Engineering Mechanics-Statics

Engineering Mechanics:
Statics in SI Units, 12e
10 Moments of Inertia
Copyright © 2010 Pearson Education South Asia Pte Ltd

Chapter Objectives
• Method for determining the moment of inertia for an

area
• Introduce product of inertia and show determine the
maximum and minimum moments of inertia for an area
• Discuss the mass moment of inertia

Chapter Outline
1. Definitions of Moments of Inertia for Areas

2. Parallel-Axis Theorem for an Area
3. Radius of Gyration of an Area
4. Moments of Inertia for Composite Areas
5. Product of Inertia for an Area
6. Moments of Inertia for an Area about Inclined Axes
7. Mohr’s Circle for Moments of Inertia
8. Mass Moment of Inertia

10.1 Definition of Moments of Inertia for Areas
• Centroid for an area is determined by the first moment

of an area about an axis
• Second moment of an area is referred as the moment
of inertia
• Moment of inertia of an area originates whenever one
relates the normal stress σ or force per unit area

Moment of Inertia
• Consider area A lying in the x-y plane
• Be definition, moments of inertia of the differential
plane area dA about the x and y axes
dI x  y 2dA dI y  x 2dA
• For entire area, moments of
inertia are given by
I x   y 2dA
A
I y   x 2dA
A

Moment of Inertia
• Formulate the second moment of dA about the pole O
or z axis
• This is known as the polar axis
dJ O  r 2 dA
where r is perpendicular from the pole (z axis) to the
element dA
• Polar moment of inertia for entire area,
J O   r 2 dA  I x  I y
A

10.2 Parallel Axis Theorem for an Area
• For moment of inertia of an area known about an axis

passing through its centroid, determine the moment of
inertia of area about a corresponding parallel axis
using the parallel axis theorem
• Consider moment of inertia of the shaded area
• A differential element dA is
located at an arbitrary distance y’
from the centroidal x’ axis

• The fixed distance between the parallel x and x’ axes

is defined as dy
• For moment of inertia of dA about x axis
dI x  y ' d y  dA
2
• For entire area

I x   y ' d y  dA
2
A
  y '2 dA  2d y  y ' dA  d y2  dA
A A A
• First integral represent the moment of inertia of the

area about the centroidal axis

• Second integral = 0 since x’ passes through the area’s

centroid C  y' dA  y  dA  0; y  0
• Third integral represents the total area A
I x  I x  Ad y2
• Similarly
I y  I y  Ad x2
• For polar moment of inertia about an axis

perpendicular to the x-y plane and passing through
pole O (z axis)
J O  J C  Ad 2

10.3 Radius of Gyration of an Area
• Radius of gyration of a planar area has units of length

and is a quantity used in the design of columns in
structural mechanics
• For radii of gyration
Ix Iy JO
kx  ky  kz 
A A A
• Similar to finding moment of inertia of a differential
area about an axis
I x  k x2 A dI x  y 2dA

Example 10.1
Determine the moment of inertia for the rectangular area

with respect to (a) the centroidal x’ axis, (b) the axis xb
passing through the base of the rectangular, and (c) the
pole or z’ axis perpendicular to the x’-y’ plane and
passing through the centroid C.

Solution
Part (a)
Differential element chosen, distance y’ from x’ axis.
Since dA = b dy’,
h/2 h/2 1 3
I x   y ' dA   y ' (bdy ' )   y ' dy  bh
2 2 2
A h / 2 h / 2 12
Part (b)
By applying parallel axis theorem,
2
1 3 h 1 3
I xb  I x  Ad  bh  bh   bh
2
12 2 3

Solution
Part (c)
For polar moment of inertia about point C,
1 3
I y '  hb
12
1
J C  I x  I y '  bh(h 2  b 2 )
12

10.4 Moments of Inertia for Composite Areas
• Composite area consist of a series of connected

simpler parts or shapes
• Moment of inertia of the composite area = algebraic
sum of the moments of inertia of all its parts
Procedure for Analysis

Composite Parts
• Divide area into its composite parts and indicate the
centroid of each part to the reference axis
Parallel Axis Theorem
• Moment of inertia of each part is determined about its
centroidal axis
10.4 Moments of Inertia for Composite Areas

• When centroidal axis does not coincide with the
reference axis, the parallel axis theorem is used
Summation
• Moment of inertia of the entire area about the
reference axis is determined by summing the results
of its composite parts

Example 10.4
Compute the moment of inertia of the composite area

about the x axis.

