Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
Moment of Inertia
Lesson Outcomes
DEW 1
Applications
The large flywheel in the picture is
connected to a large metal cutter. The
flywheel mass is used to help provide a
uniform motion to the cutting blade.
Applications (continued)
DEW 2
Mass Moment of Inertia
I analogous to Mass, m
moment of
mass inertia
F ma
sum of
sum of linear acceleration
moments angular acceleration
forces
.. about an axis
DEW 3
Moment of Inertia vs Mass
Two objects with similar mass provide the same resistance
to linear motion but their resistances to angular motion
depends on how far the elemental masses are away from
the axis of rotation.
mA=mB=mC
A B C
IA< IB IA< IC
Y
Z The values of I of the same object
about axes W-W, X-X, Y-Y and Z-Z
are not the same.
DEW 4
Mass Moment of Inertia (continued)
The figures below show the mass moment of inertia formulations for two
shapes commonly used when working with three dimensional bodies.
These shapes are often used as the differential element being integrated
over an entire body.
I Z r 2 dm Unit: kg.m2
DEW 5
Calculating I
Each elemental mass dm has a density
dm dV occupying an elemental volume dV
m V
Shell element
If a shell element having a height z, radius r = y, and
thickness dy is chosen for integration, then the volume
element is dV = (2y)(z)dy.
This element may be used to find the moment of inertia Iz
since the entire element, due to its thinness, lies at the
same perpendicular distance y from the z-axis.
Disk element
If a disk element having a radius y and a thickness dz is
chosen for integration, then the volume dV = (y2)dz.
Using the moment of inertia of the disk element, we can
integrate to determine the moment of inertia of the entire
body.
DEW 6
I about the Centre of Mass
Moment of inertia computed about an axis that passes
through its centre of mass and perpendicular to the plane of
motion is normally referred to as IG
centre of mass
I of Common Solids
DEW 7
Parallel-Axis Theorem
If the mass moment of inertia of a body about an axis passing through
the bodys mass center is known, then the moment of inertia about any
other parallel axis may be determined by using the parallel axis theorem,
centre
I I G md 2
I about
of mass axis of
d
axis of rotation
rotation
I about axis that distance
passes through between
the mass centre the two
axes
Radius of Gyration
Moment of inertia of the body about its centre of mass
can be expressed by using radius of gyration (k).
The radius of gyration is a measure of the distribution of
the bodys mass about the axis at which the moment of
inertia is defined.
2 I mk 2
r
m
dm
k I Z r 2 dm
m m
Unit: m
DEW 8
Composite Bodies
If a body is constructed of a number of simple shapes, I
of the body about any axis z can be determined
summing the I of all the composite shapes computed
about the z axis
Algebraic addition is necessary since a composite part
must be considered as a negative quantity if it has
already been counted as a piece of another, eg, a hole
Parallel axis theorem is needed for calculations if center of
mass of each composite part does not lie on the z axis
(axis of rotation).
I (IG md 2 )
2
I r dm r 2 dV r 2 dV
V V V
dV ( 2 r ) h dr
I r 2 dV r 2 2 rhdr
V r
R R4
I 2 h r 3 dr 2 h
0 4 Iz 1
2 mR 2
1
2 R 2 hR 2 1
2 VR 2 1
2 mR 2
DEW 9
Example #2: I for a Disk Element
A solid is formed by revolving the shaded area about the y
axis. If the density of the material is 5000 kg/m3, determine Iy
dm dV ( x 2 dy )
The disk dm is similar to a
cylinder of radius x and height dy;
Iy 1
2 mR 2
dI y 12 ( dm ) x 2
y2=x
2 2 4
Iy 1
2 x x dy 12 x dy
r r
1
Iy 8 I y 12 5000 19 [ y 9 ]10
1
2 y
0
dy
2
12 5000 19 [1 0 ] 873 kgm
Example #3
Given: The pendulum consists of a slender
q rod with a mass 10 kg and sphere with
a mass of 15 kg.
r Find: The pendulums MMI about an axis
perpendicular to the screen and
p
passing through point O.
DEW 10
Example #3 (continued)
Solution: 1. The center of mass for rod is at point Gr, 0.225 m
from Point O. The center of mass for sphere is at Gs,
0.55 m from point O.
2. The MMI data for a slender rod and sphere are given
on the inside back cover of the textbook. Using
those data and the parallel-axis theorem, calculate
the following.
IO = IG + (m) (d) 2
IOr = (1/12) (10)(0.45)2 +10 (0.225)2 = 0.675 kgm2
IOs = (2/5) (15) (0.1)2 + 15 (0.55)2 = 4.598 kgm2
Example #4
Given: The pendulum consists of a 5-kg plate
and a 3-kg slender rod.
Plan:
DEW 11
Example #4 (continued)
Solution:
1. Separate the pendulum into a square plate (P) and a slender rod
(R).
y = ( y m) / ( m )
= {(1) 3 + (2.25) 5} / (3+5)
= 1.781 m
Example #4 (continued)
3. The MMI data on plates and slender rods are given
on the inside cover of the textbook. Using those
data and the parallel-axis theorem;
DEW 12
Example #5
If a plate has a density of 8000 kg/m3 and a thickness of
10mm, determine its moment of inertia about an axis
directed perpendicular to the page and passing through
point O.
Plate consists of 2 composite parts, the 250mm radius
disk minus the 125mm disk
Calculations are performed using parallel axis theorem
1 2
IG mr
2
I O I G md 2 ;
Example #5 (continued)
Disk,
md dVd 8000 0.25 0.01
2
15.71 kg
2
Id O 12 md rd md d 2
12 15.710.25 15.710.25 1.473 kg . m 2
2 2
Hole:
IO I d O IhO
mh dVh 8000 0.125 0.01
2
1.473 0.276
3.93 kg
2 2
1.20 kg . m 2
I h O mh rh mh d
1
2
1
2 3.930.125 3.930.25
2 2
0.276 kg . m 2
DEW 13
Example #6
12 12 9.8 9.8
I O ( I OA ) O ( I BC ) O 1.70 5.52 7.22 kg . m 2
Example #6 (continued)
Part (b)
For mass center G located relative to pin at O,
~
y m 0.5(50 / 9.8) 1(50 / 9.8)
y 0.75 m
m (50 / 9.8) (50 / 9.8)
DEW 14
Summary Questions
DEW 15
Summary Questions (continued)
References:
DEW 16