.15)
I1 0 0
I = 0 I2 0 .
0 0 I3
When the point O under consideration is the mass center of the rigid body one
speaks of central principal moments of inertia.
4 Moments of Inertia
of the vector OQ with the module OQ = , and where I is the moment of
I
inertia about the instantaneous axis of rotation , as shown in Fig. 4.6. The segment
y1
z
O
z1
x1
OQ is calculated with
1
1
|OQ| = =
,
k0 m
I
where k0 is the radius of gyration of the body about the given axis and m is the total
mass. For a cartesian system of axes the equation of the ellipsoid surface centered
at O is
Ixx x2 + Iyy y2 + Izz z2 + 2 Ixy x y + 2 Ixz x z + 2 Iyz y z = 1.
(4.17)
The radius of gyration of a given rigid body depends upon the location of the axis
relative to the body, and is not depended upon the position of the body in space. The
ellipsoid of inertia is fixed in the body and rotates with it. The x1 , y1 , and z1 axes
are assumed to be the principal axes of the ellipsoid, as shown in Fig. 4.6. For the
principal axes, the equation of the inertia ellipsoid, Eq. (4.17), takes the following
simple form
(4.18)
I1 x12 + I2 y21 + I3 z23 = 1.
The previous equation is of the same form as Eq. (4.17) for the case where the
x1 , y1 , and z1 axes are the principal axes of the rigid body and all products of inertia
vanish. Therefore I1 , I2 , and I3 are the principal moments of inertia of the rigid body
and, furthermore, the principal axes of the body coincide with those of the ellipsoid
of inertia. From Eq. (4.18) the lengths of the principal semiaxes of the ellipsoid of
inertia are
1
l1 = ,
I1
1
l2 = ,
I2
1
l3 = .
I3
From the parallel-axis theorem, Eq. (4.13), one can remark that the minimum moment of inertia about the mass center is also the smallest possible moment of inertia
for the given body with respect to any reference point.
If the point O is the same as the mass center (O C), the ellipsoid is named
principal ellipsoid of inertia.
dA
x
r
A
x
Ixx =
Iyy =
y2 dA,
(4.19)
x2 dA.
(4.20)
A
A
10
4 Moments of Inertia
A kx2
= Ixx =
y dA =
A
kx2
A
Z
A ky2
= Iyy =
x dA =
A
ky2
y2 dA
Ixx
,
A
Iyy
.
A
x2 dA
(4.21)
This point (kx , ky ) depends on the shape of the area and on the position of the reference. The centroid location is independent of the reference position.
The product of inertia for an area A is defined as
Z
Ixy =
(4.22)
xy dA.
A
This quantity may be positive or negative and relates an area directly to a set of axes.
If the area under consideration has an axis of symmetry, the product of area for
this axis is zero. Consider the area in Fig. 4.8, which is symmetrical about the vertical axis y. The planar cartesian frame is xOy. The centroid is located somewhere
y
dA
dA Centroid
y C
along the symmetrical axis y. Two differential element of areas that are positioned as
mirror images about the y axis are shown in Fig. 4.8. The contribution to the product
of area of each elemental area is x y dA, but with opposite signs, and so the result is
zero. The entire area is composed of such elemental area pairs, and the product of
area is zero. The product of inertia for an area Ixy is zero (Ixy = 0) if either the x or y
axis is an axis of symmetry for the area.
Transfer theorem or parallel-axis theorem
The x axis in Fig. 4.9 is parallel to an axis x0 and it is at a distance b from the axis x0 .
The axis x0 is going through the centroid C of the A area, and it is a centroidal axis.
The second moment of area about the x axis is
Z
Ixx =
y2 dA =
Z
A
11
dA
y
Centroid
x
b
Ixx =
y02 dA + 2b
y0 dA + A b2 .
ICx0 x0 =
y02 dA.
The second term involves the first moment of area about the x0 axis, and it is zero
because the x0 axis is a centroidal axis
Z
y0 dA = 0.
