Riot BODY |b) body Fixed Frome: UGoty set) Rigid! roeans that He distance [hid is thee iw He. boty beAween ay 4w0 points in the [kK A rigid body Cm simutineously body is fixed and constavh have two kinds of motion ae 4 TAANSURT owkl + RoTationAl | { usd | u Ww | Ona fa He ‘} oog bed ration orientation | RTE you have a point pactices: wv ‘ | & sesh 4 | This motion can be eam described by a motion 1 ce A of cad, Ceaner of 8) Tey consteak Total mass HB body with «given conbiqu0os a ee in tnass distribution 5=5@) Trott Auvei * fro wr, | Tnigia tensor, Trg ~ nserrg@) Vn (Nt \ ’ \Ts Tee Aey Tet * OS Total may Lys ay . ys! 42) on snatial Se Gears) Ty Tey Te) {> {The dtageral elemenss Tue Tyg are called moment of jnertig aboot ¥g and # respectively Sy These measure He resisima of dhe, (eorside Ate badly) rotation. 2 The off-diagonal, cements Thay Talat. are, called groducks o€ inestia. 9 aw ek Ly Gives only Arensiariondl json,Products of inertia \ Te measures the Syminetty of He body!s mass wrt a coordinase Systems > Dlagonalization Cweans that ye Car Find equivarent form. Tyo 0 o tm © o 0 The inertia rensor is symmetic, Ty=ty = ob Tiye Foy L8ig ~Yyi ¥y | For_continuoas mass Aistributions Fife § oP) Bint Aa Qn ATS ACESS 50500 Ext Find at oF inertia of iG sere @ uniform -Lhin rod of length L axis perpendicular jo fod s about an passing Ahrough Me one end of ted. 1 ey a 4 bod Thin: Thickness are very smalls TA can be approximated as a one dimensional mass distribution, Note; ) For gne dimensional moti” A= (linear densi length ee ity) | V\ Two dimensional: ga (surface density) area oO p= M — Wolure density) Nolune Tys Saye Ki wy) av + eats Hq = ag vi) Fastin what is T Gt isa position) aT text . ae mh. 1 wy tee i ° Py nw Xf contponent oF 7 Because these i the position y component vector is =O ‘ the te 0 25 we con wrtte eilso: Khe, 77 b Af Byy-h Loy 9" o -uy 1 - wit. | hoo 8 3 | \ \u " ; IE oer or PCrr oun a \ 1 Tnertia Tensor lig ahi Reed .Syoenetsic) o Tnerria tenset cm be atagonalized by an orthogonal 4ronsfor ma tion which means that Ate 15 on ockhe- Qonal coordinate sysiem whose Lasis vector are exgenyec tors of Ty 9 Elgenwalue Probrems, APs 2X (n-aTe =° For +e Aon Atival gott7on dek (A -AL\ =O ¢ Orthanotena\ eigenuectas are called Hho principal oes of ve rigd body, [Exi Three potnt masses of 42:3 mass yaits placed respectively at My=1 alt at pofat a) Wngca. vai at point (4-40) Mg = 3 unit ak point (-4,419) | |) Find Ate inertia Yeraor about origin of te coordinake system, Since wz hare discrete system: "3 out yt Ta = 2m Giaty -X4%g) ‘ 3 no ; Tye 2 mys i -X%y xx) xiyts?) 1 3 2 A, 2! Tyas = 2 GRA | | % 2 ytd 30, (9492) Zeta? ithe tal 2) ems) ig amgis3x") x sy (440) ota 430) gTyy « : sma (ayy Jaye) - Aes eaten i) BZ 3 my Ody d va) det = 4 U49)4 2d) + gree) =b ay =b Tats 2, Gree 2371) = 4 nuclbal 98) = Soothe) a4Can) 4 ates 34) 4 4te SID Tageld 9 Pan Tyg! 2 2 nda xa Ve) 4 = “EM = Beales T7- 2a) Yo Tyo! =- 3 ma da aA 2 Tyg! Pa) it : Som tad —my YP, - 5%, 25 \=° 3 |Tva=0 =Tgy! aye EGE Tyas! = = -3, mg Ye camnegi ad haa oye ae a frye-tey =o Therefore, our inertia. Rasor! £ oY G 6 ° Te ° nD ° 3x3 | LL Find the _princiote _roments_of s) jnectig : Cnecning ; find +e etgenval Cay As) | Tt)! | dex (wea utd e\e oo Camst le)0 6-- 4 1.0 Figenectoh; Ug = ( P 0 (va ° o Ata Nomattgatin; U3" U3 =4 (a) [c-acnal -ufacea}- (9-8 °) (3) ‘A gar=i al Don't cnvltigly #! AreAr40 = 40 = a -a\* 46 <0 | —__ (ca) tt) Tle notmalfaed eigenvectelt = (a>-b") fa-aco [teas te | | T, = &zt0 fer ays Ta 40 Berd Ag i= 2 6-10 4 9 f oO q 640 ° 6 \* Bs ° (ato © C)Find peincigal axes: | Eigenvecints: (Prindeal ares) Veer (BA Fanning) R =O y 4 O\fP\_, V cccosperds focal 4 -4 9 6 for Ag= 4422 a | 5 4 eee | mt 4 O\(% 4A 4ub=o = A=8 4 on o N80. ya susee > A=D wale (om togercao =P o o -o | | Ure/ A atts 20 [p=-8 (2) —_——— | SA I c=0\ | vst upet (« a | At snr gocl~ 6a + 4G 40-0 eas AGS ‘Ve =o yA -6B <0 ne oA 49$ 40C=9 c= arblttay “(2 uf Uy, =4 ed Ge cr=\ c21 FO | | thertia Tensor For Different Body Coordinate. | 4) Paralel Axis Theorern i “th 42 Sep iy! + MLAs -K %,\ Tig> Gia) ow | \ He This theorem stares thot: Shere 15 | 0 simple relation berween inertia | tewsor of «body about an axis | passing Mvrough +e bedys CM and | inertia Aensor about all Refi | Tyy = Sox'*se a, \> 7 G Tod = Seliry”) 44 Giyoe He - AC) pe we dota @ | (T yy) oye = | " pecgen dior Aves Teoreen | = paaneipaein 5) Porpendicuior Axis “Treorers OF Inertia of a pline lamlra ebook arent Gong wots In 2 ee oe Gas \S equal 4 eorais This Hheocemn applies 0 cigs bolle og nn ra ne * ‘kt Whose Mass is aisidbuied In eniniie vn ee Single planer Canning)Ex) Rectonghar Larrina (thin plate) ay { 2 A board - Coaheotote: Tyee! Vytut, Tata! Remonber: Uniform thin (od es 4 rLo\ a sii Vcqacch ant Tom 5 ale obtain He enomenr of \nertia alot] yb axis. We divide Ate reckngle inte erementary sarips Pary’. (we have a uniform Abin (0d. Axis passing He cu) | + The moment of inertia of eodn Strip} is equal Jo is mast mutkip\ied by 2h -=y mot The total VD Th monet of tnertiat >. . Sy yt = aE fj is tote j Ps mash of plates Similaty , by asing yeitical Sitipts. WE Will ger | —b->x' Finally Sind Tot . Using gerpendicair axis Hheotemn Tt q yy = Tis! Tuy! = Wat 4 wer \2 \2 alte : dutart') a |