Chapter 4

Moments of Inertia
4.1 Introduction
A system of n particle P
i
, i = 1, 2, ..., n is considered. The mass of the particle P
i
is
m
i
as shown in Fig. 4.1
P
i
(mi
)
r
i
x
i
y
i
z
i
x
y
z
P
1
( ) m
1
P
2
( ) m
2
O
Fig. 4.1 Particle P
i
with the mass m
i
The position vector of the particle P
i
is
r
i
= x
i
+y
i
j +z
i
k.
The moments of inertia of the system about the planes xOy, yOz, and zOx are
I
xOy
=

i
m
i
z
2
i
, I
yOz
=

i
m
i
x
2
i
, I
zOx
=

i
m
i
y
2
i
. (4.1)
The moments of inertia of the system about x, y, and z axes are
I
xx
= A =

i
m
i
_
y
2
i
+z
2
i
_
,
1
2 4 Moments of Inertia
I
yy
= B =

i
m
i
_
z
2
i
+x
2
i
_
,
I
zz
= C =

i
m
i
_
x
2
i
+y
2
i
_
. (4.2)
The moment of inertia of the system about the origin O is
I
O
=

i
m
i
_
x
2
i
+y
2
i
+z
2
i
_
. (4.3)
The products of inertia of the system about the axes xy, yz and zx are
I
yz
= D =

i
m
i
y
i
z
i
, I
zx
= E =

i
m
i
z
i
x
i
, I
xy
= F =

i
m
i
x
i
y
i
. (4.4)
Between the different moments of inertia one can write the relations
I
O
= I
x0y
+I
y0z
+I
z0x
=
1
2
(I
xx
+I
yy
+I
zz
),
and
I
xx
= I
y0z
+I
z0x
.
For a continuous domain D, the previous relations become
I
xOy
=
_
D
z
2
dm, I
yOz
=
_
D
x
2
dm, I
zOx
=
_
D
y
2
dm,
I
xx
=
_
D
_
y
2
+z
2
_
dm, I
yy
=
_
D
_
x
2
+z
2
_
dm, I
zz
=
_
D
_
x
2
+y
2
_
dm,
I
O
=
_
D
_
x
2
+y
2
+z
2
_
dm,
I
xy
=
_
D
xydm, I
xz
=
_
D
xzdm, I
yz
=
_
D
yzdm. (4.5)
The innitesimal mass element dm can have the values
dm =
v
dV, dm =
A
dA, dm =
l
dl,
where
v
,
A
and
l
are the volume density, area density and length density.
4.2 Moment of Inertia of a Rigid Body
For a rigid body with mass m, density , and volume V, as shown in Fig. 4.2, the
moments of inertia are dened as follows
4.2 Moment of Inertia of a Rigid Body 3
r
x
y
z
dV
O
Fig. 4.2 Rigid body in space with mass m and differential volume dV
I
xx
=
_
V

_
y
2
+z
2
_
dV, I
yy
=
_
V

_
z
2
+x
2
_
dV, I
zz
=
_
V

_
x
2
+y
2
_
dV, (4.6)
and the products of inertia
I
xy
= I
yx
=
_
V
xydV, I
xz
= I
zx
=
_
V
xzdV, I
yz
= I
zy
=
_
V
yzdV. (4.7)
The moment of inertia given in Eq. (4.6) is just the second moment of the mass
distribution with respect to a cartesian axis. For example, I
xx
is the integral of sum-
mation of the innitesimal mass elements dV, each multiplied by the square of its
distance from the x axis.
The effective value of this distance for a certain body is known as its radius of
gyration with respect to the given axis. The radius of gyration corresponding to I
j j
is dened as
k
j
=
_
I
j j
m
,
where m is the total mass of the rigid body, and where the symbol j can be replaced
by x, y or z. The inertia matrix of a rigid body is represented by the matrix
[I] =
_
_
I
xx
I
xy
I
xz
I
yx
I
yy
I
yz
I
zx
I
zy
I
zz
_
_
.
Moment of inertia about an arbitrary axis
Consider the rigid body shown in Fig. 4.3. The reference frame x, y, z has the origin
at O. The direction of an arbitrary axis through O is dened by the unit vector u

= cos +cosj +cosk

where cos, cos, cos are the direction cosines. The moment of inertia about the
axis, for a differential mass element dm of the body is by denition
I

=
_
D
d
2
dm,
4 4 Moments of Inertia
r
x
O
d
dm
y
z

Fig. 4.3 Rigid body and an arbitrary axis of unit vector u

where d is the perpendicular distance from dm to . The position of the mass ele-
ment dm is located using the position vector r and then d =r sin, which represents
the magnitude of the cross product u

r. The moment of inertia can be expressed

as
I

=
_
D
|u

r|
2
dm =
_
D
(u

r) (u

r)dm.
If the position vector is r =x +yj +zk, then
u

r =(zcos ycos) +(xcos zcos)j +(ycos xcos)k

After substituing and performing the dot-product operation, one can write the mo-
ment of inertia as
I

=
_
D
_
(zcos ycos)
2
+(xcos zcos)
2
+(ycos xcos)
2
_
dm
= cos
2

_
D
_
y
2
+z
2
_
dm+cos
2

_
D
_
z
2
+x
2
_
dm+cos
2

_
D
_
x
2
+y
2
_
dm
2cos cos
_
D
xydm2cos cos
_
D
yzdm2cos cos
_
D
zxdm.
The moment of inertia with respect to the axis as
I

= I
xx
cos
2
+I
yy
cos
2
+I
zz
cos
2

2I
xy
cos cos 2I
yz
cos cos 2I
zx
cos cos. (4.8)
4.3 Translation of Coordinate Axes
The dening equations for the moments and products of inertia, as given by
Eqs. (4.6) and (4.7), do not require that the origin of the cartesian coordinate system
be taken at the mass center. Next one can calculate the moments and products of
inertia for a given body with respect to a set of parallel axes that do not pass through
the mass center. Consider the body shown in Fig. 4.4. The mass center is located
4.3 Translation of Coordinate Axes 5
z
y
dV
O
y
x
x
y

