Mechanics of Machines II Module 1 – Moments of Inertia MMB2

1.0 Moments of Inertia

1.1 Introduction to Moments of Inertia

Consider the sketch below depicting the cross-sections of two beams. This property called moment of inertia will arise repeatedly in analyses of
engineering problems, and is a very important property in engineering since it
must be determined or specified if one is to analyse or design a structural
member or a mechanical part.

1.2 Applications of Moments of Inertia in Engineering

Moments of inertia of areas (or Area Moments of Inertia) are used in statics in
the study of distributed forces and in calculating deflections of beams as in the
example depicted alongside. Problems of this type will be encountered during the
study of Strength of Materials. The moment exerted by the pressure on a
submerged flat plate is also be expressed in terms of the moment of inertia of the
plate’s area; problems of this type will be encountered in Fluids.

In dynamics, Mass Moments of Inertia are used in calculations involving any

rotational motion of components, and will be encountered repeatedly during most
engineering applications. Mass moments of inertia will play an important part in
engineering formulae developed during your study of both Mechanics and Design.

To be able to study and master these different engineering applications, a full and
detailed knowledge of the determination of a component’s moment of inertia is
necessary, as this property will become a regular part of your engineering
calculations and design.

Assume that the two beams depicted are made of the same material and In this module, we will introduce both moments of inertia of areas and mass
have the same length. Consider too that the cross-sections of the two moments of inertia separately and will show how to calculate the moments of
beams, depicted as shaded areas, are exactly the same magnitude as inertia of simple areas or objects and then use mathematical devices like the
well, despite the fact that they are different in cross-sectional shape. parallel-axis theorem to then calculate the moments of inertia of more complex
areas or objects. We will then look at moments of inertia about rotated axes and
If we then subject these two beams to equal vertical loads using the determine the principal (maximum and minimum) moments of inertia for any area
apparatus depicted, the left beam will deflect much less than the right or object both analytically and graphically.
beam as a result of the shape of its cross-section.
After completion of the module, it is expected that you will be able to calculate the
The property of the cross-section that determines a beam’s resistance to moment of inertia of any component encountered in any of the subjects or
bending about a particular axis is called its moment of inertia, which will problems you may be presented with.
be discussed in detail in this module.

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Moment of Inertia of an Area

The Moment of Inertia of an area is sometimes also termed the Area Using the mathematical properties of integration, the overall moment therefore
Moment of Inertia or the 2nd Moment of the Area – they are all referring to involves an integral of the form
the same property.


When forces are distributed continuously over an area upon which they (dis tan ce ) 2 x (area)
act, it is often necessary to calculate the moment of these forces about
some axis either in or perpendicular to the plane of the area. Frequently,
the intensity of the force is proportional to the distance of the force from
the moment axis. This integral is known as the Area Moment of Inertia or the 2nd Moment of the
Area.

The Area Moment of Inertia is denoted by the letter I and its units are [m4].

For the example depicted alongside, according to this integral the Area Moment
of Inertia (or Moment of Inertia as we will term it in future) about the axis depicted
will then be given by:
δA
r
I =  r2 x δ A [m4]

2.1 Definitions of Area Moments of Inertia

Consider now an area A in the standard Cartesian x-y plane as depicted below:
y

Consider now a very small element of area δA of the overall component’s

area. The elemental force acting on this element of area is proportional to
the distance r from the moment axis times the differential area δA, x
δA

ie: δF = r x δA
r y
and the elemental moment, therefore, would be this value times the
distance r from the moment axis again giving,

ie: dM = r2 x δA x
O

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

We can define four moments of inertia of the area A: of the x- and y-axes. The letter J is often used instead of I to indicate that
the moment of inertia is polar and not planar. Effectively Jz and Iz are
(i) Moment of Inertia about the x-axis: exactly the same thing.

If you consider that, from the geometry on the diagram and by

Ix = 
A
2
y x δA Pythagoras, r2 = x2 + y2, then we can modify the above statement as
follows:

where y is the distance of the differential element δA from the x-

axis.
 Jz = 
A
(x2 + y2 ) x δA

(ii) Moment of Inertia about the y-axis:

 Jz = Ix + Iy

Iy = 
A
x2 x δA
this statement is also known as the perpendicular axes theorem.
where x is the distance of the differential element dA from the y-
axis. This theorem states that the polar moment of inertia (normal to the plane
of the area) can be calculated by simply adding the moments of inertia of
two intersecting perpendicular planar axes.
(iii) Product of Inertia:
Considering the circular disc depicted below. The polar axis is shown as
an axis parallel to the symmetrical axis of the disc which intersects with
Ixy = A
xy x δA the x-axis and y-axis on the plane of the cross-section of the disc - these
two axes being perpendicular to each other and passing through the
center of the cross-section.
this is a property which will be used later in determining the
Principal Moments of Inertia.

(iii) Polar Moment of Inertia:

polar axis
Jz = 
A
r2 x δA x-axis

y-axis
The Polar Moment of Inertia occurs about an axis z perpendicular
to the plane of the area, passing through point O, the intersection

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Calculating Ix and Iy about the x-axis and y-axis and then adding By definition of the area moment of inertia, the moment of inertia of the strip about
them together would result in the value of the polar moment of the x-axis will be the same as that of the original area A if:
inertia Jz about the polar axis.

2
kx A Ix
2.2 Definitions of Radius of Gyration of an Area The distance kx is called the radius of gyration of the area about the x-axis.
Consider again our area A which has rectangular moments of inertia Ix
A similar analogy can be used about the y- and z- axes to determine the radius of
and Iy and a polar moment of inertia Iz about the axes through point O.
gyration about each axis respectively.

y The radius of gyration of a planar area has units of length (ie [m]) and is a
quantity that is often used for the design of columns in structural mechanics.

Provided the areas and moments of inertia are known about a specific axis, the
δA radii of gyration can be determined from the following formulae:
x

r y
Ix Iy Iz
kx  ky  kz 
A A A
O x

If we now visualize this area as concentrated into a long very narrow strip In summary, the radius of gyration of an area is effectively that distance that an
of the same area A, a distance kx from the x-axis as shown in the diagram equivalent long narrow strip of area can be placed from the moment axis in order
below: to produce exactly the same value of Moment of Inertia about that moment axis.

y Be careful not to confuse radius of gyration with the co-ordinate to the centroid C
A of a particular area – they are not related. The radius of gyration, like the moment
of inertia, is purely a mathematical quantity that is used as a useful calculation
device in engineering problem analyses.
kx
The following examples will demonstrate the use of the previous equations to
determine the four moments of inertia of area and the radius of gyration for
various planar components.
O x

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Example 2.1

Determine the four moments of inertia about the axes shown of the
rectangular area depicted below. The x- and y-axes pass through the
centroid of the area. Also calculate the radius of gyration of the area
about the x-axis and the polar axis.

x h

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Example 2.2

Determine the four moments of inertia of the circular area depicted

below.
y

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Example 2.3

Determine the four moments of inertia of the triangular area depicted

below.

O x

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Example 2.4

Determine the moments of inertia of the shaded area depicted below

defined by the mathematical formula y2 = 400x. Also calculate kx.

y
2
y =400x

200 [mm]

x
100 [mm]

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Example 2.5

Determine the moment of inertia of the shaded area depicted below

about the x-axis only.

y 1 [m]

y=x2

1 [m]

y=x12

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Tutorial 1 – Moments of Inertia & Radius of Gyration

Consider the following diagram of a rectangular section: Consider the following diagram of a triangular section;
y
y

h h

x
x
b
b

Exercise 1.1 Exercise 1.5

Referring to the above diagram, determine from first principles Iy and ky. Referring to the above diagram, determine from first principles Iy and ky.

Exercise 1.2 Exercise 1.6

Referring to the above diagram, determine from first principles Ix and kx Referring to the above diagram, determine from first principles Jz and kz.

Exercise 1.3 Exercise 1.7

Referring to the above diagram, determine from first principles Ixy. Referring to the above diagram, determine from first principles Ixy.

Exercise 1.4

Referring to the above diagram, determine from first principles Jz.