The second moment of the area A about any axis Ixx is equal to the second moment
of the area A about a parallel axis at centroid ICx0 x0 plus A b2 , where b is the perpendicular distance between the axis for which the second moment is being computed
and the parallel centroidal axis
Ixx = ICx0 x0 + A b2 .
With the transfer theorem, the second moments or products of area about any axis
can be computed in terms of the second moments or products of area about a parallel
set of axes going through the centroid of the area in question.
In handbooks the areas and second moments about various centroidal axes are
listed for many of the practical configurations, and using the parallel-axis theorem
second moments can be calculated for axes not at the centroid.
In Fig. 4.10 are shown two references, one x0 y0 at the centroid C and the other
xy arbitrary but positioned parallel relative to x0 y0 . The coordinates of the centroid
C(xC , yC ) of area A measured from the reference x, y are c and b, xC = c, yC = b.
The centroid coordinates must have the proper signs. The product of area about the
noncentroidal axes xy is
Z
Ixy =
or
x y dA =
A
12
4 Moments of Inertia
y
dA
x-(x -c)
c
x
C
Centroid
A
y-(y -b)
Fig. 4.10 Centroidal axes x0 y0 parallel to reference axes xy: Cx0 x0 ||xx and Cy0 y0 ||yy
Ixy =
x0 y0 dA + c
y0 dA + b
x0 dA + A b c.
Ix0 y0 =
x0 y0 dA.
The next two terms of the right-hand side are zero since x0 and y0 are centroidal axes
Z
y0 dA = 0 and
x0 dA = 0.
Ixx + Iyy =
=
A
y2 dA +
x2 dA
(x2 + y2 ) dA =
r2 dA,
13
(4.23)
The polar moment of area is an invariant of the system. The group of terms
2 is also invariant under a rotation of axes. The polar radius of gyration is
Ixx Iyy Ixy
r
kO =
IO
.
A
(4.24)
Principal Axes
In Fig. 4.11, an area A is shown with a reference x y having its origin at O. Another
reference x0 y0 with the same origin O is rotated with an angle from xy (counterclockwise as positive). The relations between the coordinates of the area elements
dA for the two references are
y
y
dA
x
y
x
y
O
Fig. 4.11 Reference xy and reference x0 y0 rotated with an angle
Ix0 x0 =
= sin2
(y0 )2 dA =
Z
A
(x sin + y cos )2 dA
x2 dA 2 sin cos
xy dA + cos2
y2 dA
(4.25)
1 cos 2
1 + cos 2
, sin2 =
,
2
2
sin 2 =
sin cos
,
2
(4.26)
14
4 Moments of Inertia
(4.27)
Ix0 y0 =
x0 y0 dA =
Ixx Iyy
sin 2 + Ixy cos 2.
2
(4.28)
If Ixx , Iyy , and Ixy are known for a reference xy with an origin O then the second
moments and products of area for every set of axes at O can be computed. Next,
y
it is assumed that Ixx , Iyy , and Ixy are known for a reference xy. The sum of the
second moments of area is constant for any reference with origin at O. The minimum
second moment of area corresponds to an axis at right angles to the axis having the
maximum second moment, as shown in Fig. 4.12. This particular set of axes if called
principal axis of area and the corresponding moments of inertia with respect to these
axes are called principal moments of inertia.
The second moments of area can be expressed as functions of the angle variable
. The maximum second moment may be determined by setting the partial derivative of Ix0 x0 with respect to equal to zero. Thus
Ix0 x0
= (Ixx Iyy )( sin 2) 2Ixy cos 2 = 0,
(4.29)
or
(Iyy Ixx ) sin 20 2Ixy cos 20 = 0,
where 0 is the value of which defines the orientation of principal axes. Hence,
tan 20 =
2Ixy
.