C
z
x

( x
c
, y
c
, z
c
)
Centroid
Fig. 4.4 Rigid body and centroidal axes x

: x = x

+x
c
, y = y

+y
c
, z = z

+z
c
at the origin O

C of the primed system x

. The coordinate of O

with respect
to the unprimed system xyz is (x
c
, y
c
, z
c
). An innitesimal volume element dV is lo-
cated at (x, y, z) in the unprimed system and at (x

, y

, z

) in the primed system. These

coordinates are related by the equations
x = x

+x
c
, y = y

+y
c
, z = z

+z
c
. (4.9)
The moment of inertia about the x axis can be written in terms of primed coordinates
by using Eqs. (4.6) and (4.9)
I
xx
=
_
V

_
_
y

+y
c
_
2
+
_
z

+z
c
_
2
_
dV
= I
Cx

x
+2y
c
_
V
y

dV +2z
c
_
V
z

dV +m
_
y
2
c
+z
2
c
_
, (4.10)
where m is the total mass of the rigid body, and the origin of the primed coordinate
system was chosen at the mass center. One can write
_
V
x

dV =
_
V
y

dV =
_
V
z

dV = 0, (4.11)
and therefore the two integrals on the right hand side of Eq. (4.10) are zero. In a
similar way one can obtain I
yy
and I. The results are summarized as follows
I
xx
= I
Cx

x
+m
_
y
2
c
+z
2
c
_
,
I
yy
= I
Cy

y
+m
_
x
2
c
+z
2
c
_
,
I
zz
= I
Cz

z
+m
_
x
2
c
+y
2
c
_
, (4.12)
or, in general,
I
kk
= I
Ck

k
+md
2
, (4.13)
6 4 Moments of Inertia
where d is the distance between a given unprimed axis and a parallel primed
axis passing through the mass center C. Equation (4.13) represents the parallel
axes theorem. The products of inertia are obtained in a similar manner, using
Eqs. (4.7) and (4.9)
I
xy
=
_
V

_
x

+x
c
__
y

+y
c
_
dV
= I
Cx

y
+x
c
_
V
y

dV +y
c
_
V
x

dV +mx
c
y
c
.
The two integrals on the previous equation are zero. The other products of inertia
can be calculated in a similar manner and the results written as follows
I
xy
= I
Cx

y
+mx
c
y
c
,
I
xz
= I
Cx

z
+mx
c
z
c
,
I
yz
= I
Cy

z
+my
c
z
c
. (4.14)
From Eqs. (4.12) and (4.14), result that a translation of axes away from the mass
center results in an increase in the moments of inertia. The products of inertia may
increase or decrease, depending upon the particular case.
4.4 Principal Axes
Next the changes in the moments and product of inertia of a rigid body due to a
rotation of coordinate axes are considered, as shown in Fig. 4.5. The origin of the
coordinate axes is located at the xed point O. In general the origin O is not the mass
center C of the rigid body. From the denitions of the moments of inertia given in
y
dV
x
y

z
x

O
r
Fig. 4.5 Rotation of coordinate axes
Eq. (4.6) it results that the moments of inertia cannot be negative. Furthermore,
4.4 Principal Axes 7
I
xx
+I
yy
+I
zz
= 2
_
V
r
2
dV, (4.15)
where r is the square of the distance from the origin O,
r
2
= x
2
+y
2
+z
2
.
The distance r corresponding to any mass element dV of the rigid body does not
change with a rotation of axes from xyz to x

(Fig. 4.5). Therefore the sum of

the moments of inertia is invariant with respect to a coordinate system rotation.
In terms of matrix notation, the sum of the moments of inertia is just the sum of
the elements on the principal diagonal of the inertia matrix and is known as the
trace of that matrix. So the trace of the inertia matrix is unchanged by a coordinate
rotation, because the trace of any square matrix is invariant under an orthogonal
transformation.
Next the products of inertia are considered. A coordinate rotation of axes can
result in a change in the signs of the products of inertia. A 180

rotation about the x

axis, for example, reverses the signs of I
xy
and I
xz
, while the sign of I
yz
is unchanged.
This occurs because the directions of the positive y and z axes are reversed. On the
other hand, a 90

rotation about the x axis reverses the sign of I

yz
. It can be seen that
the moments and products of inertia vary smoothly with changes in the orientation
of the coordinate system because the direction cosines vary smoothly. Therefore
an orientation can always be found for which a given product of inertia is zero.
It is always possible to nd an orientation of the coordinate system relative to a
given rigid body such that all products of inertia are zero simultaneously, that is,
the inertia matrix is diagonal. The three mutually orthogonal coordinate axes are
known as principal axes in this case, and the corresponding moments of inertia are
the principal moments of inertia. The three planes formed by the principal axes are
called principal planes.
If I is a principal moment of inertia, then I satises the cubic characteristic equation

I
xx
I I
xy
I
xz
I
yz
I
yy
I I
yz
I
zx
I
zy
I
zz
I

= 0. (4.16)
Equation (4.16) is used to determine the associated principal moments of inertia.
Suppose that u
1
, u
2
, u
3
are mutually perpendicular unit vectors each parallel to
a principal axis of the rigid body relative to O. The principal moments of inertia
associated to u
1
, u
2
, u
3
for the rigid body relative to O are I
1
, I
2
, and I
3
. The inertia
matrix, in this case, is
I =
_
_
I
1
0 0
0 I
2
0
0 0 I
3
_
_
.
When the point O under consideration is the mass center of the rigid body one
speaks of central principal moments of inertia.
8 4 Moments of Inertia
4.5 Ellipsoid of Inertia
The ellipsoid of inertia for a given body and reference point is a plot of the moment
of inertia of the body for all possible axis orientations through the reference point.
This graph in space has the form of an ellipsoid surface. Consider a rigid body
in rotational motion about an axis . The ellipsoid of inertia with respect to an
arbitrary point O is the geometrical locus of the points Q, where Q is the extremity
of the vector

