NOTE

P H Y S I C S

ROTATION
MOMENT OF INERTIA

What you already know What you will learn

• Rigid body dynamics • Axis of rotation

• Circular vs rotational motion • Kinematics of angular motion
• Moment of inertia of discrete mass
system and continuous bodies

Axis of Rotation

The loci of the points around which the particles of a rigid body move in a circular motion is known
as the axis of rotation.
Every rotational motion has an axis of rotation.

Properties of the axis of rotation

• It may or may not pass through the body.

• It may or may not be fixed.
• It may or may not be perpendicular to the surface plane of the object.

A body can be rotated in different ways and the axis of rotation in each case would be
different.

Kinematics of Circular/Rotational Motion

The angular velocity of any point on the rigid body with respect to any other point on the rigid body
always remains the same. Due to the same angular velocity of all the particles, we can define the
angular velocity of the rigid bodies.
Following are the parameters and relations between them used in a circular motion. These terms
are required in rotational motion as well.

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Angular Rate of change of Angular Rate of change of Angular

position angular position velocity angular velocity accelaration
dθ d𝜔
θ ≡ 𝜔 ≡ a
dt dt

v2
l = rθ v = r𝜔 at = ra ac =
r

Angular kinematic equations

The kinematic equations for constant magnitude of tangential and angular acceleration are as
follows:
1
ω ω0 + α t
= ∆θ= ω0t + α t 2 ω 2 = ω02 + 2α ∆θ
2

Moment of Inertia

The analogue of mass in rotational motion is the moment of inertia. This O

is a quantity that offers the resistance to change in the state of rest or
uniform rotation of a body.
Moment of inertia (I) of a particle of mass m located at distance r from an
axis is given by the following:
I = mr 2 r
• Moment of inertia is always a positive quantity like mass. m

• It is a scalar quantity, the magnitude of which is directly proportional O’

to the square of the distance between the mass and the axis of
rotation. m2
𝜔r1
• SI unit of moment of inertia is kg m . 2
𝜔r2 r 𝜔 r1 m1
2

• We cannot define a moment of inertia without an axis.

rn
mn
• The moment of inertia determines the amount of effort required to 𝜔rn
change the angular acceleration of the body. 1 1 1
KE
= m1v12 + m2v22 + ... + mnvn2
Consider a rigid body made of n small particles having masses 2 m1, 2m2, …, mn situated
2 at distances
1 find the2kinetic
r1, r2, …, rn from the axis of rotation respectively. Let us try to 1 1
m1 ( r1ω ) + m2energy
( r2ω ) +of...the+ body
mn (ifrnω
it 2
)
2
=
was rotating at constant angular velocity 𝜔. 2 2 2
1 1 1 1 2
KE
= m1v12 + m2v22 + ... + mnvn2 = ω m1r12 + m2r22 + ... + mnrn2 
2 2 2 2 
1 1 1 1
m1 ( r1ω ) + m2 ( r2ω ) + ... + mn ( rnω )
2 2 2
= KE = Iω 2
2 2 2 2
1 2
= ω m1r12 + m2r22 + ... + mnrn2 
2
1
KE = Iω 2
2 All rights reserved
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Where,
n
I = ∑ (m r )
i =1
i i
2
defined as the moment of inertia of the rigid body about the given axis of rotation.
Also note that the moment of inertia does not depend on the angular velocity of the rotating body.

