D U SEFUL T ABLES

TABLE D / 1 PHYSICAL PROPERTIES

Density (kg /m3) and specific weight (lb /ft3)

kg / m3 lb / ft3 kg / m3 lb / ft3

Air* 1.2062 0.07530 Lead 11 370 710

Aluminum 2 690 168 Mercury 13 570 847
Concrete (av.) 2 400 150 Oil (av.) 900 56
Copper 8 910 556 Steel 7 830 489
Earth (wet, av.) 1 760 110 Titanium 4 510 281
(dry, av.) 1 280 80 Water (fresh) 1 000 62.4
Glass 2 590 162 (salt) 1 030 64
Gold 19 300 1205 Wood (soft pine) 480 30
Ice 900 56 (hard oak) 800 50
Iron (cast) 7 210 450

* At 20°C (68°F) and atmospheric pressure

Coefficients of friction

(The coefficients in the following table represent typical values under normal
working conditions. Actual coefficients for a given situation will depend on the
exact nature of the contacting surfaces. A variation of 25 to 100 percent or more
from these values could be expected in an actual application, depending on prevail-
ing conditions of cleanliness, surface finish, pressure, lubrication, and velocity.)

TYPICAL VALUES
OF COEFFICIENT
OF FRICTION

CONTACTING SURFACE STATIC, ␮s KINETIC, ␮k

Steel on steel (dry) 0.6 0.4

Steel on steel (greasy) 0.1 0.05
Teflon on steel 0.04 0.04
Steel on babbitt (dry) 0.4 0.3
Steel on babbitt (greasy) 0.1 0.07
Brass on steel (dry) 0.5 0.4
Brake lining on cast iron 0.4 0.3
Rubber tires on smooth pavement (dry) 0.9 0.8
Wire rope on iron pulley (dry) 0.2 0.15
Hemp rope on metal 0.3 0.2
Metal on ice 0.02
673
674  Appe ndix D  Us ef ul Tabl es

TABLE D / 2 SOLAR SYSTEM CONSTANTS

Universal gravitational constant G = 6.673(10−11) m3/(kg ∙ s2 )

= 3.439(10−8) ft4/(lbf-s4)
Mass of Earth me = 5.976(1024) kg
= 4.095(1023) lbf-s2/ ft
Period of Earth’s rotation (1 sidereal day) = 23 h 56 min 4 s
= 23.9344 h
Angular velocity of Earth ␻ = 0.7292(10−4) rad /s
Mean angular velocity of Earth–Sun line ␻′ = 0.1991(10−6) rad /s
Mean velocity of Earth’s center about Sun = 107 200 km / h
= 66,610 mi / h

MEAN SURFACE
DISTANCE ECCENTRICITY PERIOD MEAN MASS GRAVITATIONAL ESCAPE
TO SUN OF ORBIT OF ORBIT DIAMETER RELATIVE ACCELERATION VELOCITY
BODY km (mi) e solar days km (mi) TO EARTH m /s2 (ft /s2) km /s (mi /s)

Sun — — — 1 392 000 333 000 274 616

(865 000) (898) (383)
Moon 384 3981 0.055 27.32 3 476 0.0123 1.62 2.37
(238 854)1 (2 160) (5.32) (1.47)
Mercury 57.3 × 106 0.206 87.97 5 000 0.054 3.47 4.17
(35.6 × 106) (3 100) (11.4) (2.59)
Venus 108 × 106 0.0068 224.70 12 400 0.815 8.44 10.24
(67.2 × 106) (7 700) (27.7) (6.36)
Earth 149.6 × 106 0.0167 365.26 12 7422 1.000 9.8213 11.18
(92.96 × 106) (7 918)2 (32.22)3 (6.95)
Mars 227.9 × 106 0.093 686.98 6 788 0.107 3.73 5.03
(141.6 × 106) (4 218) (12.3) (3.13)
Jupiter4 778 × 106 0.0489 4333 139 822 317.8 24.79 59.5
(483 × 106) (86 884) (81.3) (36.8)

1
Mean distance to Earth (center-to-center)
2
Diameter of sphere of equal volume, based on a spheroidal Earth with a polar diameter of 12 714 km (7900 mi) and an equatorial
diameter of 12 756 km (7926 mi)
3
For nonrotating spherical Earth, equivalent to absolute value at sea level and latitude 37.5°
4
Note that Jupiter is not a solid body.
 U s e f u l T a b l e s   675

TABLE D / 3 PROPERTIES OF PLANE FIGURES

AREA MOMENTS
FIGURE CENTROID
OF INERTIA

r
α – C – r sin α
Arc Segment α r r = –––––– —
α

Quarter and Semicircular Arcs

C C – 2r
y = –– —
– r ␲
y

y
␲ r4
Ix = Iy = –––
4
r —
Circular Area x
r4
C Iz = ␲
–––
2

␲ r4
y Ix = Iy = –––
8

Semicircular
C
–
– 4r
y = ––
3␲
–
(
␲
8
8
Ix = – – –– r4
9␲ )
Area r y
r4
x Iz = ␲
–––
4

