RIGID BODY

Definition: A rigid body a solid body in which deformation is zero or

negligible. The distance between any two given points on a rigid body
remains constant in time regardless of external forces or moments exerted
on it.

  V1

V2


V1cos1 = V2cos2
RIGID BODY
Definition: A rigid body a solid body in which deformation is zero or
negligible. The distance between any two given points on a rigid body
remains constant in time regardless of external forces or moments exerted
on it.

  V1

V2


V1cos1 = V2cos2
RIGID BODY

2
3
𝜽
𝜽

ω21 = ω31 = ω12 = ω13 = ω0

RIGID BODY

Frame of Reference Frame of Reference

Point- 1 Point- 2

V2sin2 + V1sin1 V2sin2 + V1sin1

ω21= ω12=
d d

ω12 = ω21
PURE TRANSLATORY MOTION

v v'
v v'
v v'
PURE TRANSLATORY MOTION
A body is said to be in pure translational motion, if the displacement of each
particle of the system is same during any time interval.

During such a motion, all the particles have same velocity 𝐯 and
acceleration 𝐚 at an instant.
 PURE ROTATIONAL MOTION
When a rigid body rotates about a fixed line motion is
called pure rotation.
B VA

A VA

O
COMBINED TRANSLATIONAL AND ROTATIONAL MOTION
MOMENT OF INERTIA

Property of a rigid body by virtue of which it opposes change in its

rotational velocity (angular velocity) is known as moment of inertia (MI).

MI is always calculated with respect to an axis of rotation.

MI of a body may be different about different axis of rotation

MI plays same role in rotational motion as mass plays in translational

motion.
 Classification
(𝐈 = 𝐦𝐫 𝟐 )

DISCRETE SYSTEM CONTINUOUS

(PARTICLE) MASS SYSTEM

2
Ixx′ = Σmi rx i Ixx′ = න rx2 dm

2
Iyy′ = Σmi ry Iyy′ = න ry2 dm
i

2
Izz′ = Σmi rz i
Izz′ = න rz2 dm

rx → distance of particle from x − axis

(not x co − ordinate)
MOMENT OF INERTIA

Discrete Mass Distribution

IAxis = m1r12 + m2r22 … … … . + mn rn2

r1 m1

n
r2
I= ෍ miri2
m2
i=1

rn
mn
Example Find moment of Inertia about the following axis.

(i)
𝐈 =?

4kg 3kg

1kg 2kg
2m
Example Find moment of Inertia about the following axis.

(ii)
I=?

4kg 3kg

1kg 2kg

2m
Example Find moment of Inertia about the following axis.

(iii) I=?
m m

m b m
 Example Find moment of inertia about axis passing through centre of mass and
perpendicular to line joining m1 and m2 .
P
Solution
m1 m2
MOMENT OF INERTIA

Uniform Rod
Along an Axis passing through its end & perpendicular to rod:

dM

x dx
Uniform Rod
Along an Axis passing through its centre & perpendicular to rod:

dM

x dx
Uniform Rod
Along an Axis passing through its centre & perpendicular to rod:

dM

x dx
Example Find moment of Inertia about the following axis.

𝜔
𝜔

L
Non-Uniform Rod
Along an Axis passing through its end & perpendicular to rod:

𝛌 = 𝛌𝐨 𝐱 𝐧
L

dM

x dx
Uniform Ring
Along an Axis passing through its centre & perpendicular to plane of ring:
 Note
MOI does not change if a mass element move parallel to the axis of rotation.
 Note
MOI does not change if a mass element move in a circle about the axis of
rotation.
Ring

R
Circular Arc
M
Uniform Disc
Along an Axis passing through its centre & perpendicular to plane of disc:

dr

dr

2𝜋𝑟
Annular Disc
Hollow Sphere

M,R

2
I = MR2
3
Solid Sphere

M,R

2
I = MR2
5
Solid Cone

M,R

3
I= MR2
10
Triangular Plate

Mh2
I=
6
Perpendicular Axis Theorem
PERPENDICULAR AXIS THEOREM

z
lamina y

For a plane body (2-D objects or lamina) x and y axis are in plane of the
body and z-axis is perpendicular to the plane of the body, then

Iz = Ix + Iy
PARALLEL AXIS THEOREM

It is valid for all objects.