Moment of Inertia of Discrete Point Mass System O

We can add moments of inertia of multiple masses if they are m1

defined with respect to the same axis of rotation. Moment of r1
inertia of n particles of masses m1, m2,.….., mn at a distance
r1, r2, ….., rn, respectively, from an axis OO’ is given by the rn
r2
following:
n mn
I = ∑ (m r ) i i
2
m2
i =1 O’

Example

–z x
Four particles, each of mass m, are situated at the vertices Am
of a square ABCD of side a on the x-y plane as shown in the
figure. Find the moment of inertia of the system about (i) mB
the x-axis, (ii) the axis AC, and (iii) the center of the square, D m
perpendicular to the plane of ABCD.
a m
C y

Solution

(i) To find the moment of inertia of the system about the x

x-axis, r=0
Consider the top view of the x-y plane to get the better A m mB
understanding of positioning of the masses.
Mass of each particle = m
Perpendicular distance between the x-axis and the
particles at point B and C = a r=0
Perpendicular distance between the x-axis and the
m m
particles at point A and D = 0 (Since they are lying on D a y
C
the x-axis itself)
From the definition of moment of inertia,
4
I x = ∑ mi ri2
i= 1

( ) ( ) (
⇒ I x = m × a2 + m × a2 + m × 02 + m × 02 ) ( )
⇒ Ix =
2ma2

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(ii) To find the moment of inertia of the system about x r=0

the axis AC,
Since the points A and C lie on the axis of rotation A m m B
(AC) itself, masses situated at those points do not
contribute to the moment of inertia about the axis a
in consideration. 2
From the geometry, the distance between the axis a r=0
a 2
AC and points B and D = m m C
2 D a y
Hence, the moment of inertia about the axis AC is
as follows:
2 2
 a   a 
I AC = m ×   + m× 
 2  2
⇒ I AC =
ma2

(iii) To find the moment of inertia of the system about x

the center of the square ABCD and perpendicular
to the plane of ABCD, A m mB
From the geometry,
Distance between the center of the square and all a
a 2
the masses is .
2
Hence, the moment of inertia about an axis passing
through the center of the square and perpendicular m mC y
D a
to the plane (as well as COM) is as follows:
2 2 2 2
 a   a   a   a 
ICOM = m ×   + m×  + m×  + m× 
 2  2  2  2
⇒ ICOM = 2ma2

Example

m m
Eight particles, each of mass m, are situated at the vertices
of a cube of side a as shown in the figure.
m m
(i) Find out the moment of inertia of the system about
the z-axis.
(ii) Find out the moment of inertia of the system about (0,0)
the axis passing through the centre of the cube m m
x
and perpendicular to the x-z plane
m m
a
z

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Solution MAIN y
m m
(i) Let us name the eight particles having masses m from 1 to 5 6
8 as shown in the figure.
m m
Particles 1 and 4 are lying on the z-axis itself.
8 7
r1 = r4 = 0
Particles 2 and 3 are at distance a from the z-axis. (x-z plane) (0,0)
r2 = r3 = a m m
Particles 5 and 8 are at distance a from the z-axis. (y-z plane) x
4 3
r5 = r8 = a m m
The distance between z-axis and particles 6 and 7 is, a
z1 2
r6 = r7 = a 2 + a 2 =2a
Hence, the moment of inertia of the system of particles
about z-axis is,
( )
2
I z = 2m × ( 0) + 2m × ( a ) + 2m × ( a ) + 2m ×
2 2 2
2a
⇒ Iz =
8ma2

(ii) As seen in an earlier example with the square, the distances y

between the axis of rotation OO’ and the particles are same, O’
a m m
i.e.,
2
Hence, the moment of inertia about the axis OO’ is as follows: m m
2
 a 
IOO
=' 8m ×  
 2 (0,0)
m m
⇒ IOO ' =
4ma2 x
m m
a O
z

Moment of Inertia of Continuous Bodies

Consider a rigid body with continuous mass distribution and O

an axis of rotation OO’ as shown in the figure. Inside the body,
consider an infinitesimal mass dm located at a distance r from the
axis OO’.
Moment of inertia of mass dm about the axis OO’, r dm
dI = r2 dm
Integrating both the sides to get the moment of inertia of the
entire body about this axis,
∫ dI = r ∫ dm
2
O’
Or
I = mr 2

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Moment of inertia of continuous bodies depends on the following parameters:

• Axis of rotation
• Shape and size of the body.
• Density of the body
• Distribution of mass with respect to the axis of rotation

