24.

Moments of Inertia: Examples

Michael Fowler

Molecules
The moment of inertia of the hydrogen molecule was historically important. It’s trivial to find: the nuclei
(protons) have 99.95% of the mass, so a classical picture of two point masses m a fixed distance a apart
gives I = 12 ma 2 . In the nineteenth century, the mystery was that equipartition of energy, which gave
an excellent account of the specific heats of almost all gases, didn’t work for hydrogen—at low
temperatures, apparently these diatomic molecules didn’t spin around, even though they constantly
collided with each other. The resolution was that the moment of inertia was so low that a lot of energy
was needed to excite the first quantized angular momentum state, L =  . This was not the case for
=
heavier diatomic gases, since the energy of the lowest angular momentum state E L=
2
/ 2 I 2 / 2 I ,
is lower for molecules with bigger moments of inertia .

Here’s a simple planar molecule:

Obviously, one principal axis is through the centroid,

perpendicular to the plane. We’ve also established that
any axis of symmetry is a principal axis, so there are
evidently three principal axes in the plane, one along
each bond! The only interpretation is that there is a
degeneracy: there are two equal-value principal axes in
the plane, and any two perpendicular axes will be fine.
The moment of inertial about either of these axes will be
one-half that about the perpendicular-to-the-plane axis.

What about a symmetrical three dimensional molecule?

Here we have four obvious principal axes: only possible if

we have spherical degeneracy, meaning all three
principal axes have the same moment of inertia.

Various Shapes
 /2
A thin rod, linear mass density λ , length
=  : I 2= ∫
λ x 2dx 2=
0
λ 3 / 24 1
12 m 2 .
 2

A square of mass m , side  , about an axis in its plane, through the center, perpendicular to a side:
1
12 m 2 . (It’s just a row of rods.) in fact, the moment is the same about any line in the plane through the
center, from the symmetry, and the moment about a line perpendicular to the plane through the center
is twice this—that formula will then give the moment of inertia of a cube, about any axis through its
center.

a
A disc of mass M , radius a and surface density σ has I = ∫r ⋅ σ ⋅ 2π rdr= π a 4σ = Ma 2 . This is
2 1 1
2 2
0

also correct for a cylinder (think of it as a stack of discs) about its axis.

A disc about a line through its center in its plane must be 1

4 Ma 2 from the perpendicular axis theorem. A
solid cylinder about a line through its center perpendicular to its main axis can be regarded as a stack of
discs, of radius a , height h , taking the mass of a disc as ρ dz , and using the parallel axes theorem,

h /2
I= 2 ∫ ρ dz ( 14 a 2 + z 2 )= 1
4 Ma 2 + 121 Mh 2 .
0

∫ dz ρπ ( a 2 − z 2 )=
2
For a sphere, a stack of discs of varying radii, =
I 1
2
8
15 ρπ a=
5 2
5 Ma 2 .
−a

An ellipsoid of revolution and a sphere of the same mass and radius clearly
have the same motion of inertial about their common axis (shown).

Moments of Inertia of a Cone

Following Landau, we take height h and base radius R and semivertical angle α
so that R = h tan α .

As a preliminary, the volume of the cone is

h h 2
 Rz 
=V ∫=
π r 2dz
0
∫π  =
0
 dz
 h 
1
3 π R 2h.

The center of mass is distance a from the vertex, where

h h 2
 Rz 
aV = ∫0 zdV =
a ⋅ 13 π R 2h = ∫0 π z  h  dz =
4πR h , a=
1 2 2 3
4 h.
 3

The moment of inertia about the axis x3 of the cone is (taking density ρ ) that of a stack of discs each
2
 Rz 
having mass = r ρ dz π   ρ dz and moment of inertia I ( dz ) = 12 m ( dz ) r 2 :
m ( dz ) π= 2

 h 
h 4
 Rz 
∫
0
1
2 πρ =
 h 
 dz πρ R 4h
=
1
10
3
10 MR 2 .