OQ with the module

OQ

=
1

, and where I

is the moment of
inertia about the instantaneous axis of rotation , as shown in Fig. 4.6. The segment

x
O
y
z
x
1
y
1
z
1
Fig. 4.6 Ellipsoid of inertia
OQ is calculated with
|

OQ| =
1

=
1
k
0
m
,
where k
0
is the radius of gyration of the body about the given axis and m is the total
mass. For a cartesian system of axes the equation of the ellipsoid surface centered
at O is
I
xx
x
2
+I
yy
y
2
+I
zz
z
2
+2I
xy
xy +2I
xz
xz +2I
yz
yz = 1. (4.17)
The radius of gyration of a given rigid body depends upon the location of the axis
relative to the body, and is not depended upon the position of the body in space. The
ellipsoid of inertia is xed in the body and rotates with it. The x
1
, y
1
, and z
1
axes
are assumed to be the principal axes of the ellipsoid, as shown in Fig. 4.6. For the
principal axes, the equation of the inertia ellipsoid, Eq. (4.17), takes the following
simple form
I
1
x
2
1
+I
2
y
2
1
+I
3
z
2
3
= 1. (4.18)
4.6 Moments of Inertia for Areas 9
The previous equation is of the same form as Eq. (4.17) for the case where the
x
1
, y
1
, and z
1
axes are the principal axes of the rigid body and all products of inertia
vanish. Therefore I
1
, I
2
, and I
3
are the principal moments of inertia of the rigid body
and, furthermore, the principal axes of the body coincide with those of the ellipsoid
of inertia. From Eq. (4.18) the lengths of the principal semiaxes of the ellipsoid of
inertia are
l
1
=
1

I
1
,
l
2
=
1

I
2
,
l
3
=
1

I
3
.
From the parallel-axis theorem, Eq. (4.13), one can remark that the minimum mo-
ment of inertia about the mass center is also the smallest possible moment of inertia
for the given body with respect to any reference point.
If the point O is the same as the mass center (O C), the ellipsoid is named
principal ellipsoid of inertia.
4.6 Moments of Inertia for Areas
The moment of inertia (second moment) of the area A about x and y axes, see
Fig. 4.7, denoted as I
xx
and I
yy
, respectively, are
A
x
O
y
dA
x
y
r
Fig. 4.7 Moments of inertia for area A about x and y axes
I
xx
=
_
A
y
2
dA, (4.19)
I
yy
=
_
A
x
2
dA. (4.20)
The second moment of area cannot be negative.
The entire area may be concentrated at a single point (k
x
, k
y
) to give the same
second moment of area for a given reference. The distances k
x
and k
y
are called the
radii of gyration. Thus,
10 4 Moments of Inertia
Ak
2
x
= I
xx
=
_
A
y
2
dA = k
2
x
=
_
A
y
2
dA
A
=
I
xx
A
,
Ak
2
y
= I
yy
=
_
A
x
2
dA = k
2
y
=
_
A
x
2
dA
A
=
I
yy
A
. (4.21)
This point (k
x
, k
y
) depends on the shape of the area and on the position of the refer-
ence. The centroid location is independent of the reference position.
The product of inertia for an area A is dened as
I
xy
=
_
A
xy dA. (4.22)
This quantity may be positive or negative and relates an area directly to a set of axes.
If the area under consideration has an axis of symmetry, the product of area for
this axis is zero. Consider the area in Fig. 4.8, which is symmetrical about the ver-
tical axis y. The planar cartesian frame is xOy. The centroid is located somewhere
x
O
dA
y
y y
dA
C
Centroid
Fig. 4.8 Area, A, with an axis of symmetry Oy
along the symmetrical axis y. Two differential element of areas that are positioned as
mirror images about the y axis are shown in Fig. 4.8. The contribution to the product
of area of each elemental area is xy dA, but with opposite signs, and so the result is
zero. The entire area is composed of such elemental area pairs, and the product of
area is zero. The product of inertia for an area I
xy
is zero (I
xy
= 0) if either the x or y
axis is an axis of symmetry for the area.
Transfer theorem or parallel-axis theorem
The x axis in Fig. 4.9 is parallel to an axis x

and it is at a distance b from the axis x

.
The axis x

is going through the centroid C of the A area, and it is a centroidal axis.

The second moment of area about the x axis is
I
xx
=
_
A
y
2
dA =
_
A
(y

+b)
2
dA,
4.6 Moments of Inertia for Areas 11
x
dA
y
Centroid
y

C
x

y
b
O
A
Fig. 4.9 Area and centroidal axis Cx

||xx
where the distance y = y

+b. Carrying out the operations

I
xx
=
_
A
y
2
dA+2b
_
A
y

dA+Ab
2
.
The rst term of the right-hand side is by denition I
x

x
,
I
Cx

x
=
_
A
y
2
dA.
The second term involves the rst moment of area about the x

axis, and it is zero

because the x

axis is a centroidal axis

_
A
y

dA = 0.
The second moment of the area A about any axis I
xx
is equal to the second moment
of the area A about a parallel axis at centroid I
Cx

x
plus Ab
2
, where b is the perpen-
dicular distance between the axis for which the second moment is being computed
and the parallel centroidal axis
I
xx
= I
Cx

x
+Ab
2
.
With the transfer theorem, the second moments or products of area about any axis
can be computed in terms of the second moments or products of area about a parallel
set of axes going through the centroid of the area in question.
In handbooks the areas and second moments about various centroidal axes are
listed for many of the practical congurations, and using the parallel-axis theorem
second moments can be calculated for axes not at the centroid.
In Fig. 4.10 are shown two references, one x

at the centroid C and the other

xy arbitrary but positioned parallel relative to x

. The coordinates of the centroid

C(x
C
, y
C
) of area A measured from the reference x, y are c and b, x
C
= c, y
C
= b.
The centroid coordinates must have the proper signs. The product of area about the
noncentroidal axes xy is
I
xy
=
_
A
xy dA =
_
A
(x

