Chapter 9

Engineering Mechanics – ME1102

Sunil Kumar Singh and Rishi Raj

Courtesy: TMH
Introduction
• Previously considered distributed forces which were proportional to the
area or volume over which they act.
- The resultant was obtained by summing or integrating over the
areas or volumes.
- The moment of the resultant about any axis was determined by
computing the first moments of the areas or volumes about that
axis.

• Will now consider forces which are proportional to the area or volume
over which they act but also vary linearly with distance from a given
axis.
- It will be shown that the magnitude of the resultant depends on the
first moment of the force distribution with respect to the axis.
- The point of application of the resultant depends on the second
moment of the distribution with respect to the axis.
• Current chapter will present methods for computing the moments and
products of inertia for areas and masses.
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Moment of Inertia

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Moment of Inertia of an Area
• Consider distributed forces F whose magnitudes are
proportional to the elemental areas A on which they
act and also vary linearly with the distance of A
from a given axis.
• Example: Consider the net hydrostatic force on a
submerged circular gate.
F = pA
The pressure, p, linearly increases with depth
p = y , so
F = yA, and the resultant force is
R =  F =   ydA, while the moment produced is
all A

M x =   y 2 dA
• The integral  y dA is already familiar from our study of centroids.
• The integral  y 2 dA is one subject of this chapter, and is known as the area
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moment of inertia, or more precisely, the second moment of the area. 5
Moment of Inertia of an Area by
Integration
• Second moments or moments of inertia of
an area with respect to the x and y axes,
I x =  y 2 dA I y =  x 2 dA

• Evaluation of the integrals is simplified by

choosing d to be a thin strip parallel to
one of the coordinate axes.

• For a rectangular area,

h
I x =  y dA =  y 2bdy = 13 bh3
2
0

• The formula for rectangular areas may also

be applied to strips parallel to the axes,
dI x = 13 y 3 dx dI y = x 2 dA = x 2 y dx

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Polar Moment of Inertia
• The polar moment of inertia is an important
parameter in problems involving torsion of
cylindrical shafts and rotations of slabs.
J 0 =  r 2 dA

• The polar moment of inertia is related to the

rectangular moments of inertia,
J 0 =  r 2 dA =  (x 2 + y 2 )dA =  x 2 dA +  y 2 dA
= I y + Ix

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Radius of Gyration of an Area
• Consider area A with moment of inertia
Ix. Imagine that the area is
concentrated in a thin strip parallel to
the x axis with equivalent Ix.
I
I x = k x2 A kx = x
A
kx = radius of gyration with respect
to the x axis
• Similarly,
Iy
Iy = k y2 A ky =
A
JO
J O = kO2 A kO =
A

kO2 = k x2 + k y2

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Sample Problem 9.1
SOLUTION:
• A differential strip parallel to the x axis is chosen for
dA.
dI x = y 2 dA dA = l dy

• For similar triangles,

l h−y h−y h−y
 = l=b dA = b dy
b h h h
Determine the moment of
inertia of a triangle with respect
• Integrating dIx from y = 0 to y = h,
to its base.
h− y
 dy =  (hy − y 3 )dy
h
bh 2
Could a vertical strip have been I x =  y dA =  y b
2 2

0 h h0
chosen for the calculation?
h
What is the disadvantage to that b y y  3 4
bh 3
choice? Think, then discuss = h −  I x=
with a neighbor.
h 3 4 0 12

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Sample Problem 9.2
SOLUTION:
• An annular differential area element is chosen,

dJO = u 2 dA dA = 2 u du
r r
JO =  dJO =  u (2 u du)= 2  u 3 du
2

0 0


JO = r4
2
 Why was an annular differential area chosen?
a) Determine the centroidal polar Would a rectangular area have worked?
moment of inertia of a circular
area by direct integration. • From symmetry, Ix = Iy,

b) Using the result of part a, JO = I x + I y = 2I x r 4 = 2I x
determine the moment of inertia 2
of a circular area with respect to a

diameter of the area. I diameter = I x = r4
4

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Parallel Axis Theorem
• Consider moment of inertia I of an area A
with respect to the axis AA’
I =  y 2 dA

• The axis BB’ passes through the area centroid

and is called a centroidal axis.