Iyy Ixx
(4.30)
15
The angle 0 corresponds to an extreme value of Ix0 x0 (i.e., to a maximum or minimum value). There are two roots for 20 , which are radians apart, that will satisfy
the previous equation. Thus,
201 = tan1
2Ixy
2Ixy
1
= 01 = tan1
,
Iyy Ixx
2
Iyy Ixx
and
202 = tan1
2Ixy
2Ixy
1
+ = 02 = tan1
+ .
Iyy Ixx
2
Iyy Ixx 2
This means that there are two axes orthogonal to each other having extreme values
for the second moment of area at O. One of the axes is the maximum second moment
of area, and the minimum second moment of area is on the other axis. These axes
are the principal axes.
With = 0 , the product of area Ix0 y0 becomes
Ix0 y0 =
Ixx Iyy
sin 20 + Ixy cos 20 .
2
(4.31)
+ Ixy .
(4.32)
I1, 2 = Imax, min =
2
2
If I is a principal moment of inertia, then I satisfies the quadratic characteristic
equation
16
4 Moments of Inertia
Ixx I Ixy
Iyx Iyy I = 0.
(4.33)
4.7 Examples
Example 4.1
A rectangular planar plate with the sides b=1 m and h=2 m is shown in Fig. E4.1.
a) Find the product of inertia and the moments of inertia with respect to the axes
of the reference frame xy with the origin at O.
b) Determine the product of inertia and the moments of inertia with respect to the
centroidal axes that are located at the mass center C of the rectangle and are parallel
to its sides.
c) Another reference uv with the same origin O is rotated with an angle =45
from xy (counterclockwise as positive). Find the inertia matrix of the plate with
respect to uv axes.
d) Find the principal moments and the principal directions with the reference
frame xy with the origin at O.
Solution
a) The differential element of area is dA = dx dy. The product of inertia of the rectangle about the xy axes is
y
y
dx
y
h
dy
x
C
y
u
x
b
4.7 Examples
17
Z hZ b
Ixy =
x y dA =
Z b
x y dx dy =
0
Z h
y dy =
x dx
b2 h2
b2 h2
12 (22 )
=
=
= 1 m4 .
2 2
4
4
Ixx =
Z hZ b
y2 dA =
y2 dx dy =
Z b
Z h
dx
y2 dy = b
h3
b h3
(1) 23
=
=
= 2.666 m4 .
3
3
3
Iyy =
Z hZ b
x2 dA =
x2 dx dy =
Z b
x2 dx
Z h
dy =
0
h b3
(3) 13
b3
h=
=
= 0.666 m4 .
3
3
3
The moment of inertia of the rectangle about z axis (the polar moment about O) is
1 (2) 2
A 2
(b + h2 ) =
(1 + 22 ) = 3.33 m4 .
3
3
The inertia matrix of the plane figure with respect to xy axes is represented by
b h3 b2 h2
0
Ixx Ixy Ixz
2.666 1
0
23 2 4 3
1 0.666 0 .
[I] = Iyx Iyy Iyz = b h h b
=
0
4
3
0
0 3.33
Izx Izy Izz
A 2
0
0
(b + h2 )
3
b) The product of inertia of the rectangle about the x0 y0 axes is
Z h/2 Z b/2
Ix0 y0 =
x y dA =
A
Z h/2
h/2 b/2
x y dx dy =
h/2
Z b/2
x dx
b/2
y dy = 0.
bh
A,
22
or
bh
b2 h2 b2 h2
(b h) =
= 0.
4
4
4
The moment of inertia of the rectangle about x0 axis is
Ix0 y0 = Ixy
Ix0 x0 =
=
y2 dA =
A
h/2
{x}h/2
Z h/2 Z b/2
h/2 b/2
y3
3
b/2
=
b/2
y2 dx dy =
Z b/2
Z h/2
h/2
dx
b/2
y2 dy
b h3
(1) 23
=
= 0.666 m4 .
12
12
18
4 Moments of Inertia
Using the parallel axis-theorem the moment of inertia of the rectangle about y0 axis
is
2
h b3 h b3
h b3
(2) 13
b
A=
=
=
= 0.166 m4 .