+c)(y

+b) dA,
or
12 4 Moments of Inertia
x
dA
y
Centroid
y

C
x

O
x-(x

-c)
y-(y

-b)
b
c
A
Fig. 4.10 Centroidal axes x

parallel to reference axes xy: Cx

||xx and Cy

||yy
I
xy
=
_
A
x

dA+c
_
A
y

dA+b
_
A
x

dA+Abc.
The rst term of the right-hand side is by denition I
x

I
x

y
=
_
A
x

dA.
The next two terms of the right-hand side are zero since x

and y

are centroidal axes

_
A
y

dA = 0 and
_
A
x

dA = 0.
Thus, the parallel-axis theorem for products of area is as follows.
The product of area for any set of axes I
xy
is equal to the product of area for a
parallel set of axes at centroid I
Cx

y
plus Acb, where c and b are the coordinates of
the centroid of area A,
I
xy
= I
Cx

y
+Acb.
With the transfer theorem, the second moments or products of area can be found
about any axis in terms of second moments or products of area about a parallel set
of axes going through the centroid of the area.
Polar Moment of Area
In Fig. 4.7, there is a reference xy associated with the origin O. Summing I
xx
and I
yy
,
I
xx
+I
yy
=
_
A
y
2
dA+
_
A
x
2
dA
=
_
A
(x
2
+y
2
) dA =
_
A
r
2
dA,
where r
2
=x
2
+y
2
. The distance r
2
is independent of the orientation of the reference,
and the sum I
xx
+I
yy
is independent of the orientation of the coordinate system.
Therefore, the sum of second moments of area about orthogonal axes is a function
only of the position of the origin O for the axes.
4.6 Moments of Inertia for Areas 13
The polar moment of area about the origin O is
I
O
= I
xx
+I
yy
. (4.23)
The polar moment of area is an invariant of the system. The group of terms
I
xx
I
yy
I
2
xy
is also invariant under a rotation of axes. The polar radius of gyration is
k
O
=
_
I
O
A
. (4.24)
Principal Axes
In Fig. 4.11, an area A is shown with a reference xy having its origin at O. Another
reference x

with the same origin O is rotated with an angle from xy (counter-

clockwise as positive). The relations between the coordinates of the area elements
dA for the two references are
x
y
dA
O
x

x
y
x

Fig. 4.11 Reference xy and reference x

rotated with an angle

x

= xcos +ysin, y

=xsin +ycos.
The second moment I
x

x
can be expressed as
I
x

x
=
_
A
(y

)
2
dA =
_
A
(xsin +ycos)
2
dA
= sin
2

_
A
x
2
dA2sin cos
_
A
xy dA+cos
2

_
A
y
2
dA
= I
yy
sin
2
+I
xx
cos
2
2I
xy
sin cos. (4.25)
Using the trigonometric identities
cos
2
=
1+cos2
2
, sin
2
=
1cos2
2
, sin2 =
sin cos
2
,
Eq. (4.25) becomes
I
x

x
=
I
xx
+I
yy
2
+
I
xx
I
yy
2
cos2 I
xy
sin2. (4.26)
14 4 Moments of Inertia
Replacing with +/2 in Eq. (4.26) and using the trigonometric relations
cos(2 +) =cos2, sin(2 +) =cos2sin,
the second moment I
y

y
is
I
y

y
=
I
xx
+I
yy
2

I
xx
I
yy
2
cos2 +I
xy
sin2. (4.27)
The product of area I
x

y
is computed in a similar manner
I
x

y
=
_
A
x

dA =
I
xx
I
yy
2
sin2 +I
xy
cos2. (4.28)
If I
xx
, I
yy
, and I
xy
are known for a reference xy with an origin O then the second
moments and products of area for every set of axes at O can be computed. Next,
x
O

A
Fig. 4.12 Principal axis of area
it is assumed that I
xx
, I
yy
, and I
xy
are known for a reference xy. The sum of the
second moments of area is constant for any reference with origin at O. The minimum
second moment of area corresponds to an axis at right angles to the axis having the
maximum second moment, as shown in Fig. 4.12. This particular set of axes if called
principal axis of area and the corresponding moments of inertia with respect to these
axes are called principal moments of inertia.
The second moments of area can be expressed as functions of the angle variable
. The maximum second moment may be determined by setting the partial deriva-
tive of I
x

x
with respect to equal to zero. Thus
I
x

= (I
xx
I
yy
)(sin2) 2I
xy
cos2 = 0, (4.29)
or
(I
yy
I
xx
)sin2
0
2I
xy
cos2
0
= 0,
where
0
is the value of which denes the orientation of principal axes. Hence,
tan2
0
=
2I
xy
I
yy
I
xx
. (4.30)
4.6 Moments of Inertia for Areas 15
The angle
0
corresponds to an extreme value of I
x

x
(i.e., to a maximum or mini-
mum value). There are two roots for 2
0
, which are radians apart, that will satisfy
the previous equation. Thus,
2
0
1
= tan
1
2I
xy
I
yy
I
xx
=
0
1
=
1
2
tan
1
2I
xy
I
yy
I
xx
,
and
2
0
2
= tan
1
2I
xy
I
yy
I
xx
+ =
0
2
=
1
2
tan
1
2I
xy
I
yy
I
xx
+

2
.
This means that there are two axes orthogonal to each other having extreme values
for the second moment of area at O. One of the axes is the maximumsecond moment
of area, and the minimum second moment of area is on the other axis. These axes
are the principal axes.
With =
0
, the product of area I
x

y
becomes
I
x

y
=
I
xx
I
yy
2
sin2
0
+I
xy
cos2
0
. (4.31)
For
0
=
0
1
the sine and cosine expressions are
sin2
0
1
=
2I
xy
_
(I
yy
I
xx
)
2
+4I
2
xy
, cos2
0
1
=
(I
xx
I
yy
)
_
(I
yy
I
xx
)
2
+4I
2
xy
.
For
0
=
0
2
the sine and cosine expressions are
sin2
0
2
=
2I
xy
_
(I
yy
I
xx
)
2
+4I
2
xy
, cos2
0
2
=
I
xx
I
yy
_
(I
yy
I
xx
)
2
+4I
2
xy
.
Equation (4.31) and
0
=
0
1
give
I
x

y
=(I
yy
I
xx
)
I
xy
_
(I
yy
I
xx
)
2
+4I
2
xy

1/2
+I
xy
I
yy
I
xx
_
(I
yy
I
xx
)
2
+4I
2
xy

1/2
= 0.
In a similar way Eq. (4.31) and
0
=
0
2
give I
x

y
= 0. The product of area corre-
sponding to the principal axes is zero.
The maximum or minimum moment of inertia for the area are
I
1, 2
= I
max, min
=
I
xx
+I
yy
2

_
I
xx
I
yy
2
_
2
+I
2
xy
. (4.32)
If I is a principal moment of inertia, then I satises the quadratic characteristic
equation
16 4 Moments of Inertia

