ES 11: STATICS OF RIGID BODIES

LECTURE 15:

MASS
MOMENT OF
INERTIA

ENGR. GIANCARLO P. VENTURA

Institute of Civil Engineering
College of Engineering
University of the Philippines Diliman
 MASS MOMENT OF INERTIA
• The moment required to rotate a small
mass Δm about the axis AA’ with an
angular acceleration is proportional to
r2Δm.
r2Δm = moment of inertia of the
mass Δm with respect to the
axis AA’

• For a body of mass m the resistance to rotation about the axis AA’ is
I M = r12 m + r22 m + r32 m + 
I M =  r 2 dm = mass moment of inertia
r = distance of the mass to the axis
• Resistance of a mass to rotate about an axis
• Units: kg-m2
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 MASS MOMENT OF INERTIA
I M =  r 2 dm
• The mass moments of inertia about the
three principal axes are given by

(
I x =  y 2 + z 2 dm ) ( )
I y =  z 2 + x 2 dm

(
I z =  x 2 + y 2 dm)
• The radius of gyration for a concentrated
mass with equivalent mass moment of
inertia is
IM
IM = k m 2
k=
m
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 PARALLEL AXIS THEOREM
• When the mass moments are required about the
arbitrary axes, the parallel axis theorem is once
again utilized.

( ) 
I x =  y 2 + z 2 dm =  ( y + y ) + ( z  + z ) dm
2 2

=  ( y 2
) (
+ z 2 dm + 2 y  ydm + 2 z  z dm + y 2 + z 2  dm )
(
I x = I x + m y 2 + z 2 )
(
I y = I y + m z + x
2 2
)
I z = I z + m(x 2
+ y2 )
• In general, I = I + md 2
Note: G is the mass center.
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 MMOI OF THIN PLATES
• For a thin plate of • Similarly, for • For the axis CC’ which
uniform thickness t and perpendicular axis is perpendicular to the
homogeneous material BB’ which is also plate,
of density ρ, the mass contained in the
moment of inertia with plate,
respect to axis AA’
contained in the plate is

I BB =  t I BB,area I CC  =  t J C ,area

=  t (I AA,area + I BB,area )

I AA =  r 2 dm = t  r 2 dA = I AA + I BB

=  t I AA,area
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 EXAMPLE 15.1
Determine the mass moments of SOLUTION:
inertia of the rectangular thin plate Mass Moment about the AA’-axis:
about the AA’, BB’ and CC’ axes in 1  1 
I AA'.mass = tI AA'. Area = t  a 3b  = tab a 2 
terms of the mass m of the plate.  12   12 
1
I AA'mass = ma 2
m = abt
12

Mass Moment about the BB’-axis:

I BB '.mass = tI BB '. Area = t  1 ab 3  = tab b 2 
1
 12   12 
1
I BB '.mass = mb 2
12

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 EXAMPLE 15.1
Determine the mass moments of SOLUTION:
inertia of the rectangular thin plate Mass Moment about the CC’-axis:
about the AA’, BB’ and CC’ axes in
1 1
terms of the mass m of the plate. I AA'mass = ma 2 I BB '.mass = mb 2
12 12

m = abt 1 1
I CC ' = I AA' + I BB ' = ma + mb 2
2

12 12
1
I CC ' = m(a 2 + b 2 )
12

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 EXAMPLE 15.2
Determine the mass moments of SOLUTION:
inertia of the rectangular thin disk Mass Moment about the AA’-axis:
about the AA’, BB’ and CC’ axes in
terms of the mass m of the plate. I AA'.mass = tI AA'.Area = t  1 r 4  = tr 2  1 r 2 
4  4 
1
I AA'mass = mr 2
4
m = r 2t
Mass Moment about the BB’-axis:

I BB '.mass = tI BB '.Area = t  1 r 4  = tr 2  r 2 

1
4  4 
1
I BB '.mass = mr 2
4

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 EXAMPLE 15.2
Determine the mass moments of SOLUTION:
inertia of the rectangular thin disk Mass Moment about the CC’-axis:
about the AA’, BB’ and CC’ axes in
1 2 1 2
terms of the mass m of the plate. I AA'mass = mr I BB '.mass = mr
4 4
1 2 1 2
I CC ' = I AA' + I BB ' = mr + mr
m = r t 2
4 4
1 2
I CC ' = mr
2

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 MMOI OF SOLIDS
• The mass moment of inertia of a homogeneous
body is obtained from double or triple
integrations of the form

I =  r 2 dm =   r 2 dV

• For bodies with two planes of symmetry, the

mass moment of inertia may be obtained from
a single integration by choosing thin slabs
perpendicular to the planes of symmetry
for dm.

• The mass moment of inertia with respect to a

particular axis for a composite body may be
obtained by adding the moments of inertia with
respect to the same axis of the components.

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 EXAMPLE 15.3

SOLUTION:
Determine the moment of inertia of • Determine the differential mass.
a slender rod of length L and mass m
m with respect to the y-axis in terms dm = dx
L
of m.
• Determine the mass moment of inertia.
L
L
2 m  m x3 
I y =  x 2 dm =  x dx =  
0 L  L 3 0
1
I y = mL2
3

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 EXAMPLE 15.4
SOLUTION:
For the homogenous rectangular
• Determine the differential Iz.
prism shown, determine the
 1 3  + x 2 (bcdx )
mass moment of inertia with dI z = dI z ' + d 2 dm = dx cb 
 12 
respect to the z-axis.
• Determine the total Iz.
dm = dV = bcdx a
1 2 2
m = abc I z =  dI z = bc   b + x dx
0 
12
a
1 1   1 2 1 2
= bc b 2 x + x 3  = abc b + a 
 12 3 0  12 3 
1 1 
I z = m b 2 + a 2 
 12 3 

Iz =
1
12
(
m b 2 + 4a 2 )

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 EXAMPLE 15.5
SOLUTION:
Determine the mass moment Mass Moment about the x-axis:
of inertia of the cone shown
• Determine the differential Ix.
about the x and y axes.
1 4
4
1 a 
dI x = dI x = dx r  = dx   x 
1  2  2 h 
m =   a 2 h 
3 
• Determine the total Ix.
𝑟 𝑎 4 h
1 a  a 4  x5 
h
= 1
𝑥 ℎ I x =  dI x =    x  dx =  4  
0
2 h  2 h  5 0
1
= a 4 h
10
3
Ix = ma 2
10

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 EXAMPLE 15.5
SOLUTION:
Determine the mass moment Mass Moment about the y-axis:
of inertia of the cone shown • Determine the differential Iy.
about the x and y axes. 1  (
dI y = dI y ' + d 2 dm = dx r 4  + x r dx
2 2
)
4 
1  4 2
dm = dV = r dx
2
m =   a 2 h  1 a  a 
=   x  dx + x 2   x  dx
3  4 h  h 
𝑟 𝑎 • Determine the total Iy.
=
𝑥 ℎ h
h
 a4 a2  4  a 4 a 2  x 5 
I y =  dI y =    4 + 2  x dx =   4 + 2  
0
4h h   4h h  5  0
  a 4 h 2 3  a h a h
4 2 3

=  + a h  = +
5  4  20 5

3 3
Iy = ma 2 + mh 2
20 5

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 MMOI OF COMMON SOLIDS

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 EXAMPLE 15.6
SOLUTION:
Determine the radius of gyration
• Subdivide the solid.
of the object shown below about • Determine the mass of each solid: 𝑚 = 𝜌𝑉
the y-axis.
𝑚𝐴 = 7850 𝜋 0.082 0.04 = 6.31𝑘𝑔
Use ρ = 7850 kg/m3
𝑚𝐵 = 7850 𝜋 0.022 0.06 = 0.59𝑘𝑔
𝑚𝐶 = 7850 𝜋 0.022 0.04 = −0.39𝑘𝑔

