CHAPTER 17

PLANAR KINEMATICS OF A RIGID

BODY: FORCE AND MOTION

STATICS and DYNAMICS- 11th Ed., R. C.

Hibbeler and A. Gupta
Course Instructor: Miss Saman Shahid

Moment of Inertia

Since a body has a definite size and shape, an

applied non-concurrent force system may
cause the body to both translate and rotate.

The translational aspects of the motion are

governed by the equ. F=ma.

Rotational aspects caused by a moment M, are

governed by an equ. M=I.

I is the moment of Inertia and it is a measure of

the resistance of a body to angular
acceleration in the same way that mass is a
measure of the bodys resistance to
acceleration.
The flywheel on the engine of this tractor has a
large moment of inertia about its axis of
rotation. Once it is set to motion, it will be
difficult to stop, and this in turn prevent the
engine from stalling and instead will allow it to
maintain a constant power.

We define the moment of inertia as the

integral of the second moment about an
axis of all the elements of mass dm which
compose the body.
(another property of the body, which
measures the symmetry of the bodys
mass with respect to a coordinate system,
is a product of inertia. This property applies
to the three-dimensional motion of a body).
When the elemental volume chosen for
integration has infinitesimal dimensions in
all three directions dV=dxdydz, the
moment of inertia of the body must be
determined using triple integration
provided the chosen elemental volume has
a differential size or thickness in only one
direction.
The bodys moment of inertia about z-axis
is:

Procedure for Analysis

To obtain the moment of
inertia by integration, we will
consider only symmetric
bodies having surfaces which
are generated by revolving a
curve about an axis.
Two types of differential elements
can be chosen:
(i) Shell Element:
If a shell element having a height z,
radius r=y, and thickness dV is
chosen for integration then the
volume dV=(2y) (z) dy
(ii)Disk Element:
If a disk element having a radius y
and a thickness dz is chosen for
integration, then the volume is
dV=(y^2) dz

Parallel-Axis Theorem

If the moment of inertial of the body about an axis passing through the
bodys mass center is known, then the moment of inertia about any
other parallel axis can be determined by using the parallel-axis
theorem.
Here z-axis passes through the mass center G, whereas the
corresponding parallel z- axis lies at a constant distance d away.
Selecting the differential element of mass dm, which is located at point
(x,y) and using the Pythagorean theorem.
The first integral represents I(G). The second integral equals zero, since
the z-axis passes through the bodys mass center. Third integral
represents the total mass m of the body.

Radius of Gyration (k)

Its value has units of length, and when it

and the bodys mass m are known, the
bodys moment of inertia is determined
from the equation.
Note the similarity between the definition
of k and r in the equation dI=r^2 (dm)