𝐈𝐩
𝐈𝒄

𝐈𝐩 = 𝐈𝐜 + 𝐌𝐝𝟐
COM

d
 Example Find moment of inertia about green axis.

Solution

R
Ring (M,R)
 Example Find moment of inertia about Green axis.

Solution
Rod (M,L)

L/2
Example Find moment of inertia about Green axis.

M,R

4R

I =?
Example Ix = x 2 − 4x + 29 and COM is on x − axis. Find location of COM.
 Example Find moment of inertia about given axis.

Solution
I =?
(M,R)
 Example Find moment of inertia about given axis.

Solution
 Example Find moment of inertia about given axis.

Solution I =? 𝑆𝑜𝑙𝑖𝑑 𝑠𝑝ℎ𝑒𝑟𝑒

M,R
 Example Find moment of inertia about given axis.

Solution
Moment of Inertia of Hollow & Solid Cylinder

M,R M,R

L ML2 MR2 ML2 MR2

L
I= + I= +
12 4 12 2
Radius of Gyration

𝐈I 𝐌𝐊 𝟐
𝐌𝑲

K
M

=
Radius of gyration

MOI of system Total mass of system

 𝟐
𝐊
Body ICM K
𝐑

Ring MR2 R 1

1 R 1
Disc MR2 = 0.5
2 2 2
Hollow Cylinder MR2 R 1

1 R 1
Solid Cylinder MR2 = 0.5
2 2 2

2 2 2
Hollow Sphere MR2 R = 0.67
3 3 3

2 2 2
Solid Sphere MR2 R = 0.4
5 5 5
 Moment Radius of
Position of the axis
Shape of the body Figure of Inertia gyration
of rotation
(I) (K)

(1) Circular Ring

(a) About an axis
perpendicular to the
MR2 R
plane and passes
through the centre

(b) About the 1 R

diametric axis MR2
2 2

(c) About an axis

tangential to the rim 2MR2
2R
and perpendicular to
the plane of the ring

(d) Tangential to the

3 3
rim and lying in the MR2 R
plane of ring 2 2
 Moment Radius of
Position of the axis
Shape of the body Figure of Inertia gyration
of rotation
(I) (K)

(2) Circular Disc (a) About an axis

passing through the R
1
centre and MR2
perpendicular to the 2 2
M = Mass plane
R = Radius

(b) About a diametric MR2 R

axis 4 2

(c) About an axis

tangential to the rim 5 5
and lying in the plane MR2 R
4 2
of the disc
 Moment Radius of
Position of the axis
Shape of the body Figure of Inertia gyration
of rotation
(I) (K)

(d) About an axis

tangential to the rim 3 3
and perpendicular to MR2 R
2 2
the plane of disc

(3) Annular disc

(a) About an axis

passing through the M 2
centre and
ൣR R21 + R22
2 1
perpendicular to the + R22 ൧ 2
M = Mass
plane of disc
R1 = Internal Radius
R2 = Outer Radius
 Moment Radius of
Position of the axis
Shape of the body Figure of Inertia gyration
of rotation
(I) (K)

M 2
(b) About a diametric ൣR R21 + R22
4 1
axis 2
+ R22 ൧

(4) Solid Sphere

(a) About its diametric
axis which passes 2 2
through its centre of
MR2 R
5 5
mass

M = Mass
R = Radius
(b) About a tangent to 7 7
MR2 𝑅
the Sphere 5 5
 Moment Radius of
Position of the axis
Shape of the body Figure of Inertia gyration
of rotation
(I) (K)

(5) Hollow Sphere

(Thin spherical
(a) About diametric
Shell)
axis passing through 2 2
centre of mass MR2 𝑅
3 3

(b) About a tangent to 5 5

M = Mass MR2 𝑅
the surface 3 3
R = Radius
Thickness negligible
 Moment Radius of
Position of the axis
Shape of the body Figure of Inertia gyration
of rotation
(I) (K)

(6) Hollow
Cylinder
(a) About its
geometrical axis
MR2 R
which is parallel to its
length