Solution
Composite Parts
Composite area obtained by subtracting the circle form
the rectangle.
Centroid of each area is located in the figure below.

Solution

Circle
I x  I x '  Ad y2
  25   25 75  11 .410 6 mm 4

1 4 2 2
4
Rectangle
I x  I x '  Ad y2

1
12
1001503  100150752  112 .5 106 mm 4  

Solution
Summation
For moment of inertia for the composite area,
 
I x  11 .4 106  112 .5 106  
 
 101 106 mm 4

10.5 Product of Inertia for an Area
• Moment of inertia for an area is different for every axis

about which it is computed
• First, compute the product of the inertia for the area as
well as its moments of inertia for given x, y axes
• Product of inertia for an element of area dA located at
a point (x, y) is defined as
dIxy = xydA
• Thus for product of inertia,
I xy   xydA
A

10.5 Product of Inertia for an Area

• For the product of inertia of dA with respect to the x
and y axes
dI xy   x' d x y ' d y dA
A
• For the entire area,

dI xy   x' d x y ' d y dA
A
  x' y ' dA  d x  y 'dA  d y  x'dA  d x d y  dA

A A A A
• Forth integral represent the total area A,

I xy  I x ' y '  Ad x d y
Example 10.6
Determine the product Ixy of the triangle.

Solution
Differential element has thickness dx and area dA = y dx

Using parallel axis theorem,
dI xy  dI xy  dA~
x~y
~x , ~y  locates centroid of the element or origin of x’, y’ axes

Solution
Due to symmetry, dI  0 ~
x  x, ~
y  y/2
xy
2
 y h   h  h 3
dI xy  0  ( ydx) x    xdx  x x   2 x dx
 2 b   2b  2b
Integrating we have
h2 b b 2 2
h
I xy  2  x dx 
3
2b 0 8

Solution
Differential element has thickness dy and

area dA = (b - x) dy.
For centroid,
~
x  x  (b  x) / 2  (b  x) / 2, ~
yy
For product of inertia of element
~ ~ ~ b x
dI xy  dI xy  dAx y  0  (b  x)dy y
 2 
 b   b  b / h y  1  2 b2 2 
  b  y dy   y  y b  2 y dy
 h   2  2  h 

10.6 Moments of Inertia for an Area about Inclined Axes
• In structural and mechanical design, necessary to

calculate Iu, Iv and Iuv for an area with respect to a set of
inclined u and v axes when the values of θ, Ix, Iy and Ixy
are known
• Use transformation equations which relate the x, y and
u, v coordinates
u  x cos   y sin 
v  y cos   x sin 
dI u  v 2 dA  ( y cos   x sin  ) 2 dA
dI v  u 2 dA  ( x cos   y sin  ) 2 dA
dI uv  uvdA  ( x cos   y sin  )( y cos   x sin  )dA

• Integrating,
I u  I x cos 2   I y sin 2   2 I xy sin  cos 
I v  I x sin 2   I y cos 2   2 I xy sin  cos 
I uv  I x sin  cos   I y sin  cos   2 I xy (cos 2   sin 2  )
• Simplifying using trigonometric identities,

sin 2  2 sin  cos 
cos 2  cos 2   sin 2 

• We can simplify to
Ix  Iy Ix  Iy
Iu   cos 2  I xy sin 2
2 2
Ix  Iy Ix  Iy
Iv   cos 2  I xy sin 2
2 2
Ix  Iy
I uv  sin 2  2 I xy cos 2
2
• Polar moment of inertia about the z axis passing
through point O is,
JO  Iu  Iv  I x  I y

Principal Moments of Inertia

• Iu, Iv and Iuv depend on the angle of inclination θ of the
u, v axes
• The angle θ = θp defines the orientation of the principal
axes for the area
dI u  Ix  Iy 
 2  sin 2  2 I xy cos 2  0
d  2 
 p
 I xy
tan 2 p 
I x  I y / 2


• Substituting each of the sine and cosine ratios, we
have 2
Ix  Iy  Ix  Iy 
I min 
max
    I xy2
2  2 
• Result can gives the max or min moment of inertia for
the area
• It can be shown that Iuv = 0, that is, the product of
inertia with respect to the principal axes is zero
• Any symmetric axis represent a principal axis of inertia
for the area
Example 10.8
Determine the principal moments of inertia for the beam’s

cross-sectional area with respect to an axis passing
through the centroid.

