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92 Mechanics - II

12.1 Introduction
A particle means mass with negligible volume. A rigid body is made up of too many particles but
distance between any two particles is always constant. In any type of motion of a rigid body this
distance always remains constant. A particle has only translational motion. Even if a particle is
1
rotating in a circle it has only translational motion and it has only translational kinetic energy mv 2 .
2
A rigid body may have either of the following three types of motions :
(i) Translational motion
(ii) Rotational motion
(iii) Translational plus rotational motion
In translational motion of the rigid body all particles of the rigid body have same linear displacement,
same linear velocity and same linear acceleration. In rest two motions, different particles have
different linear displacement, different linear velocity and different linear acceleration.
As far as translational motion is concerned we do not differentiate between a particle and a rigid body.
This motion is already discussed in the chapter of kinematics. This is the reason, in the chapter of
kinematics, sometimes we write: a particle is moving and sometimes we write: a block (or a body) is
moving. Rest two motions are only defined for a rigid body. In the present chapter, we shall discuss
these two motions of a rigid body.

12.2 Moment of Inertia

Like the centre of mass, the moment of inertia is a property of an object that is related to its mass
distribution. The moment of inertia (denoted by I ) is an important quantity in the study of system of
particles that are rotating . The role of the moment of inertia in the study of rotational motion is
analogous to that of mass in the study of linear motion. Moment of inertia gives a measurement of the
resistance of a body to a change in its rotational motion. If a body is at rest, the larger the moment of
inertia of a body, the more difficult it is to put that body into rotational motion. Similarly, the larger
the moment of inertia of a body, the more difficult it is to stop its rotational motion. The moment of
inertia is calculated about some axis (usually the rotational axis) and it depends on the mass as well as
its distribution about that axis.

Moment of Inertia of a Single Particle

For a very simple case the moment of inertia of a single particle about an axis is given by,

r m

Fig. 12.1

I mr 2 …(i)
Here, m is the mass of the particle and r its distance from the axis under consideration.
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Chapter 12 Rotational Mechanics 93

Moment of Inertia of a System of Particles

The moment of inertia of a system of particles about an axis is given by,
r1
m1

r2
m2
r3
m3

Fig. 12.2

I mi ri2 …(ii)
i

where, ri is the perpendicular distance from the axis to the ith particle, which has a mass mi .
For example, in Fig. 12.2:
I m1 r12 m2 r22 m3 r32

Moment of Inertia of Rigid Bodies

For a continuous mass distribution such as found in a rigid body, we replace the
summation of Eq. (ii) by an integral. If the system is divided into infinitesimal r
dm
elements of mass dm and if r is the distance from a mass element to the axis of
rotation, the moment of inertia is,
I r 2 dm
Fig. 12.3
where the integral is taken over the system.
Moment of Inertia of a Uniform Cylinder
Let us find the moment of inertia of a uniform cylinder about an axis through its centre of mass and
perpendicular to its base. Mass of the cylinder is M and radius is R.
We first divide the cylinder into annular shells of width dr and length l as shown in figure. The
moment of inertia of one of these shells is

R
l r dr

(a) (b)
Fig. 12.4

dI r 2 dm r2 ( dV )
Here, density of cylinder
and dV volume of shell 2 rl dr
dI 2 l r 3 dr
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94 Mechanics - II

The cylinder’s moment of inertia is found by integrating this expression between 0 and R,
R l 4
So, I 2 l r 3 dr R …(iii)
0 2
The density of the cylinder is the mass divided by the volume.
M
…(iv)
R 2l
From Eqs. (iii) and (iv), we have
1
I MR 2
2
Proceeding in the similar manner we can find the moment of inertia of certain rigid bodies about some
given axis. Moments of inertia of several rigid bodies with symmetry are listed in Table. 12.1.
Table 12.1
Thin rod 3 2 ml 2
I1 0, I2
5 4 12
1 ml 2 ml 2 2
I3 , I4 sin
x 3 12
ml 2 2
6 I5 sin , I6 mx 2
3
Circular disc 4 2 mR 2
I1 I2
4
mR 2
1 I3 I1 I2
5 2
3
5
I4 I2 mR 2 mR 2
4
3
I5 I3 mR 2 mR 2
2
Circular ring 4 2 mR 2
I1 I2
2
I3 I1 I2 mR 2
3
1 I4 I2 mR 2 mR 2
3 2
5
I5 I3 mR 2 2 mR 2