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Consider the lamina depicted below: Consider the lamina depicted below:

y y
1 [m]

y=x
y=x3

1 [m]

y=x2

O x
a

Exercise 1.8 Exercise 1.12

Referring to the above diagram, determine from first principles Iy. Referring to the above diagram, determine from first principles Iy.

Exercise 1.9
Exercise 1.13
Referring to the above diagram, determine from first principles Ix.
Referring to the above diagram, determine from first principles Jz.

Exercise 1.10

Referring to the above diagram, determine from first principles Jz. Exercise 1.14

Referring to the above diagram, determine from first principles Ixy.

Exercise 1.11

Referring to the above diagram, determine from first principles Ixy.

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Exercise 1.15 Exercise 1.17

Referring to the diagram below, determine from first principles ky. From first principles, determine the area moments of inertia of the area shown
below about the x-axis and the y-axis.
y

100 [mm]

40 [mm]

160 [mm]
O x

Exercise 1.16
Exercise 1.18
The lamina depicted below is called an annulus – it is effectively a circular
From first principles, determine the area moments of inertia of the area shown
disc with a hole through the middle: determine from first principles Jz and
below about the x-axis and the y-axis. First determine the value of k. Clearly
kz.
support your solutions with labelled sketches. The units depicted are in [units].
y

r
O x

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Exercise 1.19 Exercise 1.21

From first principles, determine in detail the area moments of inertia of the From first principles, determine in detail the area moments of inertia Ix and Iy of
aerofoil cross-section shown below about the x-axis and the y-axis. the lamina shown below about the x-axis and the y-axis depicted. Clearly support
Clearly support your solutions with labeled sketches. The area depicted is your solutions with labeled sketches.
in [m2].
y

2
y = 1 – ½x

1 [m]

2 [m]

Exercise 1.22

From first principles, determine in detail the area moment of inertia Ixx of the
shaded area shown below in [mm4] about the x-axis depicted. First determine the
constant k and clearly support your solutions with labeled sketches.
Exercise 1.20

From first principles, determine in detail the area moments of inertia of the lamina
shown below about the x-axis and the y-axis depicted. Clearly support your
solutions with labeled sketches. The area depicted is in [m2].

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

The following table summarises Area Moments for standard shapes 2.3 Parallel-Axis Theorems
Rectangular Area
y 1 bd3 In some cases, you may know the moments of inertia of an area about axes
Ix = Iy = 1 db3 through the centroid of the area but may need to know their values about other
12 12
axes.
d
G Ixy = 0
x If these other axes are parallel to the known moment axes through the centroid,
we can calculate the moment of inertia of a composite area using the Parallel-
JG = 1 bd(b + d )
2 2

12 Axes Theorems.
b
Considering the diagram below, suppose that we know the moments of inertia of
Triangular Area an area A in terms of the axes x and y intersecting at the centroid G of the area,
Ix = 1 bh3 Iy = 1 hb3
and we wish to determine the moments of inertia of the area A in terms of the
y 36 36 parallel axes a and b depicted which intersect at an origin Q.

Ixy = 1 b2h2
h 72 a y
G
x
JG = 1 bh(b2 + h2)
b 36

Circular Area
y G
Ix = 1 R4 Iy = 1 R4 x
4 4
R
G Ixy = 0
x Q b

JG = 1 R4
2

Semi-Circular Area
 8  4 The parallel-axis theorem states that the moment of inertia about an axis Q
y Ix = 1 R4 Iy =   R parallel to any axis passing through the centroid G of an area is equal to the
8  8 9  moment of inertia about the axis passing through the centroid plus the area times
R the perpendicular distance between the two parallel axes squared.
Ixy = 0
G
x This is more simply stated mathematically as:
4R  8  4
3 JG = 1 R +
4
  R IQ = IG + (area) x (distance)2
8  8 9 
Properties in these tables can be used in the forthcoming sections We will now apply these to the specific axes depicted in the diagram above.

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

a y
Polar Moment of Inertia about the z-axis:

The parallel-axis theorem states for the polar moment of inertia about the axis O
dx is:

Jz = JG + A . d2
G
x

d
dy

b
2.4 Moments of Inertia of Composite Areas
O
How can we use the parallel-axes theorems to determine the moments of inertia
of a composite area (ie. an area made up of multiple simple shapes)?

With reference to the above diagram: Consider that we wish to calculate the moment of inertia about the y-axis of the
area depicted below.
Moment of Inertia about the b-axis:
y
Consider that the perpendicular distance between the x-axis passing
through the centroid and the parallel b-axis is given as dy, the parallel-axis
theorem then states:

Ib = Ix + A . dy2

Moment of Inertia about the a-axis:

Consider that the perpendicular distance between the y-axis passing

through the centroid and the parallel a-axis is given as dx, the parallel-axis The composite area depicted above is made up of a triangular area, a
theorem then states: rectangular area and a circular hole (or cutout), which we can call components
,  and  respectively.
Ia = Iy + A . dx2
By considering each of these components in turn and using the parallel-axes
theorem to calculate each moment of inertia about the y-axis, we will achieve
Product of Inertia: moments of inertia Iy1 , Iy2 and Iy3 for the individual components about the y-axis.
Remembering that component  is a cutout – ie. material has been removed
The parallel-axis theorem states for the product of inertia about the a- and from the overall composite area to achieve the final shape, we can then sum the
b-axes: individual moments of inertia to achieve the overall moment of inertia about the y-
axis as follows:
Iab = Ixy + A . dx . dy
Iy = Iy1 + Iy2 - Iy3

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Diagrammatically, we would then have: Example 2.6

Determine the four moments of inertia of the rectangular area depicted below
y about the x-axis and y-axis along the edges of the rectangular area.
y
Iy
b

= =
y Gy1 d
x1

Iy1 by parallel axis:

G1 2
Iy1 = IGy1 + A1. x1
x


+ +
y Gy2
x2
by parallel axis:
Iy2
G2 2
Iy2 = IGy2 + A2. x2

- *NB -
y Gy3
X3
 by parallel axis:
Iy3
2
G3 Iy3 = IGy3 + A3. x3

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Example 2.7

Determine Ix, kx and Ixy for the composite area shown below.

y 1 [m]

4 [m]

1 [m]
x
3 [m]

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Example 2.8

Determine Iy and ky for the composite area shown below.

y

40 [mm]

20 [mm]

120 [mm]

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Tutorial 2 – Parallel Axes Theorem Exercise 2.3 y

160 [mm]

Referring to the composite area shown 40 [mm]

Exercise 2.1 on the right, determine Ix, kx, Iy, ky, and
Ixy.
200 [mm]
Referring to the composite area below, determine Ix, kx and Ixy by dividing
it into rectangles  and  as shown.
80 [mm]
y 1 [m] 40 [mm]
x
120 [mm]


Exercise 2.4 y
4 [m] 160 [mm]
Referring to the same composite area on
40 [mm]
the right, determine Ix, kx, Iy, ky, and Ixy
given that the x- and y-axes now pass G
x
through the centroid G of the composite 200 [mm]
 area.
1 [m]
x 80 [mm]

3 [m] 40 [mm]

120 [mm]
Exercise 2.2

Referring to the rectangular area below, determine Ix, kx, Iy, ky, Jo, ko and
Ixy. Exercise 2.5 3 [m]
y 3 [m]

y a) Referring to the composite area on

the right, determine Ix, kx, Iy, and ky.
G
b) If we need to decrease Ix by 20% by x
placing a circular cutout with its 6 [m]
center at the centroid of the area,
2 [m]
what should the radius of the cutout
be?
1 [m]

O
x 2 [m] 2 [m]
4 [m]

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Exercise 2.6 y Exercise 2.10 y

60 [mm]

40 [mm]
Referring to the composite area Referring to the composite area on the
80 [mm]
on the right, determine Ix, kx, Iy, right representing a beam cross-section, 80 [mm]

ky, and Ixy. determine Ix, kx, Iy, ky, and Ixy.
100 [mm]
160 [mm]
40 [mm]

x
140 [mm]

x
Exercise 2.7 y
40 [mm]
60 [mm]

Referring to the same composite

area on the right, determine Ix, kx, Exercise 2.11 y
Iy, ky, and Ixy given that the x- and 40 [mm]
100 [mm]
y-axes now pass through the Referring to the same composite area on
x 80 [mm] 80 [mm]
centroid G of the composite area. G 40 [mm]
the right from the previous exercise,
x
determine Jz and kz where the x- and y- G
axes pass through the centroid of the
140 [mm] 160 [mm]
beam cross-section.