Solution
Moment and product of inertia of the cross-sectional area,
I x  2.90109 mm 4 I y  5.60109 mm 4 I z  3.00109 mm 4
Using the angles of inclination of principal axes u and v,
tan 2 p 
 I xy

 
3.00 109
 2.22
    
I x  I y / 2 2.90 10  5.60 10 / 2
9 9
2 p1  65.8 ,2 p 2  114 .2

  p1  32.9 ,  p 2  57.1

Solution
For principal of inertia with respect to the u and v axes

2
Ix  Iy  Ix  Iy 
I max
min      I xy2
2  2 

 
2.90 109  5.60 109  
2
 
 
 2.90 10  5.60 10 
9
  3 .
 
00
9
10 9
2
   2

 2 
max
I min  
 4.25 109  3.29 109 
 I max  7.5410 mm , I
9 4
min  
 0.960 109 mm 4

10.7 Mohr’s Circle for Moments of Inertia
• It is found that
2 2
 Ix  Iy   Ix  Iy 
 I u    I uv  
2
  I xy2
 2   2 
• In a given problem, Iu and Iv are variables and Ix, Iy and
Ixy are known constants
I u  a 2  I uv2  R 2
• When this equation is plotted on a set of axes that
represent the respective moment of inertia and the
product of inertia, the resulting graph represents a
circle

• The circle constructed is known as a Mohr’s circle with

radius 2
 Ix  Iy 
R     I xy2
 2 
and center at (a, 0) where a  I x  I y / 2  


Determine Ix, Iy and Ixy
• Establish the x, y axes for the area, with the origin
located at point P of interest and determine Ix, Iy and Ixy
Construct the Circle

• Construct a rectangular coordinate system such that
the abscissa represents the moment of inertia I and the
ordinate represent the product of inertia Ixy


• Determine center of the circle O, which is located at a
distance (Ix + Iy)/2 from the origin, and plot the
reference point a having coordinates (Ix, Ixy)
• By definition, Ix is always positive, whereas Ixy will either
be positive or negative
• Connect the reference point A with the center of the
circle and determine distance OA (radius of the circle)
by trigonometry
• Draw the circle

Principal of Moments of Inertia

• Points where the circle intersects the abscissa give the
values of the principle moments of inertia Imin and Imax
• Product of inertia will be zero at these points
Principle Axes
• This angle represent twice the angle from the x axis to
the area in question to the axis of maximum moment of
inertia Imax
• The axis for the minimum moment of inertia Imin is
perpendicular to the axis for Imax
Example 10.9
Using Mohr’s circle, determine the principle moments of

the beam’s cross-sectional area with respect to an axis
passing through the centroid.

Solution
Determine Ix, Iy and Ixy

Moments of inertia and the product of inertia have been
determined in previous examples
 
I x  2.90 109 mm 4  
I y  5.60 109 mm 4  
I xy  3.00 109 mm 4

Center of circle, O, lies from the origin, at a distance
I x  I y / 2  (2.90  5.60) / 2  4.25

Solution

With reference point A (2.90, -3.00) connected to point O,
radius OA is determined using Pythagorean theorem
OA  1.352   3.002  3.29

Circle intersects I axis at points (7.54, 0) and (0.960, 0)
 
I max  7.54 109 mm 4
I min  0.96010 mm
9 4

Solution
Principal Axes
Angle 2θp1 is determined from the circle by measuring
CCW from OA to the direction of the positive I axis

1 BA
 1  3.00 
2 p1  180  sin 

   180
 sin    114 .2 
OA   3.29 
 
The principal axis for Imax = 7.54(109) mm4 is therefore

orientated at an angle θp1 = 57.1°, measured CCW from
the positive x axisto the positive u axis.
v axis is perpendicular to this axis.

