Objective

• Moment of Inertia of a body

• Parallel Axis Theorem

• Radius of Gyration

• Moment of Inertia of Composite Bodies

 F  ma,  M  Ia
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
Shell Element

d V  (2 y ) z d y

Disk Element

d V  ( y 2 ) d z
Example 17-1
Example 17-1

d m   d V   (2 r d r h )
R
 4 1 2
I   r dm   2  h  r dr 
2 3
R h  R ( R 2 h )
m 0
2 2
m    R 2h
1
Iz  m R2
2
Example 17-2

d m   d V   ( x ) d y
2

1
Diff Element I  m R2
2
1 1 1
I y  m R  [  ( x ) dy ] x   x 4 dy
2 2 2

2 2 2
x  y 2 ,   5 slug/ft 3

 4 1
 (5) 81
Iy   x dy   y dy  0 .873 slug.ft 2

2 0 2 0
Moments of inertia for some common geometric solids

R2
L L

R R2
1 1
I ML2 I  ML2 1
12 I M ( R1  R2 )
2 2
3 1
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
Assignment
Determine the mass moment of inertia Iy of the solid formed by
revolving the shaded area around the y axis. The density of the
material is ρ. Express the result in terms of the mass m of the solid.
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:

IO  IG  m d 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
Radius of gyration is defined as that distance from a given axis up
to a point where the entire area is assumed to be concentrated
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
 ~y m

m 10 Ib

Example

y
 ~y m

1(10 / 32 .2 )  2 (10 / 32 .2 )
 1 .5 ft
 m (10 / 32 .2 )  (10 / 32 .2 )
Composite Bodies
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 )

kg 1
m d   d V d  8000 3
[  ( 0 . 25 m ) 2
( 0 . 01 m )]  15 . 71 k g IG  m r 2
m
1 2
( I d ) O  md rd  md d 2
2
Parallel Axis Theorem
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
11 m
((IIhh))OO  mhhrhh 2  mh d 22
2

22 I O  ( I d )O  ( I h )O
11
 (3.93kg )(0.125m) 2  (3.93kg )( 0.25m
m))22  1.473  0.276  1.2 kg.m 2
22
 00.276 kg.m 2
Example 17-4
Example 17-4
1 2 1 10 Ib
( I OA )O  ml  ( )( 2 ft ) 2  0 . 414 slug.ft 2

3 3 32 . 2 ft/s
1 1 10 10
( I BC ) O  ml  md  (
2 2
)( 2 )  (
2
)( 2 ) 2
12 12 32 .2 32 .2
 1 .346 slug.ft 2

I O  0 . 4 1 4  1 . 3 4 6  1 . 7 6 slug.ft 2

I O  I G  md 2
y
 ~y m

m 1.76  I G  (
20
)(1.5) 2
32.2
y
 ~y m

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
Thank You.