Rectangular 2 mb 2
I1
slab 12
ma2
1 I2
3 12
b I3 I1 I2
m 2
a (a b2 )
12
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Square slab 3 ma2

2 I1 I2 I3
12
ma2
a I4 I1 I3
1 6
4

Solid sphere 2
2 1 I1 mR 2
5
I2I1 mR 2
7
mR 2
5
m mass of sphere

Hollow sphere 2
2 1 I1 mR 2
3
I2 I1 mR 2
5
mR 2
3

Theorems on Moment of Inertia

There are two important theorems on moment of inertia, which, in some cases, enable the moment of
inertia of a body to be determined about any general axis, if its moment of inertia about some other
axis is known. Let us now discuss both of them.
Theorem of Parallel Axes
A very useful theorem, called the parallel axes theorem relates the moment of inertia of a rigid body
about two parallel axes, one of which passes through the centre of mass.

COM

Fig. 12.5

Two such axes are shown in figure for a body of mass M. If r is the distance between the axes and
I COM and I are the respective moments of inertia about them then, these two are related by,
I I COM Mr 2
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96 Mechanics - II

We now present a proof of the above theorem.

Proof To prove this theorem, we consider two axes, both parallel to the z-axis, one through the
center of mass and the other through a point P (Fig 12.6). First we take a very thin slice of the body,
parallel to the xy-plane and perpendicular to the z-axis. We take the origin of our coordinate system to
be at the centre of mass of the body; the coordinates of the centre of mass are then
x cm ycm z cm 0. The axis through the centre of mass passes through this thin slice at point O and
the parallel axis passes through point P, whose x and y coordinates are (a, b). The distance of this axis
from the axis through the centre of mass is r, where r 2 a 2 b 2 .
Axis of rotation passing through COM and
perpendicular to the plane of the figure
y Mass element mi

yi mi
yi b
a x a
P i

r b

x
O COM xi
Second axis of rotation
parallel to the one
through the COM

Slice of a body of mass M

Fig. 12.6

We can write an expression for the moment of inertia I P about the axis through point P. Let mi be a
mass element in our slice, with coordinates (x i , yi , z i ). Then, the moment of inertia I COM of the slice
about the axis through the centre of mass (at O) is
I COM mi ( xi2 yi2 )
i

The moment of inertia of the slice about the axis through P is

IP mi [( x i a ) 2 ( yi b ) 2 ]
i

These expressions don’t involve the coordinates z i measured perpendicular to the slice, so we can
extend the sums to include all particles in all slices. Then, I P becomes the moment of inertia of the
entire body for an axis through P. We then expand the squared terms, regroup and obtain
IP mi (x i2 yi2 ) 2a mi x i 2b mi yi (a 2 y 2 ) mi
i i i i

The first sum is I COM . From the, definition of the centre of mass the second and third sums are
proportional to x cm and ycm . These are zero because we have taken our origin to be the centre of
mass. The final term is r 2 multiplied by the total mass or r 2 . This completes our proof that
I P I COM Mr 2
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Chapter 12 Rotational Mechanics 97

Note From the above theorem we can see that among several parallel axes, moment of inertia is least about an
axis which passes through centre of mass. e. g. I2 is least among I1 , I2 and I3 . Similarly, I5 is least among I4 , I5
and I6 .
1
2
3 4
5
COM 6
COM

Fig. 12.7

Theorem of Perpendicular Axes

This theorem is applicable only to the plane bodies (two dimensional). y
The theorem states that the moment of inertia of a plane lamina about an
axis perpendicular to the plane of the lamina is equal to the sum of the
moments of inertia of the lamina about two axes perpendicular to each
other, in its own plane and intersecting each other, at the point where the P
ri yi
perpendicular axis passes through it. Let x and y axes be chosen in the
z x
plane of the body and z-axis perpendicular, to this plane, three axes being xi
mutually perpendicular, then the theorem states that
Iz Ix Iy Fig. 12.8
Proof Consider an arbitrary particle P of mass mi , distant ri fromO and
x i and yi are the perpendicular distances of point P from the x and y-axes respectively, we have
Iz mi ri2 , I x mi yi2 and I y mi x i2
i i i

So that, Ix Iy mi yi2 mi xi2

i i

mi ( yi2 x i2 ) mi ri2 Iz
i i

i.e. Iz Ix Iy Hence Proved.