I =  y 2 dA =  ( y  + d )2 dA
=  y  2 dA + 2d  y dA + d 2  dA

I = I + Ad 2 parallel axis theorem

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Parallel Axis Theorem
• Moment of inertia IT of a circular area with
respect to a tangent to the circle,
IT = I + Ad 2 = 14  r 4 + ( r 2 )r 2
= 45  r 4

• Moment of inertia of a triangle with respect to a

centroidal axis,
I AA  = I BB  + Ad 2
I BB  = I AA  − Ad 2 = 121 bh 3 − 12 bh(13 h)
2

3
= 1
36
bh


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Moments of Inertia of Composite
Areas
• The moment of inertia of a composite area A about a given axis is
obtained by adding the moments of inertia of the component areas
A1, A2, A3, ... , with respect to the same axis.

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Sample Problem 9.5

Determine the moment of inertia

of the shaded area with respect to
the x axis.

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Sample Problem 9.5
SOLUTION:
• Compute the moments of inertia of the bounding
rectangle and half-circle with respect to the x axis.
Rectangle:
I x = 13 bh3 = 13 (240 )(120 ) = 138 .2 10 6 mm 4
3

Half-circle:
Moment of inertia with respect to AA’,
I AA = 18 r 4 = 18  (90 ) = 25.76 10 6 mm 4
4

Moment of inertia with respect to x’,

I x = I AA − Aa 2 = 25.76 10 6 − (12.72 103 )(38.2)2
4r (4 )(90 )
a= = = 38.2 mm = 7.20 10 6 mm 4
3 3
b = 120 - a = 81.8 mm Moment of inertia with respect to x,
A = 12 r 2 = 12  (90 )2 I x = I x + Ab 2 = 7.20 10 6 + (12.72 10 3 )(81.8)
2

= 12.72  103 mm 2 = 92.3 10 6 mm 4

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Sample Problem 9.5
• The moment of inertia of the shaded area is obtained by
subtracting the moment of inertia of the half-circle from
the moment of inertia of the rectangle.

Ix = 138.2  106 mm4 − 92.3 106 mm4

I x = 45.9  106 mm 4

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Product of Inertia
• Product of Inertia:
I xy =  xy dA

• When the x axis, the y axis, or both are an

axis of symmetry, the product of inertia is
zero.

• Parallel axis theorem for products of inertia:

I x' y' = I xy + x yA

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Sample Problem 9.6

Determine the product of inertia of

the right triangle (a) with respect
to the x and y axes and
(b) with respect to centroidal axes
parallel to the x and y axes.

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Sample Problem 9.6
SOLUTION:
• Determine the product of inertia using direct integration
with the parallel axis theorem on vertical differential
area strips
 x  x
y = h1−  dA = y dx = h1− dx
 b  b
 x
xel = x yel = 2 y = 2 h1− 
1 1
 b
Integrating dIx from x = 0 to x = b,
2
=  dI xy =  xel yel dA =  x (2 ) h 1 −  dx
2
b
1 x
I xy
 0  b
b
b x x x2
 3
 x 2
x 3
x 4

 
= h   − + 2 dx = h  − + 2 
2 2

0 2 b 2b   4 3b 8b  0

I xy = 1
24
b2h 2

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Sample Problem 9.6
• Apply the parallel axis theorem to evaluate the
product of inertia with respect to the centroidal axes.
x = 13 b y = 13 h

With the results from part a,

I xy = I x y  + x yA

I x y  = 241 b2h2 − (13 b )(13 h )(12 bh)

I x y  = − 72
1
b2h 2

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Principal Axes and Principal Moments of
Inertia
• The change of axes yields
Ix + I y Ix − I y
I x = + cos 2 − I xy sin 2
2 2
Ix + I y Ix − I y
I y = − cos 2 + I xy sin 2
2 2
Ix − I y
I xy = sin 2 + I xy cos 2
2

