Ninth Edition

VECTOR MECHANICS FOR ENGINEERS:

9
CHAPTER

STATICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Distributed Forces:
Lecture Notes:
Moments of Inertia
J. Walt Oler
Texas Tech University

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Edition
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Vector Mechanics for Engineers: Statics
Contents
Introduction Sample Problem 9.6
Moments of Inertia of an Area Sample Problem 9.7
Moment of Inertia of an Area by Mohrs Circle for Moments and
Integration Products of Inertia
Polar Moment of Inertia Sample Problem 9.8
Radius of Gyration of an Area Moment of Inertia of a Mass
Sample Problem 9.1 Parallel Axis Theorem
Sample Problem 9.2 Moment of Inertia of Thin Plates
Parallel Axis Theorem Moment of Inertia of a 3D Body by
Moments of Inertia of Composite Integration
Areas Moment of Inertia of Common
Sample Problem 9.4 Geometric Shapes
Sample Problem 9.5 Sample Problem 9.12
Product of Inertia Moment of Inertia With Respect to an
Principal Axes and Principal Arbitrary Axis
Moments of Inertia Ellipsoid of Inertia. Principle Axes of
Axes of Inertia of a Mass
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Vector Mechanics for Engineers: Statics
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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Vector Mechanics for Engineers: Statics
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 a beam subjected to pure bending.
Internal forces vary linearly with distance from the
neutral axis which passes through the section centroid.

F kyA
R k y dA 0 y dA Qx first moment
M k y 2 dA y dA second moment
2

Example: Consider the net hydrostatic force on a

submerged circular gate.
F pA yA
R y dA
M x y 2 dA
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Vector Mechanics for Engineers: Statics
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 dA to be a thin strip parallel to
one of the coordinate axes.

For a rectangular area,

h
I x y dA y 2bdy 13 bh 3
2

The formula for rectangular areas may also

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

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Vector Mechanics for Engineers: Statics
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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Vector Mechanics for Engineers: Statics
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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Vector Mechanics for Engineers: Statics
Sample Problem 9.1
SOLUTION:
A differential strip parallel to the x axis is chosen for
dA.
dI x y 2dA 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

h
bh 2
I x y dA y b
2 2
dy hy y 3 dy
0 h h0
h
b y3 y 4 bh3
h I x
h 3 4 12
0

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Vector Mechanics for Engineers: Statics
Sample Problem 9.2
SOLUTION:
An annular differential area element is chosen,

dJ O u 2dA dA 2 u du
r r
J O dJ O u 2 u du 2 u 3du
2

0 0

JO r4
2

a) Determine the centroidal polar From symmetry, Ix = Iy,

moment of inertia of a circular

area by direct integration. JO I x I y 2I x r 4 2I x
2
b) Using the result of part a,
determine the moment of inertia
of a circular area with respect to a I diameter I x r4
4
diameter.

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Vector Mechanics for Engineers: Statics
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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Vector Mechanics for Engineers: Statics
Parallel Axis Theorem
Moment of inertia IT of a circular area with
respect to a tangent to the circle,

I T I Ad 2 14 r 4 r 2 r 2

54 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
12
1 bh 3
2 bh 3 h
1 1 2

36
1 bh 3

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Vector Mechanics for Engineers: Statics
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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Vector Mechanics for Engineers: Statics
Moments of Inertia of Composite Areas

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Ninth
Vector Mechanics for Engineers: Statics
Sample Problem 9.4
SOLUTION:
Determine location of the centroid of
composite section with respect to a
coordinate system with origin at the
centroid of the beam section.
Apply the parallel axis theorem to
determine moments of inertia of beam
section and plate with respect to
The strength of a W14x38 rolled steel composite section centroidal axis.
beam is increased by attaching a plate
Calculate the radius of gyration from the
to its upper flange.
moment of inertia of the composite
Determine the moment of inertia and section.
radius of gyration with respect to an
axis which is parallel to the plate and
passes through the centroid of the
section.
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Vector Mechanics for Engineers: Statics
Sample Problem 9.4
SOLUTION:
Determine location of the centroid of composite section
with respect to a coordinate system with origin at the
centroid of the beam section.