Radius of Gyration
Radius of gyration (K ) of a body about an axis is the effective distance
from this axis where the whole mass can be assumed to be concentrated so
that the moment of inertia remains the same. Thus,
K M
2 I M
I MK or K
M
e.g. radius of gyration of a disc about an axis perpendicular to its plane
and passing through its centre of mass is
Fig. 12.9
1
MR 2
2 R
K
M 2
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Extra Points to Remember

Theorem of parallel axes is applicable for any type of rigid body whether it is a two dimensional or three
dimensional, while the theorem of perpendicular axes is applicable for laminar type or two dimensional
bodies only.
In theorem of perpendicular axes, the point of intersection of the three axes (x, y and z) may be any point on
the plane of body (it may even lie outside the body also). This point may or may not be the centre of mass
of the body.
If whole mass of the rigid body is kept at same distance x or R from the axis, then moment of intertia is mx2
or mR 2 , where m is the mass of whole body.
Rod

x Ring
R
Axis
Axis I = mR 2
x = mx 2
Fig. 12.10
If a portion is symmetrically cut about an axis and mass of
remaining portion is M. Then, moment of inertia of the remaining
portion is same as the moment of inertia of the whole body of R
O M M
same mass M. e.g. in figure 12.11(a) moment of inertia of the
section shown (a part of circular disc) about an axis
1
perpendicular to its plane and passing through point O is MR 2
2 (a) (b)
1
as the moment of inertia of the complete disc is also MR 2 . Fig. 12.11
2
1
Proof : Suppose the given section is th part of the disc, then mass of the disc will be nM.
n
1
Idisc ( nM )R 2
2
1 1
Isection Idisc MR 2
n 2
Rod
If whole mass of the rigid body is kept over the axis then, moment of inertia Axis
is zero. For example, moment of inertia of a thin rod about an axis passing I=0
through the rod is zero. Fig. 12.12

Example 12.1 Three particles of masses 1g, 2g and 3g are kept at points
(2cm, 0), (0,6 cm), (4cm, 3cm). Find moment of inertia of all three particles
(in gm - cm2 ) about, (a) x-axis (b) y-axis (c) z-axis
y
Solution (a) About x-axis
2
Ix I1 I2 I3
m1 r12 m2 r22 m3 r32 6 cm 3
r0
Here r perpendicular distance of the particle from x-axis 3 cm
2 2 2
I1 (1) ( 0 ) ( 2 )( 6 ) ( 3)(3 ) x
O 1
99g -cm 2 Ans. 2 cm
4 cm
(b) About y-axis
Fig. 12.13
Iy m1 r12 m2 r22 m3 r32
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Chapter 12 Rotational Mechanics 99

Here, r perpendicular distance of the particle from y-axis

Iy (1)( 2) 2 ( 2 )(0 ) 2 ( 3)( 4 ) 2 52 g -cm 2 Ans.
(c) About z-axis Iz m1 r12 m2 r22 m3 r32
Here, r perpendicular distance of the particle from z-axis.
r0 ( 3 )2 (4 ) 2 5 cm
Iz (1)( 2) 2 ( 2)(6 ) 2 3 (5) 2 151g -cm 2 Ans.