Iy0 y0 = Iyy
2
3
4
12
12
The moment of inertia of the rectangle about z0 axis (the centroid polar moment) is
IC = Iz0 z0 = Ix0 x0 + Iy0 y0 =
A 2
1(2) 2
(b + h2 ) =
(1 + 22 ) = 0.833 m4 .
12
12
The inertia matrix of the plane figure with respect to centroidal axes x0 y0 is represented by
b h3
0
0
12
0.666 0
0
Ix0 z0
3
hb
= 0 1.666 0 .
Iy0 z0 =
0
0
12
0
0
Iz z
0
0 0.833
A 2
0
0
(b + h2 )
12
Ix0 x0 Ix0 y0
Ixx Iyy
sin 2 + Ixy cos 2 =
2
2.666 0.666
sin 2(45 ) + (1) cos 2(45 ) = 1 m4 .
2
Iuu Iuv 0
0.666 1
0
[I ] = Ivu Ivv 0 = 1 2.666 0 .
0
0 Izz
0
0 3.33
4.7 Examples
19
+ Ixy ,
I1, 2 = Imax, min =
2
2
s
Ixx + Iyy
Ixx Iyy 2 2
I1 = Imax =
+ Ixy =
+
2
2
s
2.666 + 0.666
2.666 0.666 2
+
+ 12 = 3.080 m4 ,
2
2
s
Ixx + Iyy
Ixx Iyy 2 2
I2 = Imin =
+ Ixy =
2
2
s
2.666 + 0.666
2.666 0.666 2
+ 12 = 0.252 m4 .
2
2
The polar moment of inertia of the rectangle about O is
IO = Izz = I1 + I2 = Iuu + Ivv = Ixx + Iyy = 3.0806 + 0.252 = 3.33 m4 .
The principal directions are obtained from
tan 20 =
2Ixy
,
Iyy Ixx
or
0 =
1 1 2Ixy
1
2(1)
tan
= tan1
= 22.5 .
2
Iyy Ixx
2
0.666 2.666
Example 4.2
Determine the moment of inertia for the slender rod, shown in Fig. E4.2, with respect to axes of reference with the origin at the end O and with respect to centroidal
axes. The length of the rod is l, the density is , and the cross-sectional area ia A.
Express the results in terms of the total mass, m, of the rod.
Solution
The mass of the rod is m = l A and the density will be = m/(l A). The differential
element of mass is dm = A dx. The moment of inertia of the slender rod about the
20
4 Moments of Inertia
z
dx x
O
y
C
x
y or z axes is
Z l
Iyy = Izz =
x2 A dx =
Z l
m
0
lA
A x2 dx =
m
l
Z l
0
x2 dx =
m l2
.
3
The x axis is a symmetry axis and that is why Ixx = 0. The moment of inertia of
the slender rod about the centroidal axes y0 or z0 is calculated with the parallel-axis
theorem
2
l
m l2
m l2 m l2
0
0
0
0
Iy y = Iz z = Iyy
=
.
m=
2
3
4
12
Example 4.3
Find the polar moment of inertia of the planar flywheel shown in Fig. E4.3(a). The
radii of the wheel are R1 and R2 (R1 < R2 ). Calculate the moments of inertia of the
area of a circle withradius R about a diametral axis and about the polar axis through
the center as shown in Fig. E4.3(b).
Solution
The polar moment of inertia is given by the equation
Z
IO =
r2 dA,
where r is the distance from the pole O to an arbitrary point on the wheel and the
differential element of area is
dA = r d dr.
The polar moment of inertia is
4.7 Examples
21
dr
y
dr
dA
dA
y
R2
R1
(a)
(b)
IO =
Z R2 Z 2
R1
r3 dr d =
Z R2
r3 dr
Z 2
R1
d =
0
R4 R41
R42 R41
(2 ) = 2
.
4
2
R22 + R21
.
2
(4.34)
If R1 = 0 and R2 = R the polar moment of inertia of the circular area of radius R is,
Fig. E4.3(b)
A R2
R4
IO =
=
.
