Mechanical Engineering

Science 3

DYNAMICS
MASS MOMENT OF INERTIA

Dr. Fadi Ghaith

 Recommended Reading

Meriam and Kraige, Engineering
Mechanics: Dynamics, 5th Ed. Appendix
B.

Hibbeler, Engineering Mechanics –

Dynamics, 10th Ed. Chapter 17. This
book comes with a student study pack.

Both books are available in the library.

Objectives of this lecture

To understand the concept of mass
moment of inertia

To be able to calculate mass moment of

inertia.
https://www.youtube.com/watch?v=fHDB7PMUdZE
 Mass Moment of Inertia
(MMoI)

MMoI is a measure of resistance to rotational
acceleration of the body

i.e. distribution of the mass of an object relative

to a given axis (x, y or z axis). MMoI is denoted
by I.

MMoI, I = mr2
 Mass Moment of Inertia
(MMoI)

Torque T = Fr = mar
As
dv dω α
a= = r = αr
dt dt r

Therefore
2
T = mr α m

= Iα Force, F

MMoI I = mr 2
 Radius of Gyration

The moment of inertia of a body about a
specified axis. It is a measure of the
distribution of mass of a given body about an
axis.

The radius of gyration of a mass (k) is defined
as
I
k=
m

Or rewritten as:
2
I = mk
Mass Moment of Inertia

In the case of a distributed mass, the mass
moment of inertia is defined as

I = ∫ r dm 2

For uniform density, ρ,

I = ρ ∫ r dV2
 Uniform Plate

Determine the mass y

moment of inertia of a
uniform plate about the x x
x-axis.

a x
Uniform Plate dm = ρ hdA
I xx = ∫ y dm
2

= ρ ha ⋅ dy
b
= ρ ha ∫−b
2 2
y dy m = ρ hab
2
b y
y  3 2 b/2
= ρ ha  
 3  −b 2
x x b
 b3 
= ρ ha  
12 
b 2 a -b/2
x
=m
12
 Shell element
Determine the moment of inertia of
the cylinder about the z-axis.
z
R

h/2
O

h/2 y
x
 Shell element
Volume dV = 2πr × h × dr
dm = ρdV Z dr
Mass
= ρ (2πrh ⋅ dr )
R
2
dI z = r dm = ρ 2πhr ⋅ dr 3
h/2
I z = ∫ r 2 dm O
m
R h/2 Y
I z = ρ 2πh ∫ r dr 3
X
0

ρπhR 4
Iz =
2
 Shell element
m = ∫ dm
Mass of cylinder
m
R
= ρ 2πh ∫ rdr
0
2
= ρπhR
MMoI for a cylinder 1 2
I z = mR
about z-axis 2
 MMoI of Hollow Sections

Consider a cylindrical hollow section, e.g. pipe of length L,
with external diameter as ro and internal radius as ri.

I z = I outside − I inside Z
mo ro2 mi ri 2
Iz = − ro
2 2
ri
πρ L 4 4
= (ro − ri) L
2
πρ L 2 2 2 2 2
=
2
( )(
ro − ri ro + ri ) mo = π r L ρ
o
m 2 2 2
= ( )
ro + ri mi = π ri L ρ
2
 Example 1
Determine the mass moment of inertia (MMoI)for
the uniform rod of 3m length about the x-axis.

Mass, m = 2kg
L/3 2L/3
x-axis
 Example 1-Solution
I = ∫ r dm = ∫ L dm
2 2

22LL

II = ρ A∫ LL dL
33 22
1
−− L
dL
L3
2L
 L3  3
= ρA 
 3 − L
3
dm = ρ AdL
 8 L3 L3 1 
= ρA + 
 27 3 27 3  A = area
 9 L2 
= m  dL = length
 27 × 3 
L2 ρ = density
= m = 2kgm 2
9
 Polar Mass Moment of Inertia
a

Polar Mass Moment of y
Inertia dm
x xb
2
( 2 2
)
I z = ∫ z dm= ∫ x + y dm= I xx + I yy
z

Consider a plate of length y
a and width b. The polar α, about z-axis
mass moment of inertia 2
about z-axis can be b a 2
I xx = m I yy = m
determined by summing 12 12
Ixx and Iyy. m
Iz = (a 2
+b 2
)
12
 Parallel Axis Theorem

//-axis theorem defined as
2
I ii = I o + md
i Io

For radius of gyration d
2 2 2
k =k +d o CG

i
 Parallel Axis Theorem
Consider a uniform plate of length a and width b,

I ww = I xx + md 2
2
b
2
b
= m + m  x b x
12  2
2
b b/2
=m
3 w w
a
b2
I xx =m
12