I
xx
I I
xy
I
yx
I
yy
I

= 0. (4.33)
4.7 Examples
Example 4.1
A rectangular planar plate with the sides b=1 m and h=2 m is shown in Fig. E4.1.
a) Find the product of inertia and the moments of inertia with respect to the axes
of the reference frame xy with the origin at O.
b) Determine the product of inertia and the moments of inertia with respect to the
centroidal axes that are located at the mass center C of the rectangle and are parallel
to its sides.
c) Another reference uv with the same origin O is rotated with an angle =45

from xy (counterclockwise as positive). Find the inertia matrix of the plate with
respect to uv axes.
d) Find the principal moments and the principal directions with the reference
frame xy with the origin at O.
Solution
a) The differential element of area is dA = dxdy. The product of inertia of the rect-
angle about the xy axes is
O
C
x
y
dx
dy
h
b
x

y
y

u
v

Fig. E4.1 Example 4.1

4.7 Examples 17
I
xy
=
_
A
xydA =
_
h
0
_
b
0
xydxdy =
_
b
0
xdx
_
h
0
ydy =
b
2
2
h
2
2
=
b
2
h
2
4
=
1
2
(2
2
)
4
= 1 m
4
.
The moment of inertia of the rectangle about x axis is
I
xx
=
_
A
y
2
dA =
_
h
0
_
b
0
y
2
dxdy =
_
b
0
dx
_
h
0
y
2
dy = b
h
3
3
=
bh
3
3
=
(1)2
3
3
= 2.666 m
4
.
The moment of inertia of the rectangle about y axis is
I
yy
=
_
A
x
2
dA =
_
h
0
_
b
0
x
2
dxdy =
_
b
0
x
2
dx
_
h
0
dy =
b
3
3
h =
hb
3
3
=
(3)1
3
3
= 0.666 m
4
.
The moment of inertia of the rectangle about z axis (the polar moment about O) is
I
O
= I
zz
= I
xx
+I
yy
=
A
3
(b
2
+h
2
) =
1(2)
3
(1
2
+2
2
) = 3.33 m
4
.
The inertia matrix of the plane gure with respect to xy axes is represented by
[I] =
_
_
I
xx
I
xy
I
xz
I
yx
I
yy
I
yz
I
zx
I
zy
I
zz
_
_
=
_

_
bh
3
3
b
2
h
2
4
0
b
2
h
2
4
hb
3
3
0
0 0
A
3
(b
2
+h
2
)
_

_
=
_
_
2.666 1 0
1 0.666 0
0 0 3.33
_
_
.
b) The product of inertia of the rectangle about the x

axes is
I
x

y
=
_
A
xydA =
_
h/2
h/2
_
b/2
b/2
xydxdy =
_
h/2
h/2
xdx
_
b/2
b/2
ydy = 0.
The same results is obtained using the parallel axis-theorem
I
xy
= I
x

y
+
b
2
h
2
A,
or
I
x

y
= I
xy

bh
4
(bh) =
b
2
h
2
4

b
2
h
2
4
= 0.
The moment of inertia of the rectangle about x

axis is
I
x

x
=
_
A
y
2
dA =
_
h/2
h/2
_
b/2
b/2
y
2
dxdy =
_
h/2
h/2
dx
_
b/2
b/2
y
2
dy
= {x}
h/2
h/2
_
y
3
3
_
b/2
b/2
=
bh
3
12
=
(1)2
3
12
= 0.666 m
4
.
18 4 Moments of Inertia
Using the parallel axis-theorem the moment of inertia of the rectangle about y

axis
is
I
y

y
= I
yy

_
b
2
_
2
A =
hb
3
3

hb
3
4
=
hb
3
12
=
(2)1
3
12
= 0.166 m
4
.
The moment of inertia of the rectangle about z

axis (the centroid polar moment) is

I
C
= I
z

z
= I
x

x
+I
y

y
=
A
12
(b
2
+h
2
) =
1(2)
12
(1
2
+2
2
) = 0.833 m
4
.
The inertia matrix of the plane gure with respect to centroidal axes x

is repre-
sented by
[I
C
] =
_
_
I
x

x
I
x

y
I
x

I
y

x
I
y

y
I
y

I
z

x
I
z

y
I
z

_
_
=
_

_
bh
3
12
0 0
0
hb
3
12
0
0 0
A
12
(b
2
+h
2
)
_

_
=
_
_
0.666 0 0
0 1.666 0
0 0 0.833
_
_
.
c) The moment of inertia of the rectangle about u axis is
I
uu
=
I
xx
+I
yy
2
+
I
xx
I
yy
2
cos2 I
xy
sin2 =
2.666+0.666
2
+
2.6660.666
2
cos2(45

) (1)sin2(45

) = 0.666 m
4
.
The moment of inertia of the rectangle about v axis is
I
vv
=
I
xx
+I
yy
2

I
xx
I
yy
2
cos2 +I
xy
sin2 =
2.666+0.666
2

2.6660.666
2
cos2(45

) +(1)sin2(45

) = 2.666 m
4
.
The product of inertia of the rectangle about uv axis is
I
uv
=
I
xx
I
yy
2
sin2 +I
xy
cos2 =
2.6660.666
2
sin2(45

) +(1)cos2(45

) = 1 m
4
.
The polar moment of inertia of the rectangle about O is
I
O
= I
zz
= I
uu
+I
vv
= I
xx
+I
yy
= 0.666+2.666 = 3.33 m
4
.
The inertia matrix of the plane gure with respect to uv axes is
[I

] =
_
_
I
uu
I
uv
0
I
vu
I
vv
0
0 0 I
zz
_
_
=
_
_
0.666 1 0
1 2.666 0
0 0 3.33
_
_
.
4.7 Examples 19
d) The maximum or minimum moment of inertia for the area are
I
1, 2
= I
max, min
=
I
xx
+I
yy
2

_
I
xx
I
yy
2
_
2
+I
2
xy
,
I
1
= I
max
=
I
xx
+I
yy
2
+

_
I
xx
I
yy
2
_
2
+I
2
xy
=
2.666+0.666
2
+

_
2.6660.666
2
_
2
+1
2
= 3.080 m
4
,
I
2
= I
min
=
I
xx
+I
yy
2

_
I
xx
I
yy
2
_
2
+I
2
xy
=
2.666+0.666
2

_
2.6660.666
2
_
2
+1
2
= 0.252 m
4
.
The polar moment of inertia of the rectangle about O is
I
O
= I
zz
= I
1
+I
2
= I
uu
+I
vv
= I
xx
+I
yy
= 3.0806+0.252 = 3.33 m
4
.
The principal directions are obtained from
tan2
0
=
2I
xy
I
yy
I
xx
,
or