␲ r4
y Ix = Iy = –––
16

Quarter-Circular
r
–
x C
–
x = – 4r
y = ––
3␲
– – ␲
(4
Ix = Iy = — – –– r4
16 9␲ )
Area –
y
x Iz = ␲ r4
–––
8

y r4 (α – 1 sin 2α )
Ix = –– –
4 2
r
Area of Circular α – –
x =2 r sin α
– –––––– r4 (α + 1 sin 2α)
x Iy = –– –
Sector α x 3 α 4 2
C
Iz = 1
– r4α
2
676  Appe ndix D  Us ef ul Tabl es

TABLE D / 3 PROPERTIES OF PLANE FIGURES Continued

AREA MOMENTS
FIGURE CENTROID
OF INERTIA

Rectangular Area bh3

Ix = –––
y0 3

– bh3
C Ix = –––
h x0 — 12
x – bh
Iz = –– (b2 + h2)
b 12

bh3
a x1 a+b Ix = –––
– 12
y x = ––––
– 3
x C h –
Triangular Area bh3
–
y Ix = –––
36
x – h
y = ––
b 3 bh3
Ix1 = –––
4

y
Area of Elliptical
Quadrant –
x = 4a
––
Ix = ␲
ab3 – ␲
(
4
––––, Ix = –– – –– ab3
16 16 9␲ )
3␲

– –
Iy = ␲
a3b –
––––,
16
␲ –4
Iy = ––
16 9␲(
–– a3b
)
b
x C y = 4b
––
– 3␲
y ␲ ab
x Iz = ––– (a2 + b2)
a 16

Subparabolic Area
ab3
Ix = –––
b – 21
x = 3a
2 — 2
y y = kx = a2 x ––
4
a3b
Iy = –––
Area A = ab
–– 5
3 –
x C b –
y = 3b
––

( )
– 10 a2 b2
y Iz = ab –– + ––
x 5 21
a

Parabolic Area
2ab3
y Ix = ––––
–
b
y = kx2 = — x2 x = 3a
–– 7
8
a a2
2a3b
– Iy = ––––
Area A = 2ab
––– b
x C –
15
3 – y = 3b
––

( )
y 5 a2 b2
Iz = 2ab –– + ––
x 15 7
 U s e f u l T a b l e s   677

TABLE D /4 PROPERTIES OF HOMOGENEOUS SOLIDS

(m = mass of body shown)

MASS MASS MOMENTS

BODY CENTER OF INERTIA

–l
–l 2
2 Ixx ⫽ 12 mr2 ⫹ 12
1
ml2
r Circular
Cylindrical — 1 1
z G Ix1x1 ⫽ 2 mr2 ⫹ 3 ml2
Shell
y
Izz ⫽ mr2
x
x1

Ixx ⫽ Iyy
1 1
⫽ 2 mr2 ⫹ 12 ml2
–l
–l 2
2 Ix1x1 ⫽ Iy1 y1
Half
z r G 2r
Cylindrical x⫽ ␲ ⫽ 12 mr2 ⫹ 13 ml2
y Shell
y1
x Izz ⫽ mr2
x1
–
冢
Izz ⫽ 1 ⫺
4
冣
␲2
mr2

–l
–l 2
Ixx ⫽ 14 mr2 ⫹ 12
1
2 ml2
r
Circular
z G — Ix1x1 ⫽ 14 mr2 ⫹ 13 ml2
Cylinder

Izz ⫽ 12 mr2
x
x1

Ixx ⫽ Iyy
1 1
⫽ 4 mr2 ⫹ 12 ml2
–l
–l 2
2 Ix1x1 ⫽ Iy1y1
4r
z r G Semicylinder x⫽ ⫽ 14 mr2 ⫹ 13 ml2
3␲
y
y1 Izz ⫽ 12 mr2
x
x1
–
Izz ⫽ 冢12 ⫺ 9␲16 冣 mr
2
2

1
Ixx ⫽ 12 m(a2 ⫹ l2)
–l
–l 2
2 1
Iyy ⫽ 12 m(b2 ⫹ l2)

b Rectangular 1
G
— Izz ⫽ 12 m(a2 ⫹ b2)
z Parallelepiped
a y 1
Iy1 y1 ⫽ 12 mb2 ⫹ 13 ml2
y1
y2
x 1
Iy2 y2 ⫽ 3 m(b2 ⫹ l2)
678  Appe ndix D  Us ef ul Tabl es

TABLE D /4 PROPERTIES OF HOMOGENEOUS SOLIDS Continued

(m = mass of body shown)

MASS MASS MOMENTS

BODY CENTER OF INERTIA

G Spherical — Izz ⫽ 23mr2

z r Shell

r
2
z G Ixx ⫽ Iyy ⫽ Izz ⫽ 3mr2
Hemispherical r
x⫽ – –
y Shell 2 5
Iyy ⫽ Izz ⫽ 12mr2
x