10.8 Mass Moment of Inertia
• Mass moment of inertia is defined as the integral of the

second moment about an axis of all the elements of
mass dm which compose the body
• For body’s moment of inertia
about the z axis,
I   r 2 dm
m
• The axis that is generally chosen

for analysis, passes through the
body’s mass center G

• If the body consists of material having a variable

density ρ = ρ(x, y, z), the element mass dm of the body
may be expressed as dm = ρ dV
• Using volume element for integration,
I   r 2 dV
V
• When ρ being a constant,
I    r 2 dV
V


Shell Element
• For a shell element having height z, radius y and
thickness dy, volume dV = (2πy)(z)dy
Disk Element
• For disk element having radius y, thickness dz, volume
dV = (πy2) dz

Example 10.10
Determine the mass moment of inertia of the cylinder

about the z axis. The density of the material is constant.

Solution
Shell Element
For volume of the element,
dV  2r h dr
For mass,
dm  dV   2rh dr 
Since the entire element lies at the same distance r from
the z axis, for the moment of inertia of the element,
dI z  r 2 dm   2hr 3 dr

Solution
Integrating over entire region of the cylinder,

R 
I z   r dm   2h  r dr 
2 3
R 4h
m 0 2
For the mass of the cylinder
R
m   dm   2h  rdr  hR 2
m 0
So that
1
I z  mR 2
2


• If the moment of inertia of the body about an axis
passing through the body’s mass center is known, the
moment of inertia about any other parallel axis may be
determined by using parallel axis theorem
• Using Pythagorean theorem,
r 2 = (d + x’)2 + y’2
• For moment of inertia of body
about the z axis,
m m

I   r 2 dm   d  x'  y '2 dm
2

m
 2 2

  x'  y ' dm  2d  x' dm  d
m
2
 dm
m

• For moment of inertia about the z axis,
I = IG + md2
Radius of Gyration
• For moment of inertia expressed using k, radius of
gyration,
I
I  mk 2
or k 
m

Example 10.12
If the plate has a density of 8000kg/m3 and a thickness of

10mm, determine its mass moment of inertia about an
axis perpendicular to the page and passing through point
O.

Solution
The plate consists of 2 composite parts, the 250mm

radius disk minus the 125mm radius disk.
Disk
1 2
For moment of inertia of a disk, I G  mr
2
Mass center of the disk is located 0.25m from point O


md   dVd  8000  0.25 0.01  15.71kg
2

1 1
I O d  md rd2  md d 2  15.710.25  15.710.25  1.473kg.m 2
2 2
2 2

Solution
Hole

mh   hVh  8000  0.125 0.01  3.93kg
2

I O h  1 mh rh2  mh d 2
2
1
 3.930.125  3.930.25  0.276kg.m 2
2 2
2
For moment of inertia of plate about point O,
I O  I O d  I O h
 1.473  0.276  1.20kg.m 2

QUIZ
1. The definition of the Moment of Inertia for an area

involves an integral of the form
A)  x dA. B)  x2 dA.
C)  x2 dm. D)  m dA.
2. Select the SI units for the Moment of Inertia for an

area.
A) m3
B) m4
C) kg·m2
D) kg·m3
QUIZ
3. A pipe is subjected to a bending moment as shown.

Which property of the pipe will result in lower stress
(assuming a constant cross-sectional area)?
M M
A) Smaller Ix B) Smaller Iy y
C) Larger Ix D) Larger Iy x
Pipe section
4. In the figure to the right, what is the differential moment
of inertia of the element with y
y=x3
respect to the y-axis (dIy)?
A) x2 ydx B) (1/12)x3dy x,y
C) y2 x dy D) (1/3)ydy
Copyright © 2010 Pearson Education South Asia Pte Ltd x
QUIZ
5. The parallel-axis theorem for an area is applied

between
A) An axis passing through its centroid and any
corresponding parallel axis.
B) Any two parallel axis.
C) Two horizontal axes only.
D) Two vertical axes only.
6. The moment of inertia of a composite area equals the
____ of the MoI of all of its parts.
A) Vector sum
B) Algebraic sum (addition or subtraction)
C) Addition
D) Product
QUIZ
7. For the area A, we know the centroid’s (C) location,

area, distances between the four parallel axes, and the
MoI about axis 1. We can determine the MoI about axis 2
by applying the parallel axis theorem ___ .
A) Directly between the axes 1 and 2.
B) Between axes 1 and 3 and Axis
A
then between the axes 3 and 2.
4
C) Between axes 1 and 4 and d3 C
• 3
then axes 4 and 2. d2
2
D) None of the above. d1
1

QUIZ
8. For the same case, consider the MoI about each of the
four axes. About which axis will the MoI be the smallest
number?
A) Axis 1 Axis
B) Axis 2 A
4
C) Axis 3 d3 C 3
d2 •
D) Axis 4 2
d1 1
E) Can not tell.