Given I x =  y 2 dA I y =  x 2 dA • The equations for Ix’ and Ix’y’ are the

parametric equations for a circle,
I xy =  xy dA
(I x − I ave )2 + I x2y = R 2
we wish to determine moments
Ix + Iy  Ix − Iy 
2
and product of inertia with
respect to new axes x’ and y’. I ave = R =   + I xy2
2  2 
Note: x = x cos  + y sin  • The equations for Iy’ and Ix’y’ lead to the
y  = y cos  − x sin  same circle.
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Principal Axes and Principal Moments
of Inertia • At the points A and B, I = 0 and I is x’y’ x’
a maximum and minimum, respectively.
I max,min = I ave  R
𝐼𝑥 − 𝐼𝑦
𝐼𝑥 ′ 𝑦 ′ = sin 2 𝜃 + 𝐼𝑥𝑦 cos 2 𝜃 = 0
2

2 I xy
tan 2 m = −
Ix − I y
• This equation defines two values 2m
which are 180° apart, and thus
defined for m two angles, 90o apart
which correspond to the principal axes
of the area about O.
(I x − I ave )2 + I x2y = R 2
Ix + Iy  Ix − I y  2 • Imax and Imin are the principal moments
I ave = R =   + I xy of inertia of the area about O.
2  2 

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Sample Problem 9.7

For the section shown, the moments of

inertia with respect to the x and y axes are
Ix = 1.66x106 mm4 and Iy = 1.12x106 mm4.
Determine (a) the orientation of the
principal axes of the section about O, and
(b) the values of the principal moments of
inertia about O.
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Sample Problem 9.7
SOLUTION:
• Compute the product of inertia with respect to the xy axes
by dividing the section into three rectangles.
Apply the parallel axis theorem to each rectangle,
(
I xy =  I x y  + x yA )
Note that the product of inertia with respect to centroidal
axes parallel to the xy axes is zero for each rectangle.

I xy =  xyA = −1.05 106 mm4

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Sample Problem 9.7
m = 127.8o
• Determine the orientation of the principal axes (Eq. 9.25)
and the principal moments of inertia (Eq. 9. 27).

tan 2m = −
2 I xy
=−
(
2 − 1.05 106
= +3.89
)
Ix − I y 1.66 106 − 1.22 106
m = 38.8o 2m = 75.6 and 255.6 
 m = 38.8 and  m = 127.8
2
Ix + Iy  Ix − Iy 
I max,min =    + I xy
2
2  2 
I x = 1.66 10 mm
6 4
1.66 106 + 1.22 106
I y = 1.22 106 mm 4 =
2
I xy = −1.05 + 106 mm 4 2
 1.66 106 − 1.22 106 
  (
 + − 1.05 106
 )
2

 2 
I a = I max = 2.47 106 mm 4
Ib = I min = 0.306 106 mm 4
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Mohr’s Circle for Moments and Products
of Inertia
• The moments and product of inertia for an area
are plotted as shown and used to construct Mohr’s
circle,
Ix + I y  Ix − I y  2
I ave = R =   + I xy
2  2 

• Mohr’s circle may be used to graphically or

analytically determine the moments and product of
inertia for any other rectangular axes including the
principal axes and principal moments and products
of inertia.

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Sample Problem 9.8

The moments and product of inertia

with respect to the x and y axes are Ix =
7.20x106 mm4, Iy = 2.59x106 mm4, and
Ixy = -2.54x106 mm4.
Using Mohr’s circle, determine (a) the
principal axes about O, (b) the values of
the principal moments about O, and (c)
the values of the moments and product
of inertia about the x’ and y’ axes
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Sample Problem 9.8
SOLUTION:
• Plot the points (Ix , Ixy) and (Iy ,-Ixy). Construct Mohr’s
circle based on the circle diameter between the points.
( )
OC = I ave = 12 I x + I y = 4.895 106 mm 4
( )
CD = 12 I x − I y = 2.305 106 mm 4