Exercise 2.8
y
40 [mm]
Referring to the composite area 60 [mm]
on the right, determine Jo and ko.
y
20 [mm]
Exercise 2.12
x
80 [mm] 80 [mm] Consider the beam cross-section
depicted in the diagram on the right
Determine the moments of inertia Ix, Iy
400 [mm]
Exercise 2.9 and Ixy about the x- and y-axes passing
through the centroid of the beam cross- G
b y x
Referring to the composite area section.
on the right, A = 2 x 104 [mm2].
500 [mm] 400 [mm]
The moment of inertia about the
G
y-axis is Iy = 3.2 x 108 [mm4].
Determine the moment of inertia
about the b-axis shown.
100 [mm]
x constant
100 [mm] 120 [mm]

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Exercise 2.13 y 60 [mm] 30 [mm] Exercise 2.15

Consider the lamina Consider the lamina depicted below where dimensions are given in [mm].
depicted on the right. Determine the value of the missing dimension x given that the moment of inertia
of the whole lamina about the XX-axis depicted is IXX = 11.2612 x 10-4 [m4].
Determine the area 60 [mm] [ 120 [mm] ]
moments of inertia
about the x-axis and
the y-axis.
-6 -6 x
[ 6.48x10 ; 19.71x10 ]

60 [mm]

Exercise 2.14

Consider the lamina

depicted on the right where
dimensions are given in
[mm].

a) Find the position of the Exercise 2.16

centroid relative to the
top edge of the lamina. Consider the beam cross-section depicted below. Calculate the area moments Ix
and Iy of the beam cross-section about the x- and y-axes depicted in [mm4].
b) Calculate the moments y
of inertia about the XX
and YY axes which pass
through the centroid of
the section. 90

-4 -5 120
[ 2.497x10 ; 5.9735x10 ]

x
240 [mm]

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Mechanics of Machines II Module 1 – Moments of Inertia MMB2

Exercise 2.17

Consider the beam cross-section depicted below. Determine the distance

y to the centroid C in [mm], and then calculate the area moments of the
beam cross-section about the x- and y-axes depicted in [mm4].

Exercise 2.18

Determine the second moment of area Ixx in [mm4], the radius of gyration kxx in
[mm] and the product of inertia Ixy in [mm4] of the thin plate depicted on the
right about the x-axis shown. Clearly support your solutions with labeled
sketches of the areas you are considering.

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Mechanics of Machines II Module 1 – Moments of Inertia

2.5 Application to Engineering Design Issues

A beam is a bar of material that supports lateral loads, meaning loads

Beam Design perpendicular to the axis of the bar. Two common types of beam are shown in the
diagram below supporting a lateral load F. On the left is a simply supported beam
Consider the two beam cross-sections depicted below which have equal while that on the right is termed a cantilever.
areas despite having different shapes. Both designs are candidates for the
cross-section of a beam.
200 [mm]
y
40 [mm]
y 144.2 [mm]

144.2 [mm]

G G
x x
120 [mm]
The lateral loads on a beam cause it to bend, and it must be stiff or resistant to
40 [mm]
bending to support these loads.

A beam’s resistance to bending depends directly on the moment of inertia of its

We will now look at their respective moments of inertia and see how the cross-sectional area as well as the material used. This will be explored in some
comparison would dictate a design decision in respect of required beam detail in Theory of Bending in Strengths II. In other words, considering that a
cross-section. Check these values yourself! specific material has been chosen for the beam, by increasing the value of Ix for
the beam cross-section would see a corresponding increase in the beam’s
resistance to bending.
Square Cross-section:
This is why many of the beams you see in use today as support structures in
The moment of inertia of the square cross-section about the x-axis is: buildings, bridges and factories are configured specifically to increase their
moments of inertia. The figure below depicts various beam cross-sections which
Ix = 3.6 x107 [mm4] all have exactly the same area. The numbers depicted are the ratios of the
moment of inertia Ix to the value of Ix for the solid square cross-section on the left.
I-Beam Cross-section: y
y
y y y
The moment of inertia of the I-beam cross-section about the x-axis is:
G
Ix = 11.03 x107 [mm4] G
x G G
x
G
x x x

Comparing the two values, we can see that the moment of inertia of the I-
beam about the x-axis is 3.06 times greater than that of the square cross-
section of exactly the same cross-sectional area.
1 1.78 3.06 7.48 8.88

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Mechanics of Machines II Module 1 – Moments of Inertia

Designers have to beware that configuring the cross-section of a beam to In these tables, a great deal of information regarding various types of sections of
increase its moment of inertia can be carried too far. Considering the various sizes are provided in a table form and can be extracted and then applied
diagram below, the ‘box’ beam depicted in (a) has a value of Ix that is four to the problem as desired.
times larger that a solid square beam of the same cross-sectional area,
but its walls are so thin that they may buckle in practice as shown in Among the information these tables provide are the general dimensions of a
diagram (b) which is obviously undesirable. particular section, its cross-sectional area, the moments of inertia about both XX
and YY axes and the position of the centre of gravity.

(b) failure An extract of the tables is depicted below for channel sections, where the various
by buckling dimensions and properties for various channel sizes is partially depicted.

(c) stabilizing the

(a) a box beam walls with a filler
with thin walls

The stiffness implied by the beam’s large moment of inertia is not realized
because it becomes geometrically unstable. A solution that engineers may For example, a standard 80 x 45 x 9 channel section will have a cross-sectional
use to overcome this is to stabilize the ‘box’ beam’s walls by filling the area A = 1.102x10-3 [m2] and a moment of inertia about the depicted XX-axis of
beam with a light material such as honeycombed metal, as in diagram (c), IXX = 1.059x10-6 [m4].
or foamed plastic to provide additional support to avoid failure due to
buckling. These values are simply extracted by locating the size of the channel section in
the first column (designation) on the left and then reading across the table for the
required information under the various column headings (take note of the units!).

2.5.1 Beam Design: Standard Sections & Standard An appendix of some of the more commonly used tables is also provided on
pages 813-817 in Appendix B of prescribed book Mechanics of Materials SI 2nd
Structural Steel Section Tables Ed by RC Hibbeler. These tables are US standards and differ slightly in
designation from locally available tables.
Introduction
Download & printout the South African Section Tables excel document from the
Up to now we have used either standard case formulae or the parallel or portal as this will be used as a reference for all future problems.
perpendicular axes theorems to calculate the moment of inertia that is
required to solve any problem. The following example is useful in demonstrating how the structural standard
steel section tables can be used as an assistance in solving a moments of inertia
If, however, the cross-section of a beam is made up out of standard problem.
structural steel sections, a great deal of calculation work can be saved by
extracting the information we require from standard structural steel section
tables.
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Mechanics of Machines II Module 1 – Moments of Inertia

Example 2.9

A built-up section consists of:

 a bar with a rectangular section of 200 [mm] x 30 [mm],

 two unequal leg angle sections of 125 [mm] x 75 [mm], each with a
mass of 15 [kg/m], and
 a channel section of 200 [mm] x 75 [mm],

arranged as shown in the diagram below.

Calculate:

a) the position of the centroid of the overall section relative to the

bottom of the section.
b) the second moment of area about the x- and y-axes which both
pass through the centroid.