2
2
By symmetry for the circular area, shown in Fig. E4.3(b), the moment of inertia
about a diametral axis is Ixx = Iyy and IO = Ixx + Iyy = Ixx = Iyy = IO /2 = R4 /4.
The results can be obtained using the integration
Z
Z R Z 2
y2 dA =
(r sin )2 r dr d =
A
0
0
R4 1
sin 2 2 R4
=
=
4 2
2
4
0
Ixx =
Z 2 4
R
0
(sin )2 d
22
4 Moments of Inertia
Example 4.4
Find the moments of inertia and products of inertia for the area shown in Fig. E4.4(a),
with respect to the xy axes and with respect to the centroidal x0 y0 axes that pass
trough the mass center C. Find the principal moments of inertia for the area and the
principal directions.
y
a
2a
a
O
3a
(a)
y1
y
C1
y2
x1
x
x2
C2
O
(b)
Fig. E4.4 Example 4.4
Solution
The plate is composed of two element area: the rectangular area 1 and the rectangular area 2, Fig. E4.4(b). The x and y coordinates of the mass center C are
4.7 Examples
23
xC1 A1 + xC1 A1
(a/2)(2 a2 ) + (2 a)(2 a2 ) 5 a
=
=
A1 + A2
2 a2 + 2 a2
4
2
2
yC1 A1 + yC1 A1
(a)(2 a ) + (a/2)(2 a ) 3 a
=
=
yC =
.
A1 + A2
2 a2 + 2 a2
4
xC =
The product of inertia for the area shown in Fig. E4.4(a) about xy axes is given by
Z a Z 2a
Z 3a Z a
Ixy =
Z 2a
Z a
x y dxdy +
x y dxdy =
0 0
a
0
a2 4a2
9a2 a2 a2
=
+
= 3a4 .
4
4
Z 3a
y dy +
x dx
0
Z a
x dx
a
y dy
0
10a4 28a4
38a4
+
=
.
3
3
3
10a4
4
3a
0
Ixx Ixy Ixz
3
4
28a
[I] = Iyx Iyy Iyz = 3a4
.
0
3
Izx Izy Izz
4
38a
0
0
3
Using the parallel-axes theorem the moments of inertia of the area with respect to
the centroidal axes x0 y0 z0 are
24
4 Moments of Inertia
Ix0 x0
Iy0 y0
2
3a
10a4
(4a2 ) =
= Ixx (xC ) A =
3
4
2
28a4
5a
= Iyy (yC )2 A =
(4a2 ) =
3
4
2
13a4
,
12
37a4
,
12
25a4
13a4 37a4
+
=
,
12
12
6
3a
5a
3a4
Ix0 y0 = Ixy (xC )(yC ) A = 3a4
,
(4a2 ) =
4
4
4
Ix0 z0 = Iy0 z0 = 0.
Iz0 z0 = Ix0 x0 + Iy0 y0 =
13a4 3a4
0
124
44
0 x0 Ix0 y0 Ix0 z0
I
x
0
3a 37a
I = Iy0 x0 Iy0 y0 Iy0 z0 =
0
4
12
Iz0 x0 Iz0 y0 Iz0 z0
25a4
0
0
6
+ Ix0 y0 =
2
2
25a4 5a4
25a4 a4 p
.
4 + 9/4 =
=
12
2
12
4
10a4
5a4
I1 =
and I2 =
.
3
6
The invariant of the system is: Ix0 x0 + Iy0 y0 = I1 + I2 . The principal directions are
obtained from
tan 2 =
1 =
2I
Iy0 y0 Ix0 x0
x 0 y0
3a4
4 = 3 =
=
4
24a4
12
2
1 1
1
tan (3/4) = 36.869 and 2 = + tan1 (3/4) = 53.131 .
2
2 2
Example 4.5
Find the inertia matrix of the area delimited by the curve y2 = 2 p x, from x = 0 to
x = a as shown in Fig E4.5(a), about the axes of the cartesian frame with the origin
at O. Calculate the centroidal inertia matrix.
