Parallel and Perpendicular Axis Theorems

Parallel Axis Theorem

We have obtained standard results for the moment of inertia for certain bodies about an axis
passing through each body's centre of mass.

We now need to find the moment of inertia of a body about an axis at a distance d from the
first axis. Rather than working from first principals every time we can employ the parallel
axis theorem. We proceed to state this theorem, illustrate its use and then prove it.

Parallel Axis Theorem

Suppose the moment of inertia of a body M about an axis passing through its centre of mass
is Mk2, then its moment of inertia about an axis parallel to this first axis but at a distance d
from it is M  k 2  d 2  .

I  M k 2  d 2  I  Mk 2

Example (1)

A rectangular grid is made of four thin uniform rods. The rectangle has length 4a and
width 3a. The longer pieces have mass 4m and the shorter pieces have mass 3m. Find
the moment of inertia of the grid about an axis through one of its corners and
perpendicular to its plane.

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 A
O
XA
D X B
D
XB
C XC

4a
dA XA
dD dB
dC 3a
XD XB

XC
Label the four pieces A, B, C, D with centres of mass XA, XB, XC, XD respectively.

Then MA = 4m, MB = 3m, MC = 4m, MD = 3m.

About XA, XB, XC, XD moments of inertia are

Ml 2 4m  2a 
2 2
 2a 
I A  IC    4m  
3 3  3
3 
3m  a 2  2 2
Ml 2
 2   3a   3a 
IB  ID    3m    3m  2 
3 3 2 3  
d A  2a
2
3   9  32  2 41
d B   a    4a   
2
a  a
2   2  2
41
dC  a
2
d D  2a

By the parallel axis theorem

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  4a 2  64ma 2
I A about O  I A '  M  k 2  d 2   4m   4a 2  
 3  3
 3a 2
41a  255 2
2
I B about O  I B '  M  k 2  d 2   3m    ma
 4 2  4
 4a 2 41 2  262 2
I C about O  I C '  M  k 2  d 2   4m   a  ma
 3 2  3
 3a 2  57ma 2
I D about O  I D '  M  k 2  d 2   3m   4a 2  
 4  4

Therefore
 64 255 262 57  2
I A ' I B ' I C ' I D '       ma
 3 4 3 4
 326 
  78  ma 2
 3 
 326  234  2
  ma
 3 
560 2
 ma
3

We now proceed to prove the parallel axis theorem.

Proof of the parallel axis theorem

Let π be a body (rod, lamina or solid) of mass M with moment of inertia I = Mk2 about a
perpendicular axis z passing through its centre of mass.

Divide π into small segments each of mass M. Let ri be the distance of the mass segment Mi
from C, the centre of mass of π.

 c
Mi
ri
z

Wi

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Consider the weight Wi of the mass segment Mi. The torque produced by this weight about
the axis z is

ci  wi ri cos  i

Mi
c ri ri
Mi
i
c i
i i
Wi
Wi
Here  i is the angle made between the perpendicular from Wi to C and the line joining C to
Mi and ri cos  i s is the perpendicular distance. That is

torque = force  perpendicular distance

results in

ci  wi ri cos  i
 M i gri cos i
 g  M i ri cos  i 

But C is the centre of mass, so the sum of all the moments of the mass elements about this
centre of mass is equal to 0. i.e.

g  mi ri cos  i  0

Hence

 m r cos
i i i 0

We are given that the moment of inertia of π about z is Mk2. In terms of our mass elements
Mi, distance ri from c this means

Mk 2   mi ri 2

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Now consider the moment of inertia of π about another axis l' with perpendicular distance d
from z.

z'
z
xi d
i
c
Mi ri

z' d z
xi ri
i

Mi
We consider a mass element of Mi of π which has perpendicular distance ri from z and xi
from z'. The moments of inertia of π about z' is approximately the sum of the moments of
inertia of all the elements of π

I '   mi xi2

In the limit, as  vi , the volume of mi, tends to O, the approximation becomes exact

I '   mi xi2 when  vi  O

But xi2  d 2  ri2  2dri cos  i

Thus

I '   mi xi2
  mi  d 2  ri 2  2dri cos  i 
 d 2  mi   mi ri2  2d  mi ri cos  i

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But

 m r cos  0
i i i

 m  M the whole mass

i

 m r  Mk
i i
2 2

Thus

I '  Md 2  Mk 2
I '  M d 2  k 2 

Perpendicular Axis Theorem

We will state the perpendicular axis theorem, illustrate it, and then finally prove it. It is best
understood through illustration.

Perpendicular Axis Theorem

Let Ox and Oy be two perpendicular axes. Let the moment of inertia of a plane body about
Ox be Ix and the moment of inertia of the same plane body about Oy be Iy.

Let Oz be the axis that is perpendicular to both Ix and Iy. Then the moment of inertia Iz of the
body about Oz is

Iz  Ix  I y

Example (1)

A plane rectangular lamina of mass M has length 6m and breadth 4m. Find its
moment of inertia about an axis of rotation passing through its centre of mass and
perpendicular to the plane.

z
y

o r
s x

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Standard results give us

Ml 2 M 32
Ix    3M
3 3
Ml 2 M 22 4M
Iy   
3 3 3

Hence

4 M 13M
I z  I x  I y  3M  
3 3

Example (2)

Find the moment of inertia of a thin uniform disc of radius z and mass M about a
diameter.

The standard result gives us that a disc of radius z and mass M has moment of inertia

1 2
I Ml
2

through an axis z passing through its centre and perpendicular to its plane:

Let x and y be any two distinct diameters of this disc perpendicular to each other.
Since they are diameters they are each other. Since they are diameters they are each
perpendicular to z. Then by the perpendicular axis theorem

I  Ix  I y

But by symmetry,

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 Ix  Iy

hence

I  2I x
1 1 1 2 Ml 2
 I x  I   Ml 
2 2 2 4

Proof of the Perpendicular Axis Theorem

Let π be a plane thin uniform lamina. Let mi be a mass element with perpendicular distance
ri from an axis Oz perpendicular to the plane and passing through O in the plane.

O r x
i bi
ai m i
y
Let Ox and Oy be two perpendicular axes lying in the plane. Let ai be the perpendicular
lying in the plane. Let ai be the perpendicular distance of mi from Ox and bi be the
perpendicular distance of mi from Oy. Let

I x   mi ai2

be the moment of inertia of π about Ox and

I y   mi di2

be the moment of inertia of π about Oy.

The moment of inertia of π about Oz is given by

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I z   mi ri 2
  mi  ai2  bi2  by Pythagoras
  mi ai2   mi bi2
 Ix  I y

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