G 2
Sphere — Izz ⫽ 5mr2
z r

r
z G 2
Ixx ⫽ Iyy ⫽ Izz ⫽ 5mr2
3r
Hemisphere x⫽
y 8
– – 83
Iyy ⫽ Izz ⫽ 320mr2
x

–l
–l 2
2 1
Iyy ⫽ 12 ml2
Uniform —
Slender Rod 1
G Iy1 y1 ⫽ 3 ml2
y
y1
 U s e f u l T a b l e s   679

TABLE D /4 PROPERTIES OF HOMOGENEOUS SOLIDS Continued

(m = mass of body shown)

MASS MASS MOMENTS

BODY CENTER OF INERTIA
x

_ x⫽y 1
y Quarter- Ixx ⫽ Iyy ⫽ 2mr2
Circular Rod 2r
_ G ⫽ ␲
x Izz ⫽ mr2
r
y
z

–l
–l 2
2 Ixx ⫽ 14ma2 ⫹ 12
1
ml2

b Iyy ⫽ 14mb2 ⫹ 12
1
ml2
Elliptical
—
z G Cylinder
Izz ⫽ 14m(a2 ⫹ b2)
a
y1 y Iy1y1 ⫽ 14mb2 ⫹ 13ml2
x

1 1
Iyy ⫽ 4mr2 ⫹ 2mh2
r
G Iy1y1 ⫽ 14mr2 ⫹ 16mh2
2h
z Conical z⫽
3
Shell Izz ⫽ 12mr2
h y
y1 –
Iyy ⫽ 14mr2 ⫹ 18
1
mh2

Ixx ⫽ Iyy
1 1
⫽ 4 mr2 ⫹ 2 mh2
4r
x⫽ Ix1x1 ⫽ Iy1y1
3␲
Half
z G ⫽ 14 mr2 ⫹ 16 mh2
Conical
h y Shell
r 2h
x1 y1 z⫽ Izz ⫽ 12 mr2
x 3
–
Izz ⫽ 冢12 ⫺ 9␲16 冣 mr
2
2

3 3
Iyy ⫽ 20 mr2 ⫹ 5 mh2
r
G 3 1
Iy1y1 ⫽ 20 mr2 ⫹ 10 mh2
Right-
z 3h
Circular z⫽
4 3
h y Cone Izz ⫽ 10 mr2
y1 – 3 3
Iyy ⫽ 20 mr2 ⫹ 80 mh2
680  Appe ndix D  Us ef ul Tabl es

TABLE D /4 PROPERTIES OF HOMOGENEOUS SOLIDS Continued

(m = mass of body shown)

MASS MASS MOMENTS

BODY CENTER OF INERTIA
Ixx ⫽ Iyy
3 3
⫽ 20 mr2 ⫹ 5 mh2
Ix1x1 ⫽ Iy1y1
r
z x⫽␲ 3 1
G Half Cone ⫽ 20 mr2 ⫹ 10 mh2
3h
r h y z⫽
4 3
x1 y1 Izz ⫽ 10 mr2
x
–
Izz ⫽ 冢103 ⫺ ␲1 冣 mr 2
2

x2 y2 z2 1
— + — + — =1 Ixx ⫽ 5m(b2 ⫹ c2)
x
a2 b2 c2
1
Iyy ⫽ 5m(a2 ⫹ c2)
a z
G 3c 1
z⫽ Izz ⫽ 5m(a2 ⫹ b2)
8
b – 1 19
Ixx ⫽ 5m(b2 ⫹ 64c2)
c
– 19
y Semiellipsoid Iyy ⫽ 15m(a2 ⫹ 64c2)

x2 y2 z Ixx ⫽ 16mb2 ⫹ 12mc2

—+— = –
a2 b2 c
y 1 1
Iyy ⫽ 6ma2 ⫹ 2mc2
b Elliptic 2c
G z⫽ Izz ⫽ 16m(a2 ⫹ b2)
Paraboloid 3
z – 1 1
a Ixx ⫽ 6m(b2 ⫹ 3c2)
c x –
Iyy ⫽ 16m(a2 ⫹ 13c2)

1
Ixx ⫽ 10m(b2 ⫹ c2)
z
1
a Iyy ⫽ 10 m(a2 ⫹ c2)
x⫽
4 1
c Izz ⫽ 10m(a2 ⫹ b2)
Rectangular b
G
y⫽
x
Tetrahedron 4 – 3
a c Ixx ⫽ 80m(b2 ⫹ c2)
z⫽
b 4 – 3
Iyy ⫽ 80m(a2 ⫹ c2)
y – 3
Izz ⫽ 80m(a2 ⫹ b2)

z
x
1 5
Ixx ⫽ Iyy ⫽ 2mR2 ⫹ 8ma2
a2 ⫹ 4R2
Half Torus x⫽
G 2␲R 3
Izz ⫽ mR2 ⫹ 4ma2
y
a
R
R