Finding Moments of Inertia 1

2.003J/1.053J Dynamics and Control I, Spring 2007

Professor Thomas Peacock

3/14/2007

Lecture 11
2D Motion of Rigid Bodies: Finding Moments
of Inertia, Rolling Cylinder with Hole Example

Finding Moments of Inertia

Figure 1: Rigid Body. Figure by MIT OCW.

IC = mi |i |2
i

= mi (x2i + yi2 )
i

IC is the Moment of Inertia about C.

Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
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Finding Moments of Inertia 2

Example: Uniform Thin Rod of Length L and Mass M

Figure 2: Uniform thin rod of length L and mass M . Figure by MIT OCW.

IC = mi (x2i + yi2 )For very thin rod, yi is small enough to neglect.
i

mi x2i
i

Rod has mass/length = .

Convert to integral.

IC = x2 dm
rod
dm = dx

L/2
IC = x2 dx
L/2
L/2
x3 L3

= =
3 L/2 12

We know that mass M = L.

Therefore:

M L2
IC =
12

Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Example: Rolling Cyinder with a Hole 3

Example: Uniform Thin Disc of Radius R

Figure 3: Uniform thin disc of radius R. Figure by MIT OCW.

Let = mass/area. Consider a sliver that is a distance r from the center on

this disc of radius R.

IC = mi (x2i + yi2 )
i

= (x2 + y 2 )dm
disc
R
= r2 2rdr
0
R
R4

= 2r3 dr = 2
0 4
R2
= R2
2
Mass of Disc: M = R2 . Thus,

M R2
IC =
2

Example: Rolling Cyinder with a Hole

Find the equation of motion for a cylinder with a hole rolling without slip on a
horizontal surface. In the hole with center A, R2 = R/2.

Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
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Example: Rolling Cyinder with a Hole 4

Figure 4: Rolling cylinder with hole shown at 2 distinct positions. Figure by

MIT OCW.

Kinematics
2 Constraints: 1. Rolling on surface 2. No slip condition
Use 1 generalized coordinate to describe the motion
Only need 1 equation.
For this example, we will use the work-energy principle to obtain the equation.

1. Gravity is a potential force.

2. Normal force on object: At point of contact, velocity is zero so no work done.

No work done by external forces therefore T + V = constant.

T = 12 M |v C |2 + 21 IC ||2 . Need center of mass. Where is the center of mass?

Below O, because of hole.

Kinetics
Center of Mass Calculation
First nd position of center of mass.

We know the center of mass of disc without hole: Point O. Can think of the
hole to be negative mass.

Consider moments about OX at point O

R2 R2 R
R2 (0) = (R2 )OC
4 4 2
Distance from O to O is zero.
2
(R2 R 4 )OC: Mass moment of cylinder with the hole.

Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
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Example: Rolling Cyinder with a Hole 5

2
R
4
R
2: Mass moment of the hole.

3 R R
(OC) = OC =
4 8 6
1 2
Calculation of 2 M |vC |

We know what r C is. r C is from point B to point C.

R
xC = R sin
6
R
yC = R cos
6
Dierentiate:
R
xC = R cos
6
R
yC = sin
6

R2

1 2 1
M vC = R2 (x2C + yC
2
)
2 2 4
R2 2 R2 2 R2 2

13 2 2 2 2 2
= R R + cos cos + sin
24 36 3 36

1 2 13 4 2 1 1
M vc = R 1 cos +
2 24 3 36

1 2

Calculation of 2 IC ||

2nd term of kinetic energy is 12 IC ||2 .

What is IC ?

We want to nd ICcwh .
cwh: cylinder with hole
mc: missing cylinder
cyl: cylinder

cwh
First nd IO around O. Then shift to C with the Parallel-Axis Theorem.
cyl cwh mc
IO = IO + IO

Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Example: Rolling Cyinder with a Hole 6

cwh cyl mc
IO = IO IO
cyl 1
IO = R2 R2
2

mc mc
IO = IA + M mc (OA)2 Parallel Axis Theorem
R2 R2 R2 R2

1
= +
2 4 4 4 4
3
= R4
32

cwh 1 3 13
IO = R4 R4 = R4
2 32 32
Now:
cwh
IO = ICcwh + M cwh (OC)2 Parallel Axis Theorem
ICcwh = IO
cwh
M cwh (OC)2
R2 R2

13 37
ICcwh = R4 R2 = R4
32 4 36 96
So we have that:

1 1 37
IC ||2 = R4 2
2 2 96

3 37 1 37 37 1
T +V = R4 2 cos + R4 2 +V = R4 2 cos +V
8 36 3 192 64 8

Calculation of Potential Energy (V)

What is V ?

3 2 R
V = mgh = R R cos
4 6

Finding Equation of Motion

So we have T + V = Constant

d
(T + V ) = 0
dt
Dierentiate:

Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
Example: Rolling Cyinder with a Hole 7

4 37 1 1 1
2R cos + R4 2 sin + R3 g sin = 0
64 8 8 8

Equation of motion: motion is complicated.

Alternative Approach: Using Angular Momentum (Sketch)

Angular momentum about moving point B.

B is not on cylinder. B is not on ground. B is contact point between ground

and cylinder.

d
B = H + vB P
dt B
B : Torque due to gravity

H B = H C + rC P
v B : Moving Point (R)
P = M vC

1. Still have to nd velocity and location of center of mass.

2. Still have to nd IC .
3. But, even more work because need to take torques.

Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].