Objective

• Moment of Inertia of a body

• Parallel Axis Theorem

• Radius of Gyration

• Moment of Inertia of Composite Bodies

Moment and Angular Acceleration
• When  0, rigid body experiences
angular acceleration
• Relation between M and is analogous to
relation between F and a
F  ma, M  I

Mass = Resistance

Moment of Inertia
Moment of Inertia
• This mass analog is called the
moment of inertia, I, of the object
I   r dm 2

m
– r = moment arm
– SI units are kg m2
Using dm   dV , where  is the volume density :
I    r 2 dV

I    r dx dy dz
2
Shell Element

dV  (2 y ) z dy

Disk Element

dV  ( y 2 ) dz
Example 17-1

dm   dV   (2 r dr h)
R
 1 2
I   r dm   2  h  r dr 
2 3
R h  R ( R 2 h)
4

m 0
2 2
m    R 2h
1
I z  m R2
2
Moments of inertia for some common geometric solids

R2
L L

R R2
1 1
I ML2 I  ML2 1
12 3 1 I
2 2
M ( R1  R2 )
I  MR 2 2
Thin Rod Thin Rod (axis at end) 2
Hollow Cylinder
Solid Disk

a a

R
b
b

1
I  Ma 2
1 3 I  MR 2
I M (a 2  b 2 )
12 Thin Rectangula r Plate (about edge) Thin Walle d Hollow Cylinder
Rectangula r Plate (through center) R R

2 2
I MR 2 I MR 2
5 3
Solid Sphere Thin Walle d Hollow Sphere
Parallel Axis Theorem
• The moment of inertia about any axis parallel to
and at distance d away from the axis that
passes through the centre of mass is:

I O  I G  md 2

• Where
– IG= moment of inertia for mass centre G
– m = mass of the body
– d = perpendicular distance between the parallel axes.
 Radius of Gyration
Frequently tabulated data related to moments of inertia will be
presented in terms of radius of gyration.

I
I  mk 2
or k 
m
 Mass Center

~
y
 ym
m Ib 10

Example
~y m
y
 
1(10 / 32.2)  2(10 / 32.2)
 1.5 ft
 m (10 / 32.2)  (10 / 32.2)
Moment of Inertia of Composite bodies
1. Divide the composite area into simple body.
2. Compute the moment of inertia of each simple body about its
centroidal axis from table.
3. Transfer each centroidal moment of inertia to a parallel reference
axis
4. The sum of the moments of inertia for each simple body about the
parallel reference axis is the moment of inertia of the composite
body.
5. Any cutout area has must be assigned a negative moment; all others
are considered positive.
 Moment of inertia of a hollow cylinder

• Moment of Inertia of a
I = 1/2 mR2
solid cylinder
• A hollow cylinder

M
= m1
R1 - m2

R2

I = 1/2 m1R12 - 1/2 m2R22 = 1/2 M (R12 - R22 )

 Example 17-3

kg 1
md   dVd  8000 3
[ ( 0 . 25 m ) 2
(0.01 m)]  15.71 kg IG  m r 2
m
1 2 2
( I d ) O  md rd  md d 2
2
1
 (15.71kg)(0.25m) 2  (15.71kg)(0.25m) 2
2
 1.473 kg.m 2
kg
mh   hVh  8000 3 [ (0.125 m) 2 (0.01 m)]  3.93 kg
m
1 2
( I h )O  mh rh  mh d 2
2
I O  ( I d )O  ( I h )O
1
 (3.93kg)(0.125m) 2  (3.93kg)(0.25m) 2  1.473  0.276  1.2 kg.m 2
2
 0.276 kg.m 2
 3 2 1 2
I zz  md rd  ( m r
h h  m h d 2
)
2 2
kg
md   dVd  8000 3 [ (0.25 m) 2 (0.01 m)]  15.71 kg
m
kg
mh   hVh  8000 3 [ (0.125 m) 2 (0.01 m)]  3.93 kg
m
3 1
I zz  (15.71)(0.25)  ( (3.93kg)(0.125m) 2  (3.93kg)(0.25m) 2 )
2

2 2
 Example 17-4
1 1 10Ib
( I OA ) O  ml 2  ( )( 2ft ) 2  0.414 slug.ft 2

3 3 32.2ft/s
1 2 1 10 10
( I BC )O  ml  md  ( 2
)( 2)  (
2
)( 2) 2
12 12 32.2 32.2
 1.346 slug.ft 2

I O  0.414  1.346  1.76 slug.ft 2

~ I O  I G  md 2
y
 ym
m 1.76  I G  (
20
)(1.5) 2
~ 32.2
y
 ym 
1(10 / 32.2)  2(10 / 32.2)
 1.5 ft
m (10 / 32.2)  (10 / 32.2) I G  0.362 slug.ft 2