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Mechanics of Machines II Module 1 – Moments of Inertia

Tutorial 3 – Beams & Standard Structural Steel Sections

-6 4 -6 4
Exercise 3.1 -9 4
[ 2.26x10 [m ]; 3.413x10
-10 4
[m ] ] Exercise 3.3 [ 221.638x10 [m ]; 115.104x10 [m ] ]

For the following non-standard beam cross-section depicted below, Consider the T-beam cross-section depicted below. Calculate the moment of
calculate the moment of inertia of the beam’s cross-section about the x- inertia of the beam’s cross-section about the x- and the y-axes depicted.
and the y-axes depicted.
y
y 150 [mm]
5 [mm]
5 [mm] 150 [mm]

2 [mm]
50 [mm]

2 [mm]
12 [mm] G
G
250 [mm]

2 [mm] x
x

4
Exercise 3.2 [ 3346 [mm ] ]

50 [mm]
For the following non-standard beam cross-section depicted below, the
beam is constructed from two channels and two cover plates. If each -6 4 -6 4
channel has a cross-sectional area of Ac = 11.8 [mm2] and a moment of Exercise 3.4 [ 67.633x10 [m ]; 41.021x10 [m ] ]
inertia about a horizontal axis passing through its own centroid Cc of 349
[mm4], calculate the moment of inertia of the beam’s cross-section about For the beam cross-section depicted below, calculate the moment of inertia of the
the x-axis depicted. beam’s cross-section about the x- and y-axes depicted.
y

y
1 [mm]

100 [mm]

10 [mm]
30 [mm]
1.28 [mm]

Cc
G 140 [mm]

10 [mm] G
x 30 [mm]

x
1 [mm]

30 [mm]
6 [mm] 170 [mm]
6 [mm]

26
Mechanics of Machines II Module 1 – Moments of Inertia

2.6 Rotated and Principal Axes ordinate system x’-y’ that is rotated through an angle  relative to the x-y co-
ordinate system as shown in diagram (a) following.
Consider that the cross-section for a specific cantilever
beam is shown on the right. If a vertical load is applied
to the end of the beam, a larger vertical deflection
results if the cross-section is orientated as shown in
diagram (a) below than if it is orientated as shown in
diagram (b).

The minimum vertical deflection results when the

beam’s cross-section is orientated in such a way so that
the moment of inertia Ix is a maximum as shown in
diagram (c) below.
Suppose that the moments of inertia of A in terms of of the x-y co-ordinate
system are known. What we will achieve in this section is to determine the
moments of inertia in terms of the x’-y’ co-ordinate system.

In terms of the radial distance r to some small differential element of area dA and
the angle  in diagram (b) above, the co-ordinates of dA in the x-y co-ordinate
system are:

x = r.cos
y = r.sin

the co-ordinates of dA in the x’-y’ co-ordinate system are:

x’ = r.cos(-) = r(cos.cos + sin.sin)

y’ = r.sin(-) = r(sin.cos - cos.sin)

In some engineering applications, the engineer must determine moments
of inertia of beam cross-sectional areas with various angular orientations
and hence determine the orientation for which the value of a moment of Using trig identities and simplifying these two equations, we can obtain equations
inertia is either a maximum or minimum, depending on how resistant to relating the co-ordinates of dA in the two co-ordinate systems:
deflection the beam is required to be. This procedure will be detailed in
this section.  x’ = x.cos + y.sin ---------------------

 y’ = -x.sin + y.cos ---------------------

Rotated Axes

Consider an area A positioned relative to horizontal (x-axis) and vertical We can use these expressions to derive relations between the moments of inertia
(y-axis) axes – ie. an x-y co-ordinate system. Consider also a second co- of A in terms of the x-y and the x’-y’ co-ordinate systems:
30
Mechanics of Machines II Module 1 – Moments of Inertia

Moment of Inertia about the x’-axis

Product of Inertia
By definition,
In terms of the x’-y’ co-ordinate system, the product of inertia of A is

Ix’ =  (y’)2 dA =  (-x.sin + y.cos)2 dA

A A Ix’y’ = (Ix - Iy). sin.cos + (cos2 - sin2). Ixy -----------

 = cos2 
A
y2 dA – 2sin.cos 
A
xy dA + sin2 
A
x2 dA Polar Moment of Inertia

From equations  and , the polar moment of inertia in terms of the x’-y’ co-
and simplifying this equation, we then get: ordinate system is

Ix’ = Ix.cos2 – 2 Ixy sin.cos + Iy.sin2 ------ Jz’ = Ix’ + Iy’ = I x + Iy = Jz

Moment of Inertia about the y’-axis Thus the value of the polar moment of inertia is unchanged by a rotation of the
co-ordinate system.
By definition,

Principal Axes
Iy’ = 
A
(x’)2 dA = 
A
(x.cos + y.sin)2 dA
In the previous section, we have developed formulae for the moments of inertia of
A about any rotated axes x’ and y’ . Now we must ask the question – for what
values of  is the moment of inertia Ix’ a maximum or minimum?
 = sin2 
A
y2 dA + 2sin.cos 
A
xy dA + cos2  x dA
A
2

To consider this question, it is convenient to use the following trig identities:

and simplifying this equation, we then get: sin2 = 2sin.cos

cos2 = cos2 - sin2
= 1 - 2 sin2
Iy’ = Ix.sin2 + 2 Ixy sin.cos + Iy.cos2 ----------- = 2 cos2 - 1

and rewrite equations ,  and  in the following easier-to-remember forms:

31
Mechanics of Machines II Module 1 – Moments of Inertia

Ix  Iy Ix  Iy Substituting the value for p back into equations  and  and simplifying gives
Ix’ =  cos 2  I xy sin 2 ----------- the general equation for principal moments of inertia:
2 2

Ix  Iy Ix  Iy I1,2 = 1
2
I x  I y   12 I x  I y   4 I xy
2 2
----------
Iy’ =  cos 2  I xy sin 2 -----------
2 2
Furthermore, the product of inertia Ix’y’ corresponding to a set of principal axes
equals zero.
Ix  Iy
Ix’y’ = sin 2  I xy cos 2 -----------
This last statement is an important one as it means that any section which is
2
symmetrical about a specific axis is already aligned about principal axes.

Remembering that, at the start of this section, it was stated that the deflection of a
Now, denoting the specific value of  at which Ix’ is a maximum or
beam will be a minimum if the x-axis is the principal axis of the beam’s cross-
minimum by p, we can take the derivative of equation  with respect to
section (ie. about which the moment of inertia is a maximum), we can lay out a
2 and equate it to zero, obtaining the equation: stepwise procedure for determining principal axes and principal moments of
inertia.

2 I xy The basic procedure for solving is as follows:

tan 2 p  -----------
Iy  Ix
1. Determine Ix, Iy and Ixy - you must first determine the moments of inertia of
the cross-sectional area in terms of the defined x-y co-ordinate system.

If we do the same with equation  to determine a value of  for which Iy’ 2. Determine p – solve equation  to determine the orientation of the principal
is a maximum or minimum, we achieve equation  again. The 2nd axes within an arbitrary multiple of 90°.
derivatives of Ix’ and Iy’ with respect to 2 are equal but opposite in sign
which means that at an angle p for which Ix’ is a maximum, Iy’ is a 3. Calculate I1 and I2 – once you have calculated the orientation of the principal
minimum, and vice-versa. axes, you can use equation  to determine the principal moments of inertia.
Equations  (or ) and  (or ) can then be used to check these values.

A rotated co-ordinate system x’-y’ that is orientated so that Ix’ and Iy’ have 4. The cross-section can then be orientated about the required axis depending
maximum or minimum values is called a set of principal axes of the on the effect required.
area A.

The corresponding moments of inertia about these axes Ix’ and Iy’ are To illustrate how this procedure works, we will return to an example we have
normally denoted by the letters I1 and I2 and are called the principal already done, Example 2.1 and calculate the principal moments of inertia for this
moments of inertia. example.

