Three Dimensional Kinetics of a rigid body:

moment of inertia & product of inertia

Chapter 3a

For the kinetic analysis of threedimensional motion it will

sometimes be necessary to calculate
six inertial quantities.These terms,
called the moments and products of
inertia.

I = m r2 dm

I_xy is the moment of inertia in the x axis when spinning around the yaxis.
A physical picture is that as you're spinning in one axis (x-axis), there is
some effect that manifests itself in the y-axis.

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In three dimensions, if the axis of rotation is not given, we need to be

able to generalize the scalar moment of inertia to a quantity that
allows us to compute a moment of inertia about arbitrary axes. This
quantity is known as the inertia Tensor and can be represented as a
matrix:

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If we are free to choose the orientation of the

reference frame, it is possible to cause the products
of inertia to be zero.
Principal axes.
Principal moments of inertia.

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3D-moments and products of Inertia

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3D-moments and products of Inertia

2
3
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3D-moments and products of Inertia

2
3
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3D-moments and products of Inertia

2
3
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3D-moments and products of Inertia

1
1

2
3
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3D-moments and products of Inertia

2
3
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3D-moments and products of Inertia

2
3
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3D-moments and products of Inertia

2
3
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The rectangular metal plate shown in the

figure below has a mass of 15 kg. Compute its
moment of inertia about y-axis

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3D angular momentum

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3D angular momentum
From previous Question

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3D angular momentum
From previous Question

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3D angular momentum
From previous Question

ans
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