R= (CD )2 + (DX )2 = 3.43 106 mm 4

I x = 7.20 106 mm 4 • Based on the circle, determine the orientation of the

principal axes and the principal moments of inertia.
I y = 2.59 106 mm 4
DX
tan 2m = = 1.102 2m = 47.8 m = 23.9
I xy = −2.54 10 mm
6 4
CD
I max = OA = I ave + R I max = 8.33 106 mm 4

I min = OB = I ave − R I min = 1.47 106 mm 4

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Sample Problem 9.8
• Based on the circle, evaluate the moments and product
of inertia with respect to the x’y’ axes.
The points X’ and Y’ corresponding to the x’ and y’ axes
are obtained by rotating CX and CY counterclockwise
through an angle 2 = 2(60o) = 120o. The angle that CX’
forms with the x’ axes is  = 120o − 47.8o = 72.2o.
I x' = OF = OC + CX  cos = I ave + R cos72.2o
I x  = 5.94 106 mm 4

I y' = OG = OC − CY  cos = I ave − R cos72.2o

I y  = 3.85 106 mm 4

I xy' = FX  = CY  sin  = R sin 72.2o

I xy  = 3.27 106 mm 4
OC = I ave = 4.895 10 mm
6 4

R = 3.43 106 mm 4
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Moment of Inertia
Four objects with identical masses and
radii racing down a plane while rolling
without slipping.
spherical shell,
solid sphere,
cylindrical ring, and
solid cylinder.
The time for each object to reach the
finishing line depends on their moment
of inertia.
Which one will roll down quickly?
For a given mass, a hollow cylinder has more material away from the axis than a solid
cylinder, so its moment of inertia is higher. This means that more of the potential energy
is being turned into spinning the cylinder, so less is left over for the translational KE. It
rolls more slowly down the slope. There is a certain potential energy ‘budget’, and more
spent on rotational KE means less left over for linear motion.

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Moment of Inertia

Which one will roll down quickly?

The cylinders with higher moment of inertia roll down a slope with a smaller acceleration,
as more of their potential energy needs to be converted into the rotational kinetic energy.

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Product of Inertia: Significance

• It is a termed defined because it is useful

in calculating the maximum and minimum • Product of Inertia:
moments of inertia
I xy =  xy dA
• It gives an idea of degree of symmetry

• for example, in balancing tires: you compute the POI and then add mass to set
the POI to zero along the axis of the wheel - resulting in a smooth ride
• Put another way - when POI is non zero, there will be a net torque when you
rotate about that axis.

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Moment of Inertia of a Mass
• Angular acceleration about the axis AA’ of the
small mass m due to the application of a
couple is proportional to r2m.
r2m = moment of inertia of the
mass m with respect to the
axis AA’
• For a body of mass m the resistance to rotation
about the axis AA’ is
I = r12 m + r22 m + r32 m + 
=  r 2 dm = mass moment of inertia

• The radius of gyration for a concentrated mass

with equivalent mass moment of inertia is
I
I =k m
2
k=
m

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Moment of Inertia of a Mass
• Moment of inertia with respect to the y coordinate
axis is
( )
I y =  r 2dm =  z 2 + x2 dm

• Similarly, for the moment of inertia with respect to

the x and z axes,
(
I x =  y 2 + z 2 dm )
Iz =  (x 2
+ y )dm
2

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Parallel Axis Theorem
• For the rectangular axes with origin at O and parallel
centroidal axes,
( )  
I x =  y 2 + z 2 dm =  ( y  + y )2 + (z  + z )2 dm
( ) ( )
=  y 2 + z2 dm + 2 y  y dm +2 z  zdm + y 2 + z 2  dm

(
I x = I x + m y 2 + z 2 )
I y = I y + m(z 2
+x )2

I z = I z + m(x 2
+y )2

• Generalizing for any axis AA’ and a parallel centroidal

axis,
I = I + md 2

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Moments of Inertia of Thin Plates
• For a thin plate of uniform thickness t and homogeneous
material of density , the mass moment of inertia with
respect to axis AA’ contained in the plate is
I AA  =  r 2 dm = t  r 2 dA
=  t I AA ,area