4.7 Examples
25
y
y 2 = 2px
y 2 = 2px
b
x
x
xC
a
a
(b)
(a)
Fig. E4.5 Example 4.5
Solution
From Fig E4.5(a) when x = a the value of y coordinate is y = b and b2 = 2 p a =
2 p = b2 /a. The expression of the function is
y2 = 2 p x =
b2
x
a
A=
dx dy =
0
Z a
dx
0
dx dy
2px
2px
{y}2px
Z 2px
Z a
dx
0
dy
2px
Z a p
p Z a 1/2
2b
2px dx = 2 2p
x dx =
a
0
x3/2
3/2
)a
=
0
Ixx =
Z a Z 2px
y dx dy =
0
Z a
dx
2px
3
2
(2p)3/2
3
2px
2
=
3
2px
y
3
Z a
x
0
3/2
Z 2px
Z a
dx dy =
Z a
dx
0
2px
dy =
(2px)3/2 dx =
2
dx = (2p)3/2
3
or
Ixx =
b2 A
.
5
x5/2
5/2
)a
=
0
4 a b3
4 a b b2
=
,
15
3 5
4ab
.
3
26
4 Moments of Inertia
Iyy =
Z a Z 2px
x dx dy =
0
A
Z a
2px
2px
Z a
Z a
dx dy =
Z 2px
x dx
0
dy
2px
x2 dx {y}2px = 2
x2 (2px)1/2 dx =
0
0
(
)a
Z
2b x7/2
4 a3 b 4 a b 3a2
2b a 5/2
x dx =
=
=
,
a 0
a 7/2
7
3 7
0
or
3a2 A
.
7
The moment of inertia of the area with respect to z axis is
2
b
3a2
b2 A 3a2 A
+
=A
+
.
Izz = Ixx + Iyy =
5
7
5
7
Iyy =
Ixy =
x y dx dy =
A
Z a
x dx
x y dx dy
0 2px
2px
2
y
2
2px
Z 2px
Z a
x dx
0
y dy
2px
= 0.
The products of inertia of the area with respect to xz and yz axes are Ixz = Iyz = 0.
The inertia matrix of the plane figure is
b2 A
0
0
5
2A
3a
7
Izx Izy Izz
b2 3a2
0
0 A
+
5
7
My =
x dx dy =
A
Z a
2px
x dx dy
2px
Z a p
Z 2px
Z a
x dx
0
dy
2px
x dx {y}2px = 2
x 2px dx =
0
0
(
)a
Z
2b a 3/2
2b x5/2
2b a5/2
4 b a2
x dx =
=
=
a 0
a 5/2
a 5/2
5
0
4.7 Examples
27
xC =
My
4 b a2 3
3a
=
=
.
A
5 4ab
5
=
5
7
25
175
2
2
2
2
b
a
b A 12 a A
Iz0 z0 = Ix0 x0 + Iy0 y0 =
+
=A
+
,
5
175
5
175
Ix0 y0 = Ixy (xC )(0) A = 0,
Ix0 x0 = Ixx d 2 A = Ixx =
Ix0 z0 = Iy0 z0 = 0.
The centroidal inertia matrix of the plane figure is
b2 A
0
0
Ix0 z0
5
2A
12
a
Iy0 z0 = 0
0
.