M = Mass
R = Radius
L = Length (b) About an axis
which is perpendicular
MR2 ML2 R2 L2
to its length and + +
passes through its 2 12 2 12
centre of mass. L
 Moment Radius of
Position of the axis
Shape of the body Figure of Inertia gyration
of rotation
(I) (K)

(7) Solid Cylinder I MR2 R

M
(a) About its R 2 2
geometrical axis,
which is along its
length.
M = Mass
R = Radius
I 3
L = Length MR2 3
(b) About an axis M 2 R
R 2
tangential to the
cylindrical surface and
parallel to its
geometrical axis.
 Radius of
Position of the axis Moment of
Shape of the body Figure gyration
of rotation Inertia (I)
(K)

(c) About an axis ML2 MR2

+ L2 R2
passing through the 12 4 +
centre of mass and 12 4
perpendicular to its
length.
L
(8) Thin Rod (a) About an axis ML2 𝐿
passing through centre 12 12
of mass and
perpendicular to its L
Thickness is negligible length
w.r.t. length
mass M (b) About an axis ML2 𝐿
length L passing through one 3 3
end and perpendicular
to length of the rod L
 Position of the axis Moment of Radius of
Shape of the body Figure
of rotation Inertia (I) gyration (K)

(9) Rectangular Plate (a) About an axis Mb2 b

passing through 12 2 3
centre of mass and
perpendicular to b
side b in its plane. a

M = Mass (b) About an axis Ma2 a

a = Length passing through 12 2 3
b = Breadth centre of mass and
perpendicular to
b
side a in its plane.
a
 Radius of
Position of the axis Moment of
Shape of the body Figure gyration
of rotation Inertia (I)
(K)
(c) About an axis M(a2 + b2 )
a2 + b 2
passing through 12
centre of mass and 12
perpendicular to b
plane
a

(10) Cube About an axis Ma2 a

passing through 6 6
centre of mass and
perpendicular to its
plane. a
Mass = M
Side a
 Example Find moment of inertia of the disc arrangement about given axis.

Solution

R
2

Mass of the remaining portion ′m′

TORQUE
P : Point of application of force

P F

𝑟Ԧ

τ = rԦ× F

✓ It is a vector quantity.

✓ SI Unit - Nm

✓ Dimension – ML2T-2
 In vector form

𝛕𝐅 𝐎 = 𝐫Ԧ × 𝐅Ԧ = 𝐎𝐏 × 𝐅Ԧ
Direction of 𝝉
𝝉 is an axial vector and its’s direction can be found byof
SI unit right hand⇒thumb
Torque 𝐍−𝐦
rule. Line of action of force

𝐋𝐞𝐯𝐞𝐫 𝐚𝐫𝐦 = 𝐫⊥

Point P → point of application of

force
𝛕𝐅 𝐎 = 𝐅𝐨𝐫𝐜𝐞 × 𝐥𝐞𝐯𝐞𝐫 𝐚𝐫𝐦
Point O → about which torque is to
𝝉𝑭 𝐎 = 𝐅 × 𝒓⊥ be calculated
𝐫Ԧ = 𝐎𝐏 = Position vector of point of
application of force w.r.t point O
 Direction of 𝛕

𝛕 is an axial vector and its’s direction

can be found by right hand thumb rule.
 rԦ Fcosθ
τ = rԦ× F

|τ| = rF sinθ
Fsinθ

|τ| = r(F sinθ) |τ| =F(r sinθ)

|τ| = r F⊥ |τ| = F r⊥
 Example rԦ = 2iƸ + 3jƸ + 4k෠
F = 4iƸ + 5jƸ + 6k෠
Solution
τ about origin =?
 Example Find the torque about point O?

Solution
10 N

10m
10 N
370 370
O 5m
450

10m

20 2 N
 Example Calculate Torque about point O for the given wrench.
5m
Solution
5N

37o

O 5N 5N 5N

10m
15m
 Example Calculate torque due to gravitation force at any time t about point of
projection.
Solution At time ′t′

50m/s
mg

2kg 53o
Torque About an Axis
The torque of a force F about an axis AB is defined as the Axis
component of torque of about any point O on the axis AB, F
along the axis AB.

𝑟Ԧ