Section A, in 2 y , in. yA, in 3

Plate 6.75 7.425 50.12
Beam Section 11.20 0 0
A 17.95 yA 50.12

Y A yA Y yA 50.12 in 3
2.792 in.
A 17.95 in 2

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Vector Mechanics for Engineers: Statics
Sample Problem 9.4
Apply the parallel axis theorem to determine moments of
inertia of beam section and plate with respect to composite
section centroidal axis.
I x, beam section I x AY 2 385 11.202.7922
472.3 in 4
I x, plate I x Ad 2 12 3
1 9 3 6.757.425 2.792 2
4
145.2 in 4

I x I x,beam section I x,plate 472.3 145.2

I x 618 in 4

Calculate the radius of gyration from the moment of inertia

of the composite section.
I x 617.5 in 4 k x 5.87 in.
k x
A 17.95 in 2
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Vector Mechanics for Engineers: Statics
Sample Problem 9.5
SOLUTION:
Compute the moments of inertia of the
bounding rectangle and half-circle with
respect to the x axis.
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.
Determine the moment of inertia
of the shaded area with respect to
the x axis.

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Vector Mechanics for Engineers: Statics
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 240120 138.2 106 mm4

Half-circle:
moment of inertia with respect to AA,
I AA 18 r 4 18 904 25.76 106 mm4
moment of inertia with respect to x,

4r 4 90

I x I AA Aa 2 25.76 106 12.72 103
a 38.2 mm
3 3 7.20 106 mm4
b 120 - a 81.8 mm
moment of inertia with respect to x,
A 12 r 12 90
2 2
I x I x Ab 2 7.20 106 12.72 103 81.82
12.72 103 mm2 92.3 106 mm4
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Ninth
Vector Mechanics for Engineers: Statics
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 mm4

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Vector Mechanics for Engineers: Statics
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 xy I xy x yA

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Vector Mechanics for Engineers: Statics
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 xy sin 2 I xy cos 2
2

Given I x y 2 dA I y x 2 dA The equations for Ix and Ixy are the

parametric equations for a circle,
I xy xy dA
I x I ave 2 I x2y R 2
we wish to determine moments
and product of inertia with Ix Iy Ix I y 2
I ave R I xy
respect to new axes x and y. 2 2
Note: x x cos y sin The equations for Iy and Ixy lead to the
y y cos x sin same circle.
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Vector Mechanics for Engineers: Statics
Principal Axes and Principal Moments of Inertia
At the points A and B, Ixy = 0 and Ix is
a maximum and minimum, respectively.
I max, min I ave R
2 I xy
tan 2 m
Ix I y

The equation for Qm defines two

angles, 90o apart which correspond to
the principal axes of the area about O.

Imax and Imin are the principal moments

I x I ave 2 I x2y R 2
of inertia of the area about O.
Ix Iy Ix I y 2
I ave R I xy
2 2

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Vector Mechanics for Engineers: Statics
Sample Problem 9.6
SOLUTION:
Determine the product of inertia using
direct integration with the parallel axis
theorem on vertical differential area strips
Apply the parallel axis theorem to
evaluate the product of inertia with respect
to the centroidal axes.

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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Vector Mechanics for Engineers: Statics
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 h1 dA y dx h1 dx
b b
x
xel x yel 12 y 12 h1
b

Integrating dIx from x = 0 to x = b,

12
b 2
2x
I xy dI xy xel yel dA x h 1 dx
0 b
b 2 b
2 x x x
2 3 x 2 x3 x 4
h dx h 2
2 b 2b 2
0 4 3b 8b 0

I xy 24
1 b2h2

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Ninth
Vector Mechanics for Engineers: Statics
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 xy x yA
I xy 24 13 h12 bh
1 b2h2 1 b
3

I xy 72
1 b 2h2

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Vector Mechanics for Engineers: Statics
Sample Problem 9.7
SOLUTION:
Compute the product of inertia with
respect to the xy axes by dividing the
section into three rectangles and applying
the parallel axis theorem to each.
Determine the orientation of the
principal axes (Eq. 9.25) and the
principal moments of inertia (Eq. 9. 27).
For the section shown, the moments of
inertia with respect to the x and y axes
are Ix = 10.38 in4 and Iy = 6.97 in4.
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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Edition
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Vector Mechanics for Engineers: Statics
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 xy xyA
Note that the product of inertia with respect to centroidal
axes parallel to the xy axes is zero for each rectangle.