The moment of inertia about the axis x1′ through the vertex, perpendicular to the central axis, can be
2
 Rz 
calculated using the stack-of-discs parallel axis approach, the discs having mass πρ   dz , it is
 h 

 Rz   1  Rz  
h 2 2

∫0  h   4  h 
π ρ +  dz = πρ R 4h + 15 πρ R 2h 3 = MR 2 + 53 Mh 2 .
2
 z 1
20
3
20
 

Analyzing Rolling Motion

Kinetic Energy of a Cone Rolling on a Plane
(This is from Landau.)

The cone rolls without slipping on the

horizontal XY plane. The momentary line of
contact with the plane is OA , at an angle θ in
the horizontal plane from the X axis.

The important point is that this line of contact,

regarded as part of the rolling cone, is
momentarily at rest when it’s in contact with
the plane. This means that, at that moment,
the cone is rotating about the stationary line

OA. Therefore, the angular velocity vector Ω

points along OA .

Taking the cone to have semi-vertical angle α (meaning this is the angle between OA and the central
axis of the cone) the center of mass, which is a distance a from the vertex, and on the central line,
moves along a circle at height a sin α above the plane, this circle being centered on the Z axis, and
having radius a cos α . The center of mass moves at velocity V = θa cos α , so contributes translational
kinetic energy 12 MV 2 = 12 M θ 2 a 2 cos2 α .
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Now visualize the rolling cone turning around the momentarily fixed line OA : the center of mass, at
V
height a sin α , moves at V , so the angular velocity
= Ω = θ cot α .
a sin α

Now define a new set of axes with origin O : one, x3 , is the cone’s own center line, another, x2 , is
perpendicular to that and to OA , this determines x1 . (For these last two, since they’re through the
vertex, the moment of inertia is the one worked out in the previous section.)

Since Ω is along OA , its components with respect to these axes ( x1 , x2 , x3 ) are ( Ω sin α , 0, Ω cos α )
.

The total kinetic energy is

cos α
4
M θ 2a 2 cos2 α + 12 I1θ 2 cos2 α + 12 I 3θ 2
T= 1
sin 2 α
2

= 3Mh 2θ 2 (1 + 5cos2 α ) / 40,

using I1 =
20 MR + 5 Mh , I 3 =
3 2 3 2
10 MR , a =
3 2 3
h tan α .
4 h, R =

Rolling Without Slipping: Two Views

Think of a hoop, mass M radius R , rolling along a flat plane at speed V . It has translational kinetic
energy 12 MV 2 , angular velocity Ω =V / R, and moment of inertia I = MR 2 so its angular kinetic
energy 1
2 I Ω 2 =12 MV 2 , and its total kinetic energy is MV 2 .

But we could also have thought of it as rotating about the point of contact—remember, that point of the
hoop is momentarily at rest. The angular velocity would again be Ω , but now with moment of inertia,
from the parallel axes theorem, I = MR 2 + MR 2 = 2 MR 2 , giving same total kinetic energy, but now all
rotational .
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Cylinder Rolling Inside another Cylinder

Now consider a solid cylinder radius a rolling inside a hollow cylinder radius R , angular distance from
the lowest point θ , the solid cylinder axis moving at
=
V ( R − a ) θ , and therefore having angular velocity
(compute about the point of contact) Ω =V / a.

The kinetic energy is

 I 
MV 2 + 12 I (V / a ) =12  M + 2  ( R − a ) θ 2
1 2 2
2
 a 

The potential energy is − Mg ( R − a ) cos θ

The Lagrangian L= T − V , the equation of motion is

 I   − Mg ( R − a ) sin θ ≅ − Mg ( R − a ) θ ,
 M + 2 (R − a) θ =
2

 a 

g
so small oscillations are at frequency ω = .
 I 
1 + (R − a)
 Ma 2 