0
=
1
2
tan
1
2I
xy
I
yy
I
xx
=
1
2
tan
1
2(1)
0.6662.666
=22.5

.
The principal directions are

1
=22.5

and
2
=
1
+/2 = 67.5

.
Example 4.2
Determine the moment of inertia for the slender rod, shown in Fig. E4.2, with re-
spect to axes of reference with the origin at the end O and with respect to centroidal
axes. The length of the rod is l, the density is , and the cross-sectional area ia A.
Express the results in terms of the total mass, m, of the rod.
Solution
The mass of the rod is m= l A and the density will be =m/(l A). The differential
element of mass is dm = Adx. The moment of inertia of the slender rod about the
20 4 Moments of Inertia
O
C
x
y
A
y

z
x

x dx
l
Fig. E4.2 Example 4.2
y or z axes is
I
yy
= I
zz
=
_
l
0
x
2
Adx =
_
l
0
m
l A
Ax
2
dx =
m
l
_
l
0
x
2
dx =
ml
2
3
.
The x axis is a symmetry axis and that is why I
xx
= 0. The moment of inertia of
the slender rod about the centroidal axes y

or z

is calculated with the parallel-axis

theorem
I
y

y
= I
z

z
= I
yy

_
l
2
_
2
m =
ml
2
3

ml
2
4
=
ml
2
12
.
Example 4.3
Find the polar moment of inertia of the planar ywheel shown in Fig. E4.3(a). The
radii of the wheel are R
1
and R
2
(R
1
< R
2
). Calculate the moments of inertia of the
area of a circle withradius R about a diametral axis and about the polar axis through
the center as shown in Fig. E4.3(b).
Solution
The polar moment of inertia is given by the equation
I
O
=
_
A
r
2
dA,
where r is the distance from the pole O to an arbitrary point on the wheel and the
differential element of area is
dA = r d dr.
The polar moment of inertia is
4.7 Examples 21
dr
O
d
r

R
1
R
2
dA
x
y
dr
O
d
r

R
dA
(a)
(b)
y
Fig. E4.3 Example 4.3
I
O
=
_
R
2
R
1
_
2
0
r
3
dr d =
_
R
2
R
1
r
3
dr
_
2
0
d =
R
4
2
R
4
1
4
(2) =
R
4
2
R
4
1
2
.
The area of the wheel is A = (R
2
2
R
2
1
) and
I
O
= A
R
2
2
+R
2
1
2
. (4.34)
If R
1
= 0 and R
2
= R the polar moment of inertia of the circular area of radius R is,
Fig. E4.3(b)
I
O
=
AR
2
2
=
R
4
2
.
By symmetry for the circular area, shown in Fig. E4.3(b), the moment of inertia
about a diametral axis is I
xx
= I
yy
and I
O
= I
xx
+I
yy
=I
xx
= I
yy
= I
O
/2 = R
4
/4.
The results can be obtained using the integration
I
xx
=
_
A
y
2
dA =
_
R
0
_
2
0
(r sin)
2
r dr d =
_
2
0
R
4
4
(sin)
2
d
=
R
4
4
1
2
_

sin2
2
_
2
0
=
R
4
4
22 4 Moments of Inertia
Example 4.4
Find the moments of inertia and products of inertia for the area shown in Fig. E4.4(a),
with respect to the xy axes and with respect to the centroidal x

axes that pass

trough the mass center C. Find the principal moments of inertia for the area and the
principal directions.
y
x
y
x
O
O
C
(a)
(b)
2a
3a
a
a
a a a
a
C
1
C
2
a
1
2
x

x
2
x
1
y
2
y
1
Fig. E4.4 Example 4.4
Solution
The plate is composed of two element area: the rectangular area 1 and the rectangu-
lar area 2, Fig. E4.4(b). The x and y coordinates of the mass center C are
4.7 Examples 23
x
C
=
x
C
1
A
1
+x
C
1
A
1
A
1
+A
2
=
(a/2)(2a
2
) +(2a)(2a
2
)
2a
2
+2a
2
=
5a
4
y
C
=
y
C
1
A
1
+y
C
1
A
1
A
1
+A
2
=
(a)(2a
2
) +(a/2)(2a
2
)
2a
2
+2a
2
=
3a
4
.
The product of inertia for the area shown in Fig. E4.4(a) about xy axes is given by
I
xy
=
_
a
0
_
2a
0
xydxdy +
_
3a
a
_
a
0
xydxdy =
_
a
0
xdx
_
2a
0
ydy +
_
3a
a
xdx
_
a
0
ydy
=
a
2
_
4a
2
_
4
+
_
9a
2
a
2
__
a
2
_
4
= 3a
4
.
The same result is obtained if parallel-axis theorem is used
I
xy
= I
C
1
x
1
y
1
+x
C
1
y
C
1
A
1
+I
C
2
x
2
y
2
+x
C
2
y
C
2
A
2
= 0+
_
a
2
_
(a)(2a
2
) +0+(2a)
_
a
2
_
(2a
2
) = 3a
4
.
The product of inertia for the area about xz and yz axes are I
xz
= I
yz
= 0.
The moment of inertia of the gure with respect to x axis is
I
xx
= I
C
1
x
1
x
1
+(y
C
1
)
2
A
1
+I
C
2
x
2
x
2
+(y
C
2
)
2
A
2
=
a(2a)
3
12
+a
2
(2a
2
) +
2a(a)
3
12
+
_
a
2
_
2
(2a
2
) =
10a
4
3
.
The moment of inertia of the gure with respect to y axis is
I
yy
= I
C
1
y
1
y
1
+(x
C
1
)
2
A
1
+I
C
2
y
2
y
2
+(x
C
2
)
2
A
2
=
(2a)a
3
12
+
_
a
2
_
2
(2a
2
) +
a(2a)
3
12
+(2a)
2
(2a
2
) =
28a
4
3
.
The moment of inertia of the area with respect to z axis is
I
zz
= I
xx
+I
yy
=
10a
4
3
+
28a
4
3
=
38a
4
3
.
The inertia matrix of the plane gure is represented by the matrix
[I] =
_
_
I
xx
I
xy
I
xz
I
yx
I
yy
I
yz
I
zx
I
zy
I
zz
_
_
=
_