32
Mechanics of Machines II Module 1 – Moments of Inertia

Example 2.10

Determine a set of principal axes and the corresponding principal

moments of inertia of the triangular area depicted below.
y

3 [m]

O x
4 [m]

33
Mechanics of Machines II Module 1 – Moments of Inertia

Example 2.11

Determine Ix’, Iy’ and Ix’y’ about a rotated axis  = 30˚ relative to the x-
axis shown for the composite area shown below. Then, determine a set
of principal axes and the corresponding principal moments of
inertia.

y 1 [m]

4 [m]

1 [m]
x
3 [m]

34
Mechanics of Machines II Module 1 – Moments of Inertia

2.6.1 Rotated and Principal Axes (Graphical Solution)

Ixy

It is often convenient to use a graphical solution for ranges of moments of

X (Ix;Ixy)
inertia values – this is known as the Mohr’s Circle for Moments of Inertia, minor
first introduced by the German engineer Otto Mohr in the 1800s. principal
axis

With this graphical technique, if the moments and product of inertia of a

cross-sectional area A are known with respect to an x-y co-ordinate
system which pass through a point O, Mohr’s Circle can be used to 2Θp
determine: B ( I2;0 ) A ( I1;0 )
C Ix, Iy
a) the principal axes and principal moments of inertia of the area about
O, and
b) the moments and product of inertia of the area with respect to any major
principal
rotated axes through O.
axis

Consider any area A with an x-y co-ordinate system which pass through a
point O. Assuming that the moments of inertia Ix and Iy and the product of
Y (Iy;-Ixy)
inertia Ixy are known, the procedure for construction of the circle is as
follows:

1) plot co-ordinate points X( Ix; Ixy ) and Y( Iy; -Ixy ). The full range of possible inertia values exist between A and B on the graph and
2) join X and Y with a straight line – this straight line has a mid-point relative rotations can be easily achieved this way as well. Bear in mind though,
which locates the centre of the circle C. the limitations of the graphical solution is the scale and accuracy of the drawing,
3) draw a horizontal line through C – this will be the x-axis of the so should great accuracy be needed, this will be better achieved using the
graph representing values of moment of inertia I ; thus the circle equations.
will always be symmetrical with respect to the horizontal axis.
4) with C as the centre of the circle, and radius to either point X or Y, From the mathematical development of the circle (not detailed here), it can be
construct the circle. shown that the circle can also be quickly plotted from the following relationships:
5) points A and B which are the intersection of the circle and the x-
axis then locate the major and minor principal axes – the co-
ordinates of these points are the values of the major and minor
centre of the circle C = 1
2
I x  I y 
principal moments; since this is the x-axis, the products of inertia
in each case is zero, which is as expected.
6) through the point of zero moment on the x-axis, construct a
radius of the circle R = 1
2
I x  I y 2  4 I xy 2
vertical line which will represent the y-axis and depict values of Ixy.
7) all the points on the circumference of the circle then represents all These are simply the left and right components of equation .
possible combination of both moment and product of inertia for
any axis rotated by any angle through O. A point of note here is For the following tutorial, construct the Mohr’s Circle for each problem to confirm
that angles on the graph are twice those in reality. whether the answers are correct or not.

35
Mechanics of Machines II Module 1 – Moments of Inertia

Tutorial 4 – Rotated and Principal Axes -6 4 -6 4

Exercise 4.3 [ -15.27°; 81.769x10 [m ]; 26.173x10 [m ] ]
For all the following problems, do both analytical & graphical
solutions For the area depicted below, determine a set of principal axes and the
corresponding principal moments of inertia.
4 4 4
Exercise 4.1 [ 75.975 [m ]; 14.691 [m ]; 25.711 [m ] ]
y
Referring to the composite cross-section below, calculate Ix’, Iy’ and Ix’y’. 160 [mm]

y
y’ 40 [mm]

8 [m] x’ G
x
G 20° 200 [mm]
x
40 [mm]

40 [mm]

2 [m]
120 [mm]

-3 4 -3 4
Exercise 4.2 4 4
[ -20°; 85.358 [m ]; 5.351 [m ] ] Exercise 4.4 [ 32.886°; 7.534x10 [m ]; 0.959x10 [m ] ]

The moments of inertia of the rectangular area depicted below are Ix = 76 Determine a set of principal axes and the corresponding principal moments of
[m4], Iy = 14.7 [m4] and Ixy = 25.7 [m4]. Determine a set of principal axes inertia of the beam’s cross-sectional area shown below with respect to an axis
and the corresponding principal moments of inertia. passing through the beam’s cross-section centroid.
y
y

70°

G 400 [mm]
x
G
x

500 [mm] 400 [mm]

100 [mm]
constant 36
Mechanics of Machines II Module 1 – Moments of Inertia

-6 4 -6 4 -6 4
Exercise 4.5 [ 135.35x10 [m ] ] Exercise 4.7 [ 6.081°; 726.115x10 [m ]; 181.185x10 [m ] ]

Determine the product of inertia for the beam’s cross-sectional area with The area of the cross-section of an airplane wing has the following properties
respect to the x’- and y’-axes shown below. about the x- and y-axes passing through the centroid G:

Ix = 187.3x10-6 [m4] Iy = 720.0x10-6 [m4] Ixy = 57.4 x10-6 [m4].

y’ y
150 [mm] Determine the orientation of the principal axes and the principal moments of
20 [mm] inertia.
x’
y
20°
G
360 [mm] x G
x
20 [mm]

20 [mm]

150 [mm]

-6 4 -6 4
Exercise 4.8 [ 114.130x10 [m ]; 56.532x10 [m ] ]
-6 4 -6 4
Exercise 4.6 [ 3.798x10 [m ]; 40.644x10 [m ] ]
Calculate the moments of inertia about the x’- and y’-axes of the beam’s cross-
sectional area depicted below.
Calculate the moments of inertia about the x’- and y’-axes of the non-
standard channel’s cross-sectional area. The axes have their origin at the
centroid G of the cross-section. For the calculations, assume all corners to y
20 [mm]
be square.
y’

y’ y
200 [mm]
30°

x’
10 [mm]

40 [mm] O x
20°
50 [mm]
G 200 [mm]
x
10 [mm]

x’
300 [mm]

37
Mechanics of Machines II Module 1 – Moments of Inertia

3 4 3 2
Exercise 4.9 [ 3.136x10 [mm ] ] Exercise 4.11 [ 13.077x10 [mm ] ]

Determine the moments of inertia Iu, Iv and Iuv for the following beam’s The products of inertia of the shaded area below with respect to the x-y and x’-y’
cross-sectional area given that  = 45. Then determine the orientation of axes are known to be 8x106 [mm4] and 42x106 [mm4] respectively. Compute the
the principal axes about point O as well as the values of the principal area of the lamina, whose centroid is at C.
moments of inertia about these principal axes. Calculate all your answers
in [mm4].

Exercise 4.10

Determine the orientation of the principal axes about the intersection of the
x- and y-axes for the area shown below as well as the values of the Exercise 4.12
principal moments of inertia about these principal axes. Calculate all your
answers in [m4]. The moments and products of inertia of an area with respect to the x-y axes are
Ix = 7 [m4], Iy = 12 [m4] and Ixy = 6 [m4]. Determine the principal moments of inertia
3 [m] 4 [m] of the area and calculate the angle from the x-axis to the major principal axis.
y

3 [m]

x
38
Mechanics of Machines II Module 1 – Moments of Inertia

Exercise 4.13

Determine the principal moments of

inertia in [mm4] and the angle from
the x-axis to the axis where the
cross-section depicted on the right
will experience the most bending due
to vertical loading.

Sketch the cross-section at this

inclination; label your diagram and
explain briefly why the beam will
deflect the most in this rotational
position.

Exercise 4.14

Determine the principal moments

of inertia in [mm4] and the angle
from the x-axis to the axis where
the cross-section depicted below
will experience the most
resistance to bending due to
vertical loading.

Sketch the cross-section

orientated to achieve this; clearly
label your diagram and explain
briefly why the beam will deflect
the least in this rotational
position.

39
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

40
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.

41
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

42
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

43
Mechanics of Machines II Module 1 – Moments of Inertia

Tutorial 5 – Mass Moments of Inertia Exercise 5.3

A slender bar is bent into a circular ring of mass m

R
Exercise 5.1 and radius R. Determine the mass moment of
inertia of the ring about: x
The slender bar depicted below has mass m and length l. Use integration to
determine its mass moment of inertia about the axis O perpendicular to one end of a) the axis through its center of mass that is
the bar. perpendicular to the ring.
b) the x-axis shown in the diagram.