175
2
Iz0 z0
2
b
a
0
0
A
+
5
175
Ix0 x0 Ix0 y0
0
I = Iy0 x0 Iy0 y0
Iz0 x0 Iz0 y0
28
4 Moments of Inertia
4.8 Problems
4.1 Determine the moment of inertia about the x-axis of the shaded area shown in
Fig. P4.1 where m = h/b and b = h = 1 m. Use integration.
y
y =mx
h
x
b
Fig. P4.1 Problem 4.1
4.2 Determine the moment of inertia about the y-axis of the area shown in Fig. P4.2
where a = 1 m. and b = 5 m. Use integration.
y
b
y = x2/3
a
x
O
Fig. P4.2 Problem 4.2
4.3 Determine the moment of inertia about the x-axis of the area shown in Fig. P4.3
where a = 4 m. and b = 3 m. Use integration.
y
x=ky2
b
O
Fig. P4.3 Problem 4.3
4.8 Problems
29
4.4 Determine the moment of inertia about the centroidal axes of the area shown in
Fig. P4.4 where r = 1 m.
y
2r
r
2r
2r
2r
4.5 Determine the moments of inertia and the products of inertia about the centrodial
axes of the shaded area shown in Fig. P4.5, where a = 1 in. Find the centroid
polar moment of inertia. The mass center of the shaded area is at C.
y
a
3a
Fig. P4.5 Problem 4.5
30
4 Moments of Inertia
4.6 Determine the moment of inertia about the centrodial axes of the area shown
in Fig. P4.6, where a = 150 mm, b = 100 mm, and the uniform thickness is
t = 20 mm.
y
t
b
b
a
4.7 The region shown bounded by the curves y = x and y = x2 /a, where a = 15 cm.
Find the area moments of inertia about the x and y axes.
y
y=x
y = x2/a
O
Fig. P4.7 Problem 4.7
4.8 The polar moment of inertia of the area shown in Fig. P4.8, is ICzz about the z-axis
passing through the centroid C. If the moment of inertia about the y0 axis is Iy0 y0
and the moment of inertia about the x-axis is Ixx . Determine the area A. Numerical
application: ICzz = 548 106 mm4 , Iy0 y0 = 383 106 mm4 , Ixx = 856 106 mm4 ,
and h = 250 mm.
y
x
C
h
4.9 The polar moment of inertia of the area, A, about the z-axis passing through the
centroid C is ICzz , see Fig. P4.9. The moment of inertia of the area about the x-axis
4.8 Problems
31
is Ixx . Find the moment of inertia about the y0 axis, Iy0 y0 . Numerical application:
ICzz = 23 in4 , Ixx = 40 in4 , A = 2.44 in2 , and h = 3 in.
y
x
C
A
4.10 Determine the area moments of inertia Iuu and Ivv and the product of inertia Iuv
for the semicircular area with the radius r = 60 mm and = 30 .
y
v
32
4 Moments of Inertia
A = area, in2 (m 2 )
y
h
A = bh
bh3
12
b3 h
Iyy =
12
x
h/2
Ixx =
IC =
bh 2
(b + h2 )
12
bh
2
bh3
Ixx =
36
b3 h
Iyy =
36
IC =
bh 2
(b + h2 )
36
A=
h
C
h/3
b
y
A=
x
d
2
(d d2i )
4
I C = (d4 d4i )
32
A=
C
r
d4
32
d4
64
A=
yC
Ixx = Iyy =
IC =
y
di
d2
4
r 2
2
Ixx = Iyy =
yC =
4r
3
r 4
8
4.8 Problems
33
= mass density
m = mass
z
m = lA
l/2
l/ 2
I xx = I zz =
m 2
l
12
I yy = 0
x
z
b/2 b/2
m = abc
c/2
a/2
c/2
a/2
1
m(b2 + c2 )
12
1
I yy = m(a2 + c2 )
12
1
I zz = m(a2 + b2 )
12
I xx =
C
x
z
4
m = R2
3
2
I xx = I yy = I zz = mR2
5
x
z
C
R
x
y
3R/8
2
m = R3
3
83
mR2
I xx = I yy =
320
2
I zz = mR2
5
34
4 Moments of Inertia
z
R
h/2
C
m = R2 h
y
I xx = I yy =
1
m(3R2 + h2 )
12
1
I zz = mR2
2
h/2
x
z
h/2
C
h/2
x
R1 R2
m = h(R12 R22 )
I xx = I yy =
1
m(3R12 + 3R22 + h2 )
12
1
I zz = m(R12 + R22 )
2