Rectangle Area, in 2 x , in. y , in. x yA, in 4

I 1.5 1.25 1.75 3.28
II 1.5 0 0 0
III 1.5 1.25 1.75 3.28
x yA 6.56

I xy x yA 6.56 in 4

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Edition
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Vector Mechanics for Engineers: Statics
Sample Problem 9.7
Determine the orientation of the principal axes (Eq. 9.25)
and the principal moments of inertia (Eq. 9. 27).
2 I xy 2 6.56
tan 2 m 3.85
Ix I y 10.38 6.97
2 m 75.4 and 255.4

m 37.7 and m 127.7

2
Ix I y Ix I y
I x 10.38 in 4
I max,min I xy
2
2 2
I y 6.97 in 4
2
10.38 6.97 10.38 6.97
6.56
2
I xy 6.56 in 4
2 2

I a I max 15.45 in 4
I b I min 1.897 in 4

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Vector Mechanics for Engineers: Statics
Mohrs Circle for Moments and Products of Inertia
The moments and product of inertia for an area
are plotted as shown and used to construct Mohrs
circle,
Ix I y Ix I y 2
I ave R I xy
2 2

Mohrs 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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Vector Mechanics for Engineers: Statics
Sample Problem 9.8
SOLUTION:
Plot the points (Ix , Ixy) and (Iy ,-Ixy).
Construct Mohrs circle based on the
circle diameter between the points.
Based on the circle, determine the
orientation of the principal axes and the
principal moments of inertia.
The moments and product of inertia Based on the circle, evaluate the
with respect to the x and y axes are Ix = moments and product of inertia with
7.24x106 mm4, Iy = 2.61x106 mm4, and respect to the xy axes.
Ixy = -2.54x106 mm4.
Using Mohrs 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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Vector Mechanics for Engineers: Statics
Sample Problem 9.8
SOLUTION:
Plot the points (Ix , Ixy) and (Iy ,-Ixy). Construct Mohrs
circle based on the circle diameter between the points.

OC I ave 12 I x I y 4.925 106 mm4

CD 12 I x I y 2.315 106 mm4

R CD 2 DX 2 3.437 106 mm4

I x 7.24 106 mm4 Based on the circle, determine the orientation of the
I y 2.61 106 mm4 principal axes and the principal moments of inertia.
DX
I xy 2.54 106 mm4 tan 2 m 1.097 2 m 47.6 m 23.8
CD

I max OA I ave R I max 8.36 106 mm4

I min OB I ave R I min 1.49 106 mm4

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Vector Mechanics for Engineers: Statics
Sample Problem 9.8
Based on the circle, evaluate the moments and product
of inertia with respect to the xy axes.
The points X and Y corresponding to the x and y axes
are obtained by rotating CX and CY counterclockwise
through an angle Q 2(60o) = 120o. The angle that CX
forms with the x axes is f = 120o - 47.6o = 72.4o.

I x' OF OC CX cos I ave R cos 72.4o

I x 5.96 106 mm4

I y ' OG OC CY cos I ave R cos 72.4o

I y 3.89 106 mm4

I xy ' FX CY sin R sin 72.4o

I xy 3.28 106 mm4

OC I ave 4.925 106 mm4
R 3.437 106 mm4
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Vector Mechanics for Engineers: Statics
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 r2m.
r2m = 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 2m k
m

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Vector Mechanics for Engineers: Statics
Moment of Inertia of a Mass
Moment of inertia with respect to the y coordinate
axis is

I y r 2 dm z 2 x 2 dm

Similarly, for the moment of inertia with respect to

the x and z axes,

I x y 2 z 2 dm
I z x 2 y 2 dm

In SI units,

I r 2 dm kg m 2
In U.S. customary units,

I slug ft
2

lb s 2 2
ft

ft lb ft s 2



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Vector Mechanics for Engineers: Statics
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 my 2 z 2

