Mechanics of Machines II Module 1 – Moments of Inertia

3.0 Moment of Inertia of a Mass 3.1 Simple Objects

In dynamics, the acceleration of an object that results fom the forces acting upon it We will begin by looking at some simple objects and how their mass moments of
depends on its mass. The angular acceleration, or rotational acceleration, that inertia may be determined. We will then look at how the parallel-axis theorem
results from the forces and couples (moments) acting on an object depends on applies to mass moments of inertia, which will then enable us to determine the
quantities called the mass moments of inertia of the body. mass moments of inertia of more complex bodies.

Also, any object’s moment of inertia is a measure of how resistant it is to rotation. Slender Bars (or Long thin Rods)
This is determined by two factors: how much mass the object has and how far that
mass is from the object’s axis of roation. Increasing mass makes an object harder Here we will determine the mass moment of
to rotate, as does increasing the distance between the mass and its axis of inertia of a straight, slender bar of length l about a
rotation. perpendicular axis passing through the center of
mass of the bar as shown in the diagram on the
Consider the object below relative to axis O. right. l

When we talk of slender here, effectively this

means that the bars length is far greater than its δ
width. If the bar has a mass m and a cross-
sectional area A, consider a differential element of
r the bar of length dr at a distance r from the center r
of mass as shown on the right. δr

The element’s mass is equal to the product of its volume and the mass density:
 m     A r 
The mass moment of inertia of the object about the axis O is defined as
Substituting this into equation , we can obtain the mass moment of inertia of the
bar about a perpendicular axis through its center of mass:
Io =  r2 x δm -----------
l


2
r2 x dm  Ar r
2
m  I = =
m l

2
where r is the perpendicular distance from the axis to the differential mass 1
element δm. = Al 3
12
Often axis O will be an axis about which the object rotates, and the value of Io is
required to determine the angular acceleration caused by resisting moments acting but the overall mass of the bar is given by: m = Al
on the object. The Mass Moment of Inertia is also denoted by the letter I but its
units are [kgm2]. 1
ml 2
 I =
12

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Mechanics of Machines II Module 1 – Moments of Inertia

Thin Plates y Looking back at the second diagram of the plate, we see that the
y
perpendicular distance from the x-axis to the element of area dA is given
Consider a flat plate of mass m and by y. Hence, in a similar fashion, the mass moment of inertia of the plate
thickness t as shown on the right, the plate about the x-axis is given by:


lying in the x-y plane and its thickness in
the z-plane.  Ix = y2 x δm = t  y 2 A
m A
Consider now a differential element of x z
m
volume of the plate by projecting an =  I x ( area )
element of area δA through the thickness t
y y A
of the plate as shown in the second
diagram on the right. dA dm where Ix is the moment of inertia of the cross-sectional area of the plate
about the x-axis.
r
The resulting volume of this element is y
The mass moment of inertia of the plate about the y-axis is given similarly
thus t. δA.
x z
by:
x
The mass of this element is equal to the
product of its volume and the mass density:
m    t .A
 Iy = 
m
x2 x δm = t  x 2  A
A
m
Substituting this into equation , we can obtain the mass moment of inertia of the =  I y ( area )
plate about the z-axis: A
where Iy is the moment of inertia of the cross-sectional area of the plate
 Iz = 
m
2
r x δm = t  r A
2 about the y-axis.
A
We can see that the sum of the area moments of inertia Ix and Iy is equal
where r is the distance from the z-axis to dA. to the polar moment of inertia Jz, and hence the mass moment of inertia of
the thin plate about the z-axis is equal to the sum of the mass moments
about the x- and y-axes, which, as before with area moments, is
Since overall mass of the plate is given by: m = tA effectively the perpendicular axes theorem stated as follows:

we then have: t = m/A  Jz = Ix + Iy

The integral on the right is the polar moment of inertia Jz of the cross-sectional Important: However, this only holds for thin flat plates where the
area of the plate. Hence, the mass moment of inertia of the plate about the z-axis thickness of the plate (ie. z) is negligible compared to the dimensions in
is then given by: the x- and y- planes. Whenever the z-dimension becomes significant, we
m cannot use this relationship; the methods for solution in this case will be
 Iz =  J z ( area ) discussed later when we deal with composite bodies. The following two
A
examples will illustrate how we apply this theory to simple objects.

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Mechanics of Machines II Module 1 – Moments of Inertia

Example 3.1

Two slender bars, each of length l and mass m and cross-sectional area A, are
welded together to form the L-shaped component below. Determine the mass
moment of inertia of the component about the axis perpendicular to the bar
through point O.

O
l

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Mechanics of Machines II Module 1 – Moments of Inertia

Example 3.2

The thin triangular plate shown below is of uniform thickness and mass m.
Determine the mass moment of inertia of the component about the x-, y- and z-
axes.
y

O x
b

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