M
Moment of Inertia ofλa =Uniform Rod
L
Consider a rod of mass M and length ⇒ dm = λ dx
L. The moment of inertia of this rod y
From the definition of moment of inertia,
about a axis passing through one of
∫ dI = ∫ x dm
2
its ends can be calculated as shown. dm L
Consider the linear mass density, 𝜆 O M x
⇒ I =∫ x 2 dx
for a mass element dm as shown in L
the following figure: x dx
M
⇒ I = ∫ x 2 dx
Mass element dm is at distance x from the axis of rotation.L
M Now, integrating within the limits
λ=
L 0 to L, we get,
⇒ dm = λ dx L
M 2
L ∫0
From the definition of moment of inertia, I = x dx

∫ dI = ∫ x dm
2
L
M  x3 
M =  
⇒ I =∫ x 2 dx L  3 0
L
M 2 M  L3 
⇒ I = ∫ x dx =  − 0
L L 3 
Now, integrating within the limits ML 2
I=
0 to L, we get, 3
L
M
I = ∫ x 2 dx L
L 0 the moment of inertia about
Similarly, y
M 2
I= ∫x dx
2
an axis 3 L
M  xpassing
 through the midpoint
–L L I L
=
of the rodand perpendicular to it can −
L
L  3 0 2 2 dm 2
be found by changing the upper and L
lower  L in the integral expression
M limits
3 x
= L  − L0 M  x3  2
=   O
to − L and
3  L  3 −L x dx
2 2 2 2
MLL
I= M  L3  L3  
M3 2 2 =  −  − 
L ∫L
I= x dx L  24  24  
−
2 M L3
L = ×
L 12
M  x3  2
=   ML2
L  3 −L I=
2 12
ML 3
 L3  
=  −  − 
L  24  24  
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 07

Example

O’

Find the moment of inertia of a uniform rod of mass m and M length L θ

dm =
about an axis in the vertical plane at an angle θ with the dx shown
rod as
L L
in the figure.
From the definition of moment of inertia,

∫ dI = ∫ r dm
2
O
r = x sin θ (From geometry)
M
Solution ⇒ I =∫ x 2 sin2 θ dx
L
Considering the concept of linear mass density Now, integrating within the limits
for the given mass element, we can write, 0 to L, we get,
M M
L
dm = dx I= sin2 θ ∫ x 2 dx
L L 0
From the definition of moment of inertia, L
M 2 x 
3

∫ dI = ∫ r dm
2
= sin θ  
L  3 0
r = x sin θ (From geometry)
M  L3 
M = sin2 θ  
⇒ I =∫ x 2 sin2 θ dx L 3
L
Now, integrating within the limits ML2
I= sin2 θ
0 to L, we get, 3
L
M
I = sin2 θ ∫ x 2 dx
L 0
Moment of Inertia of a Uniform Ring
L
M x  3
= sin2 θ  
L  3 0
Consider a ring with mass M and radius R, rotating about an
M L3  R
axis sin θ  through
= passing
2
 its centre and perpendicular to the plane
L ring.  3 
of the
ML2
I= sin2 θ
3
Consider a small element of mass dm located at a distance R
from the centre of the ring.
To get the moment of inertia of the entire ring, we need to
integrate the moment of inertia of mass dm.
θ
I = ∫ r 2dm dl
R
⇒I R ∫=
2
dm (Since r R for whole distribution)
⇒I=R2 ( M )
⇒I=MR 2

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Moment of inertia of a ring about a natural axis perpendicular to the plane of the ring does
not depend on the mass distribution inside the ring. It only depends on the total mass and
the radius of the ring.

Example

M M M M

Find the moment of inertia of 180° 60° dθ

R R
the objects shown in the given
figure. R R

Solution

The moment of inertia of a part of ring or a complete ring is independent of the central angle about
the axis of rotation.
So, the moment of inertia for all the shown cases is,
I = MR2

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