I y I y mz 2 x 2
I z I z mx 2 y 2

Generalizing for any axis AA and a parallel centroidal

axis,
I I md 2

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Vector Mechanics for Engineers: Statics
Moments of Inertia of Thin Plates
For a thin plate of uniform thickness t and homogeneous
material of density r, the mass moment of inertia with
respect to axis AA contained in the plate is
I AA r 2 dm rt r 2 dA
r t I AA,area

Similarly, for perpendicular axis BB which is also

contained in the plate,
I BB r t I BB,area

For the axis CC which is perpendicular to the plate,

I CC r t J C ,area r t I AA,area I BB,area
I AA I BB

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Vector Mechanics for Engineers: Statics
Moments of Inertia of Thin Plates
For the principal centroidal axes on a rectangular plate,

I AA r t I AA,area r t 121 a3b 121 ma 2

I BB r t I BB,area r t 12
1 ab 3 1 mb 2
12

I CC I AA,mass I BB,mass 12 1 ma 2 b 2

For centroidal axes on a circular plate,

I AA I BB r t I AA,area r t 14 r 4 14 mr 2

I CC I AA I BB 12 mr 2

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Vector Mechanics for Engineers: Statics
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 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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Vector Mechanics for Engineers: Statics
Moments of Inertia of Common Geometric Shapes

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Edition
Ninth
Vector Mechanics for Engineers: Statics
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 specific weight of steel is
490 lb/ft3.

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Edition
Ninth
Vector Mechanics for Engineers: Statics
Sample Problem 9.12
SOLUTION: cylinders a 1in ., L 3in ., x 2.5in ., y 2in. :
Compute the moments of inertia
of each component with respect I x 12 ma 2 my 2

2 0.0829122 2
to the xyz axes.
12 0.0829 12
1

2.59 103 lb ft s 2

I y 12
1 m 3a 2 L2 mx 2

1 0.0829 3 1
12
12
2 123 2 0.0829212.5 2
4.17 103 lb ft s 2

each cylinder :
V 490 lb/ft 1 3in
3 2 3 I y 12
1 m 3a 2 L2 m x 2 y 2
m
g 1728in 3 ft3 32.2 ft s2 1 0.0829 3 1
12
12
2 123 2 0.0829212.5 2 122 2
m 0.0829 lb s 2 ft
6.48 103 lb ft s 2
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Edition
Ninth
Vector Mechanics for Engineers: Statics
Sample Problem 9.12
prism (a = 2 in., b = 6 in., c = 2 in.):

1 m b 2 c 2 1 0.211 6
I x I z 12 12 12
2 122 2
4.88 103 lb ft s 2

1 m c 2 a 2 1 0.211 2
I y 12 12 12
2 122 2
0.977 103 lb ft s 2
Add the moments of inertia from the components
to determine the total moments of inertia.

I x 4.88 103 2 2.59 103
prism : I x 10.06 103 lb ft s2

m
V

490 lb/ft 3 2 2 6 in 3
I y 0.977 103 2 4.17 103
g 1728in 3 ft3 32.2 ft s2 I y 9.32 103 lb ft s 2
m 0.211 lb s 2 ft

I z 4.88 103 2 6.48 103
I z 17.84 103 lb ft s2
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Vector Mechanics for Engineers: Statics
Moment of Inertia With Respect to an Arbitrary Axis
IOL = moment of inertia with respect to axis OL
2
I OL p dm r dm
2

Expressing and r in terms of the vector
components and expanding yields
I OL I x 2x I y 2y I z 2z
2 I xy x y 2 I yz y z 2 I zx z x

The definition of the mass products of inertia of a

mass is an extension of the definition of product of
inertia of an area
I xy xy dm I xy mx y
I yz yz dm I yz myz
I zx zx dm I zx mz x

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Vector Mechanics for Engineers: Statics
Ellipsoid of Inertia. Principal Axes of Inertia of a Mass
Assume the moment of inertia of a body has been
computed for a large number of axes OL and that point
Q is plotted on each axis at a distance OQ 1 I OL
The locus of points Q forms a surface known as the
ellipsoid of inertia which defines the moment of inertia
of the body for any axis through O.
x,y,z axes may be chosen which are the principal
axes of inertia for which the products of inertia are
zero and the moments of inertia are the principal
moments of inertia.

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