Exercise 5.4 y
h
l
The rectangular thin plate shown on the right
O is of uniform thickness and has a mass m.
Determine the mass moments of inertia of
the plate about the x-, y- and z-axes shown
x
in the diagram.
Exercise 5.2 b

Two bars depicted below, each having mass m and length l, are welded together
to form a T-shaped object. Use integration to determine the mass moment of y
Exercise 5.5
inertia of the object about the axis O perpendicular to the bars.
The annulus shown on the right is of uniform R
thickness and has a mass m. Determine the
mass moments of inertia of the plate about r
the x- and z-axes shown in the diagram.
x

O l

l
Exercise 5.6 y
2
y = 4-¼x [m]
The thin plate shown on the right is of uniform
thickness and has a mass 20 [kg]. Determine the
mass moment of inertia of the plate about the y-
axis shown in the diagram.
x

44
Mechanics of Machines II Module 1 – Moments of Inertia

3.2 Composite Bodies A similar analogy can be used about the y- and z- axes to determine the
radius of gyration about each axis respectively.
Composite bodies are simply mass objects that are made up of multiple simple
shapes. As with area moments, the mass moment of inertia of a composite body is The radius of gyration of a mass has units of length (ie [m]) .
the sum of the moments of inertia of the individual parts about the same axis.
However, when composite bodies are defined in a 3rd dimension (ie the z- Provided the masses and moments of inertia are known about a specific
dimension), we cannot use the perpendicular axes theorem as this holds for 2-D axis, the radii of gyration can be determined from the following formulae:
thin plates only but must rather calculate the moment of inertia about the x-, y- and
z- axes according to the basic definition given by equation :

  y  z 2 m
Ix Iy Iz
Ixx = rx2 m =
2
kx  ky  kz 
m m
m m m

Iyy = 
m
ry2 m =  x
2
 z 2 m
m
As before with area moments, the radius of gyration of a mass is
effectively that distance that an equivalent concentrated mass can be
Izz = 
m
rz2 m =  x
2
 y 2 m
placed from the moment axis in order to produce exactly the same value
of Moment of Inertia about that moment axis.
m

The mass moment of inertia of a component about a particular axis in

Products of inertia for masses apply to problems in the rotation of three- engineering problems is often indicated by specifying the mass of the
dimensional kinematics, specifically with the application of angular momentum component and the radius of gyration of the component about the axis.
equations. This is beyond the scope of this course and hence we will not deal with The moment of inertia of the component about that axis can then simply
products of inertia iro mass moments. be calculated by using the formula:


2
3.3 Radius of Gyration Ix m kx

Similarly to the definition of the area moment of inertia as detailed on page 4, the
mass moment of inertia of a concentrated mass about say an x-axis will be the 3.3 Parallel-Axis Theorem
same as that of the original area m if:
The parallel-axis theorem allows you to
 determine the mass moment of inertia
2
kx m Ix G
of an object about any axis when you
know the mass moment of inertia about d
where the distance kx is called the radius of gyration of the mass about the x- a parallel axis through the center of
axis. mass of the object.

45
Mechanics of Machines II Module 1 – Moments of Inertia

You can use this theorem to calculate the mass moment of inertia of a composite 4. Sum the results – sum the mass moments of inertia of the
body about a given axis when you know the mass moments of inertia of the individual parts (or subtract in the case of a hole or cutout) to
individual parts about axes through the individual parts’ centers of mass parallel to obtain the overall mass moment of inertia of the composite object
the given axis. about the desired axis.

For the object depicted above, assume we know the mass moment of inertia about
an axis through the center of mass G of the body and wish to determine the mass The following examples will now illustrate how we will use the Parallel Axis
moment of inertia about a parallel axis, a perpendicular distance d away. Theorem to solve simple mass moment of inertia problems.

The parallel-axis theorem, introduced in the area moments section, then states:

IO = IG + m . d2

where:
IG is the mass moment of inertia through the center of mass
m is the mass of the object
d is the perpendicular distance between the two axes

If compared to the area moments section, you can see that the equations are
exactly the same except that the mass has now replaced the area variable.

Basic Procedure for Solving

Determining the mass moment of inertia about any given axis typically requires
three steps:

1. Choose the parts – try to divide the object into simple parts whose mass
moments of inertia you can easily calculate or have access to via tables.

2. Determine the mass moments of inertia of the individual parts – determine

the mass moment of inertia of each part about an axis through its own
center of mass that is parallel to the axis about which you are trying to
determine the mass moment of inertia.

3. Transfer the mass moments to the desired axis – use the parallel axis
theorem to transfer the moments of inertia about the centres of mass of
each part to the desired axis.

46
Mechanics of Machines II Module 1 – Moments of Inertia

Example 3.3

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 object about the axis perpendicular to the bar through
point O.

O
l

47
Mechanics of Machines II Module 1 – Moments of Inertia

Example 3.4

The object below consists of a slender 3 [kg] bar welded to a thin circular 2 [kg]
disk. Determine the mass moment of inertia of the object about an axis
perpendicular to the bar through its center of mass.

G 0.2 [m]

0.6 [m]

48
Mechanics of Machines II Module 1 – Moments of Inertia

The following table summarises Mass Moments for standard shapes The following table summarises Area Moments for standard shapes
Thin Plate Rectangular Prism
y
m volume = abc
Ix = A Ix A y
Ix = 1 m(a2+b2)
A
m
12
Iy = A Iy A
b Iy = 1 m(a2+c2)
x 12
Iz = Ix + Iy z

a Iz = 1 m(b2+c2)
z
x c 12
Slender Bar/Long Thin Rod
Circular Cylinder
y Ix = 0 y volume = R2l
y’
y’ Ix = Iy = m( 1 l2+ 1 R2)
Iy = Iz = 1 ml2
l/2 3 4
3 x
G R Ix’ = Iy’ = m( 1 l2+ 1 R2)
z
Iy’ = Iz’ = 1 ml2 12 4
z’ 12 l x’
x
Iz = Iz’ = 1 mR2
z
2
Thin Circular Plate
y Circular Cone y volume = 1 R2h
Ix = Iy = 1 mR 2 3
y’
4 R x
h Ix = Iy = m( 3 h2+ 3 R2)
R 3h
5 20
4
z Iz = 1 mR2 h Ix’ = Iy’ = m( 3 h2+ 3 R2)
2 4 x’ 80 20
z

x Iz = Iz’ = 3 mR2
10
Thin Rectangular Plate
y Sphere
y’ Ix = 1 mh2 Ix’ = 1 mh2 y
3 12 R
b
volume = 4 R3
Iy = 1 mb2 Iy’ = 1 mb2 3
3 12
Ix = Iy = Iz = 2 mR2
h
z’
5
Iz = 1 m(b +h ) Iz = 1 m(b2+h2)
z 2 2 x
z
x’
3 12
x

49
Mechanics of Machines II Module 1 – Moments of Inertia

Example 3.5

For the angle bracket shown below, determine the mass moments of inertia
about the x-, y- and z-axes depicted. The bracket is made from aluminium plate
with a mass of 13.45 [kg per m2]. The thickness of the plate is small compared
with the other dimensions.

50
Mechanics of Machines II Module 1 – Moments of Inertia

Tutorial 6 – Parallel Axis & Mass Moments of Inertia

Exercise 6.4

Exercise 6.1 m
For the previous exercise, use the parallel-axis theorem to determine the
n o
mass moment of inertia of the T-shaped object about an axis through the
The mass of the object shown on the right is center of mass of the object that is perpendicular to the two bars.
10 [kg]. Its mass moment of inertia about the G
n-axis is 10 [kgm2]. Determine its mass
moment of inertia about the o-axis. (consider Exercise 6.5
that all three axes lie in the same plane)
The rocket depicted below is used for atmospheric research. Its weight
and its mass moment of inertia about the z-axis through its initial center of
0.6 [m] 0.6 [m]
mass (including its fuel) are 44 480 [N] and 148 818.0929 [kgm2]
Exercise 6.2 respectively.