_
10a
4
3
3a
4
0
3a
4
28a
4
3
0
0 0
38a
4
3
_

_
.
Using the parallel-axes theorem the moments of inertia of the area with respect to
the centroidal axes x

are
24 4 Moments of Inertia
I
x

x
= I
xx
(x
C
)
2
A =
10a
4
3

_
3a
4
_
2
(4a
2
) =
13a
4
12
,
I
y

y
= I
yy
(y
C
)
2
A =
28a
4
3

_
5a
4
_
2
(4a
2
) =
37a
4
12
,
I
z

z
= I
x

x
+I
y

y
=
13a
4
12
+
37a
4
12
=
25a
4
6
,
I
x

y
= I
xy
(x
C
)(y
C
)A = 3a
4

_
3a
4
__
5a
4
_
(4a
2
) =
3a
4
4
,
I
x

z
= I
y

z
= 0.
The centroidal inertia matrix of the plane gure is
_
I

=
_
_
I
x

x
I
x

y
I
x

I
y

x
I
y

y
I
y

I
z

x
I
z

y
I
z

_
_
=
_

_
13a
4
12
3a
4
4
0
3a
4
4
37a
4
12
0
0 0
25a
4
6
_

_
.
The principal moments of inertia for the area are
I
1, 2
= I
max, min
=
I
x

x
+I
y

_
I
x

x
I
y

2
_
2
+I
2
x

=
=
25a
4
12

a
4
2
_
4+9/4 =
25a
4
12

5a
4
4
.
I
1
=
10a
4
3
and I
2
=
5a
4
6
.
The invariant of the system is: I
x

x
+I
y

y
= I
1
+I
2
. The principal directions are
obtained from
tan2 =
2I
x

I
y

y
I
x

=
2
3a
4
4
24a
4
12
=
3
4
=

1
=
1
2
tan
1
(3/4) =36.869

and
2
=

2
+
1
2
tan
1
(3/4) = 53.131

.
Example 4.5
Find the inertia matrix of the area delimited by the curve y
2
= 2 px, from x = 0 to
x = a as shown in Fig E4.5(a), about the axes of the cartesian frame with the origin
at O. Calculate the centroidal inertia matrix.
4.7 Examples 25
x
y
a
O
b
x
y
a
O
b
C
x
C
x

(a)
(b)
y = 2px
2
y = 2px
2
Fig. E4.5 Example 4.5
Solution
From Fig E4.5(a) when x = a the value of y coordinate is y = b and b
2
= 2 pa =
2 p = b
2
/a. The expression of the function is
y
2
= 2 px =
b
2
a
x
The differential element of area is dA = dxdy and the area of the gure is
A =
_
A
dxdy =
_
a
0
_

2px

2px
dxdy =
_
a
0
dx
_

2px

2px
dy =
_
a
0
dx {y}

2px

2px
=
_
a
0
2
_
2px dx = 2
_
2p
_
a
0
x
1/2
dx =
2b

a
_
x
3/2
3/2
_
a
0
=
4ab
3
.
The moment of inertia of the area with respect to x axis is
I
xx
=
_
A
y
2
dxdy =
_
a
0
_

2px

2px
y
2
dxdy =
_
a
0
dx
_

2px

2px
y
2
dy =
_
a
0
dx
_
y
3
3
_

2px

2px
=
2
3
_
a
0
(2px)
3/2
dx =
2
3
(2p)
3/2
_
a
0
x
3/2
dx =
2
3
(2p)
3/2
_
x
5/2
5/2
_
a
0
=
4ab
3
15
=
4ab
3
b
2
5
,
or
I
xx
=
b
2
A
5
.
26 4 Moments of Inertia
The moment of inertia of the area with respect to y axis is
I
yy
=
_
A
x
2
dxdy =
_
a
0
_

2px

2px
x
2
dxdy =
_
a
0
x
2
dx
_

2px

2px
dy =
_
a
0
x
2
dx {y}

2px

2px
= 2
_
a
0
x
2
(2px)
1/2
dx =
2b

a
_
a
0
x
5/2
dx =
2b

a
_
x
7/2
7/2
_
a
0
=
4a
3
b
7
=
4ab
3
3a
2
7
,
or
I
yy
=
3a
2
A
7
.
The moment of inertia of the area with respect to z axis is
I
zz
= I
xx
+I
yy
=
b
2
A
5
+
3a
2
A
7
= A
_
b
2
5
+
3a
2
7
_
.
The product of inertia of the area with respect to xy axes is
I
xy
=
_
A
xydxdy =
_
a
0
_

2px

2px
xydxdy =
_
a
0
xdx
_

2px

2px
ydy =
_
a
0
xdx
_
y
2
2
_

2px

2px
= 0.
The products of inertia of the area with respect to xz and yz axes are I
xz
= I
yz
= 0.
The inertia matrix of the plane gure is
[I] =
_
_
I
xx
I
xy
I
xz
I
yx
I
yy
I
yz
I
zx
I
zy
I
zz
_
_
=
_

_
b
2
A
5
0 0
0
3a
2
A
7
0
0 0 A
_
b
2
5
+
3a
2
7
_
_

_
.
The rst moment of the area A with respect to y axis is
M
y
=
_
A
xdxdy =
_
a
0
_

2px

2px
xdxdy =
_
a
0
xdx
_

2px

2px
dy =
_
a
0
xdx {y}

2px

2px
= 2
_
a
0
x
_
2px dx =
2b

a
_
a
0
x
3/2
dx =
2b

a
_
x
5/2
5/2
_
a
0
=
2b

a
a
5/2
5/2
=
4ba
2
5
The x coordinate of the mass center, Fig E4.5(b), is
4.7 Examples 27
x
C
=
M
y
A
=
4ba
2
5
3
4ab
=
3a
5
.
The rst moment of the area A with respect to x axis is M
x
= 0 and y
C
= M
x
/A = 0.
Using the parallel-axes theorem the moments of inertia of the area with respect
to the centroidal axes x