Note In the above example, from theorem of perpendicular axes, we can see that
Iz Ix Iy

Example 12.2 Three rods each of mass m and length l are A

joined together to form an equilateral triangle as shown in
figure. Find the moment of inertia of the system about an
axis passing through its centre of mass and perpendicular to
the plane of the triangle. COM
Solution Moment of inertia of rod BC about an axis perpendicular to
plane of triangle ABC and passing through the mid-point of rod BC B C
( i.e. D ) is Fig. 12.14

ml 2 A
I1
12
r BD tan 30
COM
l 1 l
or r
2 3 2 3 r
B 30° C
From theorem of parallel axes, moment of inertia of this rod about the D
asked axis is Fig. 12.15
2
2 ml 2 l ml 2
I2 I1 mr m Ans.
12 2 3 6
Moment of inertia of all the three rods is
ml 2 ml 2
I 3I 2 3 Ans.
6 2

Example 12.3 Find the moment of inertia of a solid sphere of mass M and
radius R about an axis XX shown in figure. Also find radius of gyration about
the given axis.
x

x
Fig. 12.16
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100 Mechanics - II

x
Solution From theorem of parallel axis,
2
IXX I COM Mr 2 MR 2 MR 2
5
COM
7
MR 2 Ans.
5
7 x
MR 2 r=R
I 5 7
Radius of gyration, K R Fig. 12.17
M M 5
7 7
Note If whole mass M is kept at a distance K R as a particle, then moment of inertia is again MR 2 .
5 5

Example 12.4 Consider a uniform rod of mass m and length 2l with two
particles of mass m each at its ends. Let AB be a line perpendicular to the
length of the rod and passing through its centre. Find the moment of inertia of
the system about AB.
A
Solution I AB I rod I both particles
m( 2l )2 l l
2 ( ml 2 )
12 m m
7 2
ml Ans.
3 B
Fig. 12.18

Example 12.5 Find the moment of inertia of the rod AB about an axis yy as
shown in figure. Mass of the rod is m and length is l.
y B

y
Fig. 12.19

m y
Solution Mass per unit length of the rod B
l r
m Q
Mass of an element PQ of the rod is, dm dx
l P dx
Perpendicular distance of this elemental mass about yy is, r x sin A x
Moment of inertia of this small element of the rod (can be
assumed as a point mass) about yy is,
m m 2 y
dI (dm )r 2 dx ( x sin ) 2 sin x 2 dx Fig. 12.20
l l
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Moment of inertia of the complete rod,

x l m 2 l ml 2
I dI sin x 2 dx sin 2 Ans.
x 0 l 0 3
ml 2
Note (i) I 0 if 0 (ii) I if or 90°
3 2

INTRODUCTORY EXERCISE 12.1

1. Find the radius of gyration of a rod of mass m and length 2l about an axis passing through one of
its ends and perpendicular to its length.
2. A mass of 1 kg is placed at (1 m, 2 m, 0). Another mass of 2 kg is placed at (3 m, 4 m, 0). Find
moment of inertia of both the masses about z-axis.
3. Four thin rods each of mass m and length l are joined to make a square. Find moment of inertia
of all the four rods about any side of the square.
4. About what axis would a uniform cube have its minimum moment of inertia?
5. There are four solid balls with their centres at the four corners of a square of side a. The mass of
each sphere is m and radius is r. Find the moment of inertia of the system about (i) one of the
sides of the square (ii) one of the diagonals of the square.
6. A non-uniform rod AB has a mass M and length 2l . The mass per unit length of the rod is mx at a
point of the rod distant x from A. Find the moment of inertia of this rod about an axis
perpendicular to the rod (a) through A (b) through the mid-point of AB.
7. The uniform disc shown in the figure has a moment of inertia of 0.6 kg -m 2 around the axis that
passes through O and is perpendicular to the plane of the page. If a segment is cut out from the
disc as shown, what is the moment of inertia of the remaining disc?

60°

Fig. 12.21

8. If two circular disks of the same weight and thickness are made from metals having different
densities. Which disk, if either will have the larger moment of inertia about its central axis.
9. Particles of masses 1g, 2 g, 3 g, 100 g are kept at the marks 1cm, 2cm, 3cm, , 100 cm
respectively on a metre scale. Find the moment of inertia of the system of particles about a
perpendicular bisector of the metre scale.
10. If I1 is the moment of inertia of a thin rod about an axis perpendicular to its length and passing
through its centre of mass and I 2 the moment of inertia of the ring formed by the same rod about
an axis passing through the centre of mass of the ring and perpendicular to the plane of the ring.
I
Then find the ratio 1 .
I2