QUIZ
A=10 cm2
9. For the given area, the moment of

inertia about axis 1 is 200 cm4 .
C
What is the MoI about axis 3? •
C 3
d2 •
A) 90 cm4 B) 110 cm4 2
d1
C) 60 cm4 D) 40 cm4 1
d1 = d2 = 2 cm
10. The moment of inertia of the rectangle about
the x-axis equals 3cm
A) 8 cm4. B) 56 cm4 . 2cm
C) 24 cm4 . D) 26 cm4 .
2cm
x
QUIZ
11. The formula definition of the mass moment of inertia

about an axis is ___________ .
A)  r dm B)  r2 dm
C)  m dr D)  m dr
12. The parallel-axis theorem can be applied to determine

________ .
A) Only the MoI B) Only the MMI
C) Both the MoI and MMI D) None of the above.
Note: MoI is the moment of inertia of an area and MMI is
the mass moment inertia of a body
QUIZ
13. Consider a particle of mass 1 kg located at point P,

whose coordinates are given in meters. Determine the
MMIof that particle about the z axis. z
A) 9 kg·m2 B) 16 kg·m2 ·P(3,4,
C) 25 kg·m2 D) 36 kg·m2 6)
y
x
14. Consider a rectangular frame made of 4 slender bars
with four axes perpendicular to the screen and passing
through P, Q, R, and S respectively. About which of the
four axes will the MMI of the frame be the largest?
A) zP B) zQ C) zR P Q
• •
D) zS E) Not possible to determine S •R
•
QUIZ
15. A particle of mass 2 kg is located 1 m down the y-

axis. What are the MMI of the particle about the x, y, and
z axes, respectively? z
A) (2, 0, 2) B) (0, 2, 2)
C) (0, 2, 2) D) (2, 2, 0) 1m
x • y

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Engineering Mechanics:

Statics in SI Units, 12e

Copyright © 2010 Pearson Education South Asia Pte Ltd

• Method for determining the moment of inertia for an

Copyright © 2010 Pearson Education South Asia Pte Ltd

1. Definitions of Moments of Inertia for Areas

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• Centroid for an area is determined by the first moment

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Copyright © 2010 Pearson Education South Asia Pte Ltd

Copyright © 2010 Pearson Education South Asia Pte Ltd

• For moment of inertia of an area known about an axis

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• The fixed distance between the parallel x and x’ axes

• For entire area

• First integral represent the moment of inertia of the

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• Second integral = 0 since x’ passes through the area’s

• For polar moment of inertia about an axis

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• Radius of gyration of a planar area has units of length

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Determine the moment of inertia for the rectangular area

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• Composite area consist of a series of connected

Procedure for Analysis

Procedure for Analysis

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Compute the moment of inertia of the composite area

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Parallel Axis Theorem

  25   25 75  11 .410 6 mm 4

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• Moment of inertia for an area is different for every axis

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Parallel Axis Theorem

• For the entire area,

  x' y ' dA  d x  y 'dA  d y  x'dA  d x d y  dA

• Forth integral represent the total area A,

Determine the product Ixy of the triangle.

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Differential element has thickness dx and area dA = y dx

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Differential element has thickness dy and

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• In structural and mechanical design, necessary to

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• Simplifying using trigonometric identities,

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Principal Moments of Inertia

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Principal Moments of Inertia

Determine the principal moments of inertia for the beam’s

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Moment and product of inertia of the cross-sectional area,

I x  2.90109 mm 4 I y  5.60109 mm 4 I z  3.00109 mm 4

Using the angles of inclination of principal axes u and v,

2 p1  65.8 ,2 p 2  114 .2