1 1
• Solid A: 𝐼𝑦,𝐴 = 𝑚𝐴 𝑎2 = 6.31 0.08 2
2 2
𝑰𝒚,𝑨 = 𝟐𝟎. 𝟐𝟎 × 𝟏𝟎−𝟑 𝐤𝐠 ∙ 𝐦𝟐
C
1
• Solid B: 𝐼𝑦,𝐵 = 𝑚𝐵 𝑎2 + 𝑚𝐵 𝑑2
B 2
1
= 0.59 0.02 2 + 0.59 0.04 2
2
A 𝑰𝒚,𝑩 = 𝟏. 𝟎𝟕 × 𝟏𝟎−𝟑 𝐤𝐠 ∙ 𝐦𝟐

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 EXAMPLE 15.6
SOLUTION:
Determine the radius of gyration
• Subdivide the solid.
of the object shown below about • Determine the mass of each solid: 𝑚 = 𝜌𝑉
the y-axis.
𝑚𝐴 = 7850 𝜋 0.082 0.04 = 6.31𝑘𝑔
Use ρ = 7850 kg/m3
𝑚𝐵 = 7850 𝜋 0.022 0.06 = 0.59𝑘𝑔
𝑚𝐶 = 7850 𝜋 0.022 0.04 = −0.39𝑘𝑔

1
• Solid C: 𝐼𝑦,𝐶 = 2 𝑚𝐶 𝑎2 + 𝑚𝐶 𝑑 2
1
C =
2
0.39 0.02 2
+ 0.39 0.042

𝑰𝒚,𝑪 = −𝟎. 𝟕𝟏 × 𝟏𝟎−𝟑 𝐤𝐠 ∙ 𝐦𝟐

B

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 EXAMPLE 15.6
SOLUTION:
Determine the radius of gyration
of the object shown below about
• Determine the radius of gyration:
the y-axis.
I y ,M
Use ρ = 7850 kg/m3 k y ,M =
m

=
(20.20 10 ) + (1.07 10 ) − (0.7110 )
−3 −3 −3

6.31 + 0.59 − 0.39

k y , M = 0.0563 m
C
k y , M = 56.3 mm
B

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 PRACTICE PROBLEM A
The area shown is revolved about the x axis to form a
homogeneous solid of revolution of mass m.
Determine by direct integration the mass moment of
inertia of the solid with respect to (a) the x axis, (b)
the y axis.

Express your answers in terms of m and the

dimensions of the solid.

Iy = m(3a2 + 0.1204h2)
Ix = 0.241mh2
ANSWERS:

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 PRACTICE PROBLEM B
A 2-mm thick piece of sheet steel
plate is cut and bent into the machine
component shown. Knowing that the
density of steel is 7850 kg/m3,
determine the mass moment of
inertia of the component with respect
to each of the coordinate axes.

Iz = 154.4 x 10-3 kgm2

Iy = 308.6 x 10-3 kgm2
Ix = 175.5 x 10-3 kgm2
ANSWERS:

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 PRACTICE PROBLEM C
Determine the mass moment of
inertia of the steel fixture shown
with respect to each of the
coordinate axes. The density of
steel is 7850 kg/m3.

Iz = 8.58 x 10-3 kgm2

Iy = 31.2 x 10-3 kgm2
Ix = 26.4 x 10-3 kgm2
ANSWERS:

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 ES 11: STATICS OF RIGID BODIES
END OF LECTURE
Engr. GIANCARLO P. VENTURA

Institute of Civil Engineering gianpventura@gmail.com

College of Engineering ICE 319
University of the Philippines Diliman UVLE: ES 11 (Ventura)

Beer, F. P. et al (2013). Vector Mechanics for Engineers: Statics and Dynamics (10th ed.). New York: McGraw-Hill.
Hibbeler, R. C., & Hibbeler, R. C. (2013). Engineering Mechanics: Statics (12th ed.). Upper Saddle River, NJ: Pearson/Prentice Hall.
ES 11: STATICS OF RIGID BODIES GPVentura