An engineer gathering data for the design of a maneuvering unit determines that The rocket’s fuel weighs 26 688 [N], its initial center of mass is located at
the astronaut’s center of mass is at (x;y)=(1.01 ; 0.16) [m] relative to the x-y co- (x,y,z) = (-0.9144 ; 0 ; 0) [m] relative to its final center of mass when the
ordinate system shown in the diagram below and that his mass moment of inertia fuel is completely exhausted.
about the z-axis is 105.6 [kgm2]. His mass is 81.6 [kg]. Determine his mass
moment of inertia about the z’-axis through his center of mass. The mass moment of inertia of the fuel about an axis through the fuel’s
center of mass parallel to z is determined to be 2 982.001778 [kgm2].
y y’

When the fuel is exhausted, determine the rocket’s mass moment of

x’
inertia about the z’-axis through its new center of mass parallel to z.

x y’

x’

Exercise 6.3

Two bars depicted, each having mass m

and length l, are welded together to form Exercise 6.6 y
0.4 [m] 0.4 [m]
a T-shaped object.
The mass of the thin plate depicted is
O 0.3 [m]
Use the parallel-axis theorem to 36 [kg].
determine the mass moment of inertia of
the object about the axis O perpendicular Determine its mass moment of inertia
to the bars. about the x-axis and z-axis shown. 0.3 [m]

51
Mechanics of Machines II Module 1 – Moments of Inertia

Exercise 6.7 Exercise 6.10 y

The thermal radiator shown is used to eliminate excess heat from a satellite. The L-shaped machine part
Consider the radiator to be a thin rectangular plate with a mass of 72.95 [kg]. depicted is composed of two
Determine its mass moment of inertia about
y
the x-, y- and z-axes depicted. uniformly thick rectangular bars. 1
0.9144 [m] 1.8288 [m]
Bar 1 is tungsten alloy with mass 240 [mm]
density 14 000 [kg/m3], and bar 2
is steel with mass density 7 800
0.9144 [m] [kg/m3]. Determine the mass 2 40 [mm]
moment of inertia about the:
80 [mm]
z

0.6096 [m]
a) x-axis depicted. 80 [mm]
b) z-axis depicted. 240 [mm]
x

Exercise 6.8 Exercise 6.11

y
y

The mass of the uniform thin plate radius

The machine part shown is made
shown is 2 [kg]. 10 [mm] 80 [mm] of aluminium alloy with mass 20 [mm]
density  = 2 800 [kg/m3]. x z

Determine its mass moment of Determine the mass moment of

inertia about an axis inertia about the: 40 [mm]
120 [mm]
perpendicular to the plate through 30 [mm] 40 [mm]
point O depicted. a) x-axis depicted.
b) z-axis depicted.
30 [mm]
130 [mm]

Exercise 6.9 Exercise 6.12

y 20 [mm]

The object shown has the shape

radius The object shown is made of O G
60 [mm]
of a truncated cone and is made
x
steel with mass density  =
of bronze with a mass density of 7800 [kg/m3]. Determine the
100 [mm]
 = 8200 [kg/m3]. mass moment of inertia about
the:
z O G
Determine its mass moment of 10 [mm] 30 [mm]
inertia about the z-axis depicted. 180 [mm] a) O-axis depicted.
180 [mm]
b) G-axis though the
center of mass.

52
Mechanics off Machines II Moodule 1 – Moments of Inertia

Exercise
e 6.13 xercise 6.14
Ex

The steel plate ( = 7800 [kg/m3]) shown has

h two right angle bends and a ce
entral Co
onsider the baseb
ball bat with centerr of mass at point C depicted below
w.
hole with a plate thicknesss of 15 [mm].
Th
he mass moment of inertia of the 0.8788
0 [kg] bat abbout a perpendicu ular
Considerring that this thickkness is small co
ompared to other dimensions, calcculate ax e batman’s grip) is 0.1261 [kgm2].
xis through point B (the center of the
the masss moments of inerrtia of the plate about
a the x-, y- an
nd z- axes shown
n with
origin at tthe center of the h
hole. What is the bat’s mass moment of o inertia about a perpendicular axis
a
thrrough the center of
o rotation of the batsman’s
b swing at
a point A?
z
0.3556 [m] 0
0.3048 [m]

A B
r150 [mm] C
500 [mm
m]

Ex
xercise 6.15
y x
Th
he pendulum depiicted on the rightt consists of
two slender rods AB
A and OC eac ch of which
ha kg per metre of length].
ave masses of 3 [k
300 [mm]
500 [mm]
30
00 [mm] he thin plate has a mass of 12 [kg
Th g per m2 of
are
ea].

Deetermine the locattion of the centerr of mass G

of the pendulum relative to O, and then
ca
alculate the mass s moment of ine ertia of the
peendulum about an axis perpendic cular to the
paage and passing through
t G. Answe ers must be
in [kgm2].

so calculate the radius of gyration of the

Als
pe
endulum about the
e same axis G.

53
Mechanics off Machines II Moodule 1 – Moments of Inertia

Exercise
e 6.16 xercise 6.18
Ex
300
600 [mm]
A structuural model of a space capsule Fo
or the machine blo
ock depicted below
w, calculate Ix abo
out the axes show
wn.
300
consists of a structure of the shape
shown an nd is made of tittanium with an Th
he diameter of ho ole A is 0.3 [m] an nd it passes throu
ugh the entire blo
ock.
overall mass of 605.707 [kkg]. Ho
ole B is in the centre of the right fac
ce of the block.

Calculate
e the mass mome ent of inertia of Th
he block is made from
f 60 [kg/m3].
mild steel witth a density of 786
the model about its geo ometric axis in
[kgm2]. AAlso calculate the radius of
gyration of the model abbout the same
axis.

Exercise
e 6.17 300 [mm]

Determine the moment of inertia of the mallet

m depicted be
elow about the xx-axis
shown.

The denssity of the wooden kg/m3] and that off the soft metal he
n handle is 800 [k ead is
9000 [kg//m3]. The longitud
dinal axis of the cylindrical
c head iss normal to the x-axis.
State anyy assumptions useed in your calculation.

54
Mechanics off Machines II Moodule 1 – Moments of Inertia

3.3 A
Applications to
o Engineering
g

3.3.1 M
Mass Moments o
of Inertia of Sprin
ngs

ction
Introduc

When considering systemss including spring gs where the sprin ng mass is known n, due Ass we know that on nly one third of the
e spring mass is applicable
a as a po
oint
the recip
procating nature o of the spring, on nly one third off the spring mass is loa
ad at the point of attachment, then the distance x, by definition, is th
hen
ed to be effective in contributing to the inertia of the o
considere overall system. the on of that point load, & using the general
e radius of gyratio g equation I =
2
mk
m , we then havee:
The sprin
ng is then isolatedd as a point load of
o one third of the
e spring mass actiing at
a distance of the point of a
attachment to the pivot point.

Considerr the following diag

gram below where e a spring of masss mspring is conne
ected  Io = m o2
mk
at a dista
ance x from the p pivot point O of th
he lever system.
1  2
 =  m spring  x 
------------------
3 

ie. consider the sppring as a component of the syste em which contribuutes

tow
wards the overall moment of inertiia but reduce it to
o a point load wh
here
onnly one third of the
t spring mass is effective towa ards the momentt of
ine
ertia.

his effect will now be illustrated in th

Th he next example.

If we con
nsider that the levver is relatively weightless,
w the mo
oment of inertia o
of the
system about the pivot point O is only conttributed to by the sspring.

55
 Moodule 1 – Moments of Inertia

a uniform slender bar, AB, has a mass of 1 [kg]] and

mass of 2.5 [kg g] at B. The bar is hinged at A a and is
ntal position by a spring of mass 0.9 [kg] connectted at
ass moment of ine ertia of the system
m about the pivot p
point.