• Similarly, for perpendicular axis BB’ which is also

contained in the plate,

I BB  =  t I BB ,area

 • For the axis CC’ which is perpendicular to the plate,

ICC  =  t JC,area =  t (I AA ,area + I BB ,area )
= I AA  + I BB 

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Moments of Inertia of Thin Plates
• For the principal centroidal axes on a rectangular plate,
( )
I AA = t I AA,area = t 121 a3b = 121 ma2

I BB = t I BB,area =  t(1

12
ab )=
3 1
12
mb2

(
ICC  = I AA,mass + I BB,mass = 121 m a 2 + b2 )

• For centroidal axes on a circular plate,

( )
I AA = I BB = t I AA,area = t 14  r 4 = 14 mr2

ICC  = I AA + I BB = 12 mr2

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Moments of Inertia of a 3D Body by
Integration
• Moment of inertia of a homogeneous body
is obtained from double or triple
integrations of the form
I =   r 2 dV

• For bodies with two planes of symmetry,

the moment of inertia may be obtained
from a single integration by choosing thin
slabs perpendicular to the planes of
symmetry for dm.

• The moment of inertia with respect to a

particular axis for a composite body may
be obtained by adding the moments of
inertia with respect to the same axis of the
components.

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Moments of Inertia of Common
Geometric Shapes

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Sample Problem 9.12
SOLUTION:
• With the forging divided into a prism and
two cylinders, compute the mass and
moments of inertia of each component
with respect to the xyz axes using the
parallel axis theorem.
• Add the moments of inertia from the
components to determine the total moments
of inertia for the forging.
Determine the moments of inertia of
the steel forging with respect to the
xyz coordinate axes, knowing that
the density of steel is 7850 kg/m3.

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Sample Problem 9.12
SOLUTION: cylinders (a = 25mm , L = 75mm, x = 62.5mm, y = 50mm) :
• Compute the moments of inertia
of each component with respect I x = 12 ma 2 + my 2
= 12 (1.16 )(1000 m ) + (1.16 )(1000 )
to the xyz axes. 2 2
25 50

= 3.236 10 −3 kg  m 2

 
I y = 121 m 3a 2 + L2 + mx 2

= 121 (1.16 ) 3  (1000
25
) + (1000
2 75 2

) + (1.16)(1000
62.5
) 2

= 5.256 10 −3 kg  m 2

each cylinder :   
I z = 121 m 3a 2 + L2 + m x 2 + y 2 
V =  (0.025 m) 2 (0.075 m) 
= 121 (1.16 ) 3(1000
25
) + (1000
2 75 2
 
) + (1.16 ) (1000
62.5
) + (1000
2 50
)
2

= 1.473 10- 4 m 3
= 8.156 10 −3 kg.m 2
m = (1.4730 10- 4 m 3 )(7850 kg/m 3 )
= 1.16 kg
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Sample Problem 9.12
prism (a = 50 mm., b = 150 mm, c = 50 mm):

  
I x = I z = 121 m b 2 + c 2 = 121 (2.94kg ) (1000
150
) + (1000
2 50
) 2

= 6.125 10 −3 kg  m 2

  
I y = 121 m c 2 + a 2 = 121 (2.94 kg ) (1000
50
) + (1000
2 50
) 2

= 1.225 10 −3 kg  m 2
• Add the moments of inertia from the
components to determine the total moments of
inertia.
(
I x = 6.125 10 −3 + 2 3.263 10 −3 ) I x = 12.65 10 −3 kg  m 2

(
I y = 1.225 10−3 + 2 5.256 10−3 )
I y = 11.74 10−3 kg  m2

(
I z = 6.125 10−3 + 2 8.156 10−3 )
I z = 22.44 10−3 kg  m2
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Suggested Problems for Practice

Problem 9.4, Problem 9.8, Problem 9.15, Problem 9.17, Problem

9.21, Problem 9.23, Problem 9.26, Problem 9.35, Problem 9.37,
Problem 9.38, Problem 9.39, Problem 9.58, Problem 9.62, Problem
9.69, Problem 9.72, Problem 9.75, Problem 9.82, Problem 9.92,
Problem 9.94, Problem 9.114, Problem 9.144

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