, Fig E4.5(b), are

I
x

x
= I
xx
d
2
A = I
xx
=
b
2
A
5
,
I
y

y
= I
yy
(x
C
)
2
A = I
yy

_
3a
5
_
2
A =
3a
2
A
7

9a
2
A
25
=
12a
2
A
175
I
z

z
= I
x

x
+I
y

y
=
b
2
A
5
+
12a
2
A
175
= A
_
b
2
5
+
a
2
175
_
,
I
x

y
= I
xy
(x
C
)(0)A = 0,
I
x

z
= I
y

z
= 0.
The centroidal inertia matrix of the plane gure is
_
I

=
_
_
I
x

x
I
x

y
I
x

I
y

x
I
y

y
I
y

I
z

x
I
z

y
I
z

_
_
=
_

_
b
2
A
5
0 0
0
12a
2
A
175
0
0 0 A
_
b
2
5
+
a
2
175
_
_

_
.
28 4 Moments of Inertia
4.8 Problems
4.1 Determine the moment of inertia about the x-axis of the shaded area shown in
Fig. P4.1 where m = h/b and b = h = 1 m. Use integration.
y = m x
b
y
x
h
Fig. P4.1 Problem 4.1
4.2 Determine the moment of inertia about the y-axis of the area shown in Fig. P4.2
where a = 1 m. and b = 5 m. Use integration.
x
y
a
b
O
y = x /3
2
Fig. P4.2 Problem 4.2
4.3 Determine the moment of inertia about the x-axis of the area shown in Fig. P4.3
where a = 4 m. and b = 3 m. Use integration.
x
y
a
O
b
x = k y
2
Fig. P4.3 Problem 4.3
4.8 Problems 29
4.4 Determine the moment of inertia about the centroidal axes of the area shown in
Fig. P4.4 where r = 1 m.
x
y
2r 2r
2r
2r
r
O
Fig. P4.4 Problem 4.4
4.5 Determine the moments of inertia and the products of inertia about the centrodial
axes of the shaded area shown in Fig. P4.5, where a = 1 in. Find the centroid
polar moment of inertia. The mass center of the shaded area is at C.
C
a
a
a
a
3a
x
y
Fig. P4.5 Problem 4.5
30 4 Moments of Inertia
4.6 Determine the moment of inertia about the centrodial axes of the area shown
in Fig. P4.6, where a = 150 mm, b = 100 mm, and the uniform thickness is
t = 20 mm.
a
x
y
a
t
b
b
t
Fig. P4.6 Problem 4.6
4.7 The region shown bounded by the curves y = x and y = x
2
/a, where a = 15 cm.
Find the area moments of inertia about the x and y axes.
x
y
O
y = x /a
2
y = x
Fig. P4.7 Problem 4.7
4.8 The polar moment of inertia of the area shown in Fig. P4.8, is I
Czz
about the z-axis
passing through the centroid C. If the moment of inertia about the y

axis is I
y

and the moment of inertia about the x-axis is I

xx
. Determine the area A. Numerical
application: I
Czz
= 54810
6
mm
4
, I
y

y
= 38310
6
mm
4
, I
xx
= 85610
6
mm
4
,
and h = 250 mm.
x
y

C x

h
Fig. P4.8 Problem 4.8
4.9 The polar moment of inertia of the area, A, about the z-axis passing through the
centroidC is I
Czz
, see Fig. P4.9. The moment of inertia of the area about the x-axis
4.8 Problems 31
is I
xx
. Find the moment of inertia about the y

axis, I
y

y
. Numerical application:
I
Czz
= 23 in
4
, I
xx
= 40 in
4
, A = 2.44 in
2
, and h = 3 in.
x
y

C x

h
A
Fig. P4.9 Problem 4.9
4.10 Determine the area moments of inertia I
uu
and I
vv
and the product of inertia I
uv
for the semicircular area with the radius r = 60 mm and = 30

.
O
x
y
u
v
r r

Fig. P4.10 Problem 4.10

32 4 Moments of Inertia
A = area, in
2
C = location of the centroid
I
xx
, I
yy
= second moment of area
in
4
about x, y axes, respectively
I
C
= second polar moment of area about axis through C, in
4
A = bh
I
xx
=
bh
3
12
I
yy
=
b
3
h
12
I
C
=
bh
12
(b
2
+ h
2
)
A =
bh
2
I
xx
=
bh
3
36
I
yy
=
b
3
h
36
I
C
=
bh
36
(b
2
+ h
2
)
A =
d
2
4
I
xx
= I
yy
=
d
4
64
I
C
=
d
4
32
A =

4
(d
2
d
2
i
)
I
xx
= I
yy
=

64
(d
4
d
4
i
)
I
C
=

32
(d
4
d
4
i
)
b
h
C
x
y
b
h
C
x
y
d
x
C
y
d
d
i
x
y
C
h/2
h/3
,
(m )
2
(m )
4
(m )
4
r
y
C
x
y
C
r
A =
r
2
2
I
xx
= I
yy
=
r
4
8
y
C
=
4r
3
4.8 Problems 33
A = cross-sectional area = mass density
m = mass I
xx
, I
yy
, I
zz
= moments of inertia
with respect to x, y, z axes
m = lA
I
xx
= I
zz
=
m
12
l
2
I
yy
= 0
m = abc
I
xx
=
1
12
m(b
2
+ c
2
)
I
yy
=
1
12
m(a
2
+ c
2
)
I
zz
=
1
12
m(a
2
+ b
2
)
m =
4
3
R
2
I
xx
= I
yy
= I
zz
=
2
5
mR
2
m =
2
3
R
3
I
xx
= I
yy
=
83
320
mR
2
I
zz
=
2
5
mR
2
Inertia properties of some homogeneous bodies
l/2
z
y
x
l/2
C
x
y
z
a/2
a/2
b/2 b/2
c/2
c/2
C
x
y
z
R
C
x
y
z
R
3R/8
C
C = location of the centroid
34 4 Moments of Inertia
m = R
2
h
I
xx
= I
yy
=
1
12
m(3R
2
+h
2
)
I
zz
=
1
2
mR
2
m = h(R
2
1
R
2
2
)
I
xx
= I
yy
=
1
12
m(3R
2
1
+ 3R
2
2
+h
2
)
I
zz
=
1
2
m(R
2
1
+R
2
2
)
x
y
z
h/2
h/2
R
C
z
h/2
R
1
R
2
x
y
h/2
C