40 [mm]

A B
C

60 [mm
m]

56
Mechanics off Machines II Moodule 1 – Moments of Inertia

Tutoria
al 7 – Mass Mo
oments of Inerrtia of Springs
s
Caalculate the moment of inertia of the
t linkage depicted below about the
e 7.1
Exercise piv
vot point C. The slender
s h a mass of 6 [kg] and has a rad
bar ABC has dius
mm] about its center of mass, which
of gyration of 75 [m h is at the pivot po
oint
Calculate
e the moment of inertia of the link
kage system dep picted below abou ut the C. The spring connected to the linka age at A has a maass of 2 [kg] and the
pivot poin
nt A. The mass of the rod AC is 3 [kg]; the mass off the spring at C iis 1.5 sp
pring connected too the linkage at B has a mass of 1.5
5 [kg].
[kg] and the mass attacheed to the lever att point B can be considered to be 0.75
50 [mm] 300 [mm]
[kg].
A B
C

A B
C

350 [mm] 100 [mm]

Exercise
e 7.2
xercise 7.4
Ex
Calculate ndulum depicted below about the pivot
e the moment of inertia of the pen
point A. Thhe pendulum depicted is pivoted abouta O. The pen
ndulum consists of
o a
lon
ng slender bar, leength 300 [mm] an nd mass 0.8 [kg], with a concentra
ated
maass of 1.25 [kg] attached to the middle of the rod. A spring, of mass 0.9
g], is fixed perpendicularly to the en
[kg nd of the rod.

Ca
alculate the mass
s moment of ine ulum about its pivot
ertia of the pendu
A B po
oint.
C

200 [m
mm]

O
The masss of the rod AC is 1 [kg]; the mass of the rectangularr block at C is 6 [kkg]. A
spring of mass 2.5 [kg] is a
attached to the pe
endulum at B.

The radii of gyration of th

he rod and the reectangular block each about theirr own
centres o pectively 100 [mm] and 25 [mm]. Th
of gravity are resp he centres of gravvity of
the rod aand the rectangular block are at distances 150 [mmm] and 375 [mm] from
pivot poin
nt A.
Exercisee 7.3
57
Mechanics off Machines II Moodule 1 – Moments of Inertia

3.3.2 P
Power Transmiss
sion – Rotating Bodies
B & Flywheels

g Bodies
Rotating

In many engineering callculations, transm mission of powerr within a syste

em is will then be used to
o calculate the ine
ertia torque oppos
sing the accelerattion
considere
ed. Power is direcctly related to torq
que via the simple
e equation in the system in any
y further power tra
ansmission calcula
ations.

2NT An
n example of a flyw
wheel on a shaft is depicted below..
P  T 
60
and so, in any power tra ain, the values of o the torques in
nvolved are criticcal to
evaluate just how much h power is actually transmitted. When a system is
acceleratted, the mass o of the componen nts being accele
erated will resistt the
accelerattion either in a linear system as inertia force (m ma) or, in a rotattional
as inertia torque (II) about the axis of rotation.
system, a

In a rotattional system that is being accelerrated, therefore, tthere will always be a

resisting torque due to the e mass (inertia) of
o the system’s ccomponents which h will
tap off fro
om the available to
orque to drive the
e system.

Mass mo oment of inertia is thus very im mportant in any calculations invo olving
rotationall acceleration abo
out some axis of ro neer must therefore be
otation. The engin
adept at calculating masss moment of inerrtia and ensure tthat this is taken n into
account wwhenever dealing with this type of system.
s

Flywheells

Flywheelss are devices tha

at are used in rottational systems w where transmissio on of
power occcurs. The main ppurpose of a flywhheel is to act as aan energy reservoir in
the system to prevent the fluctuation of ene
ergy in an accelerrated rotational syystem We will now look att an example invo
olving a flywheel. The same metho
ods
from bein
ng too high. forr solving as useed before in prev
vious exercises involving compossite
bo
odies will apply he
ere.
Flywheelss can take on mu ultiple shapes and d come in multiplle sizes dependin
ng on
the powe er and energy pre esent in a speciffic system. They can vary from siimple
discs to q
quite convoluted d
designs depending g on system requiirements.

Flywheelss are normally lo ocated on the sh haft transmitting tthe power and hhence
rotate ab bout their own axxis. In dealing witth the inertia effeects of a flywheel, we
therefore need to identify tthe axis of rotation
n and then determmine the mass moment
of inertia of the flywheel ab otation. This masss moment of inertia
bout this axis of ro

58
Mechanics off Machines II Moodule 1 – Moments of Inertia

wn below, determiine the mass mo oment of inertia o

of the
eel’s axis of rotatio
on, given that the flywheel is made
e of a

outter rim

web

hub

f 5000 [kg/m3].

flywheel are as fo
ollows:

outer diame eter 200

0 [mm]
inner diame eter 100
0 [mm]
axial thickn
ness 200
0 [mm]

outer diame eter 800

0 [mm]
inner diame eter 600
0 [mm]
axial thickn
ness 100
0 [mm]

diameter 60 [mm]
Radius from
m z-axis 2000 [mm]

axial thickn
ness 50 [mm]

59
Mechanics off Machines II Moodule 1 – Moments of Inertia

Tutoria
al 8 – Rotating Objects & Fly
ywheels

e 8.1
Exercise
Ex
xercise 8.2
Shown b below are the iso ometric and fron nt views of an e eccentric sheave. The
eccentric sheave is a discc 300 [mm] in diam meter and 50 [mm m] thick with a ho
ole of A flywheel is depic cted below – iso ometric & cross-ssection. The outs side
150 [mm]] diameter whose axis of rotation O is 50 [mm] awayy from the center o of the dia
ameter of the flyw
wheel rim is 750 [m mm] and its cross-section is 100 [m mm]
disc. Thee density of the m Mg/m3]. Calculate the mass mome
material is 7.2 [M ent of square. The hub is a hollow cylinde er of 200 [mm] ou utside diameter, 1001
inertia an
nd the radius of gyyration of the shea
ave about its axis of rotation. [m
mm] bore and it is 150 [mm] long. Th he six spokes of the
t flywheel, each h of
cro
oss-section 30 [c cm2], are equi-spaced about the e flywheel’s axis of
rottation and can bee considered to be e slender bars. The flywheel is ma ade
of cast iron of den nsity 7.2x103 [kg//m3]. Calculate th
he mass momentt of
ine
ertia and the radiu
us of gyration of th
he flywheel about its axis of rotation
n.

O
O

60
Mechanics off Machines II Moodule 1 – Moments of Inertia

Exercise
e 8.3 Ex
xercise 8.4

Shown below is the isome etric and cross-se

ectional views of a flywheel of ma
aterial De
etermine the mas ss moment of ine ertia of the flywh
heel depicted below
density 8.5x103 [kg/m3]. ab
bout its axis of rota
ation through the center of mass G.
G The material ha
as a
ensity of 1.53 [Mg//m3].
de
The flywhheel has an axial length of 150 [mm m], and outer diammeter of 500 [mm] and
rim radiall thickness of 50 [[mm]. The back wall
w axial thicknesss is 25 [mm]. Calcculate or balancing purposes, the same flywheel is placed on its ed
Fo dge.
the masss moment of inertia a and radius of gy
yration about its axis of rotation. alculate the mass moment of ine
Ca ertia of the flyw
wheel about an axis
a
pe
erpendicular to the
e page and throug
gh the contact po
oint O. Answers must
m
e in [kgm2].
be

61
Mechanics off Machines II Moodule 1 – Moments of Inertia

Exercise
e 8.5 Ex
xercise 8.6

Determine the mass mom ment of inertia of the

t Th
he following figure depicts a flywheel with a dens m3].
sity of 7000 [kgm
14 [kg] flyywheel shown on the right and below Ca
alculate:
about its axis of rotation.
a) the mass momment of inertia about
a the flywhe
eel’s central axis
s of
rotation O.

b) The position off the center of gra

avity of the flywheel as measured frrom
the bottom outeer edge at point A.
A

c) The mass moment of inertia and a radius of gyrration about an axis

a
through the cen
nter of gravity parrallel to the axis off rotation O.

all dimensions in
[mm
m]

62