Chapter 9: Distributed Forces:

Moments of Inertia

최해진
hjchoi@cau.ac.kr

School of Mechanical
Engineering
 Contents
Introduction Sample Problem 9.6
Moments of Inertia of an Area Sample Problem 9.7
Moment of Inertia of an Area by Mohr’s Circle for Moments and Products
Integration 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 Geometric
Sample Problem 9.4 Shapes
Sample Problem 9.5 Sample Problem 9.12
Product of Inertia Moment of Inertia With Respect to an
Principal Axes and Principal Moments Arbitrary Axis
of Inertia Ellipsoid of Inertia. Principle Axes of
Axes of Inertia of a Mass
School of Mechanical
Engineering 9- 2
 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.
School of Mechanical
Engineering 9- 3
Moment of Inertia of an Area
r
• Consider distributed forces DF whose magnitudes are
proportional to the elemental areas DA on which they
act and also vary linearly with the distance of DA
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.
r
DF = kyDA
R = k ò y dA = 0 ò y dA = Qx = first moment
M = k ò y 2 dA 2
ò y dA = second moment
• Example: Consider the net hydrostatic force on a
submerged circular gate.
DF = pDA = gyDA
R = g ò y dA
M x = g ò y 2 dA
School of Mechanical
Engineering 9- 4
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 = ò y 2 dA I y = ò 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 = ò y dA = ò 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 3 dx dI y = x 2 dA = x 2 y dx

School of Mechanical
Engineering 9- 5
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 = ò r 2 dA

• The polar moment of inertia is related to the

rectangular moments of inertia,
( )
J 0 = ò r 2 dA = ò x 2 + y 2 dA = ò x 2 dA + ò y 2 dA
= I y + Ix

School of Mechanical
Engineering 9- 6
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
School of Mechanical
Engineering 9- 7
 Sample Problem 9.1

SOLUTION:
• A differential strip parallel to the x axis is chosen for
dA.
dI x = y 2 dA 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
h- y bh 2
2
I x = ò y dA = ò y b2
h
(
dy = ò hy - y 3 dy
h0
)
0
h
b é y3 y 4 ù bh3
= êh - ú I x=
hë 3 4û 12
0

School of Mechanical
Engineering 9- 8
 Sample Problem 9.2

SOLUTION:
• An annular differential area element is chosen,

dJ O = u 2 dA dA = 2p u du
r r
J O = ò dJ O = ò u (2p u du ) = 2p ò u 3du
2

0 0

p
JO = r4
2

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

moment of inertia of a circular
p
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 p
of a circular area with respect to a I diameter = I x = r4
4
diameter.
School of Mechanical
Engineering 9- 9
Parallel Axis Theorem

• Consider moment of inertia I of an area A

with respect to the axis AA’

I = ò y 2 dA

• The axis BB’ passes through the area centroid

and is called a centroidal axis.

I = ò y 2 dA = ò ( y ¢ + d )2 dA
= ò y ¢ 2 dA + 2d ò y ¢dA + d 2 ò dA

I = I + Ad 2 parallel axis theorem

School of Mechanical
Engineering 9 - 10
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 p r 4 + p r 2 r 2

= 54 p 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 ( )2
1 bh 3 - 1 bh 1 h
2 3
1 bh 3
= 36

School of Mechanical
Engineering 9 - 11
 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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Engineering 9 - 12
Moments of Inertia of Composite Areas

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Engineering 9 - 13
 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
The strength of a W200 x 46.1 w W360 x section and plate with respect to
44 rolled steel beam is increased by attaching composite section centroidal axis.
a plate to its upper flange.
• Calculate the radius of gyration from the
Determine the moment of inertia and radius
moment of inertia of the composite section.
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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Engineering 9 - 14
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.

.0008184
Y å A = å yA Y = = 0.08 m
.01013

School of Mechanical
Engineering 9 - 15
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 = 122 + (0.00573)(0.08) 2 =

2158.67 ´ 10 6 m 4

I x¢,plate = I x + Ad 2 = 121 (0.22) (0.02) 3 + (0.0044) (0.186 - 0.08) 2

= 4.95 ´ 10 -5 m 4
I x¢ = I x¢,beam section + I x¢,plate = 2158.67 ´ 10 6 + 4.95 ´ 10 -5

I x¢ = 208.17 ´ 10 -6 m 4

• Calculate the radius of gyration from the moment of inertia

of the composite section.
-6
I x¢ 208.17 ´ 10 m 4 k x¢ = 0.143 m
k x¢ = =
A .00573 School of Mechanical
Engineering 9 - 16
 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.

School of Mechanical
Engineering 9 - 17
 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 (240 )(120 ) = 138.2 ´ 106 mm 4

Half-circle:
moment of inertia with respect to AA’,
I AA¢ = 18 pr 4 = 18 p (90 )4 = 25.76 ´ 106 mm 4
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
3p 3p = 7.20 ´ 106 mm 4
b = 120 - a = 81.8 mm
moment of inertia with respect to x,
2 2
A = 12 pr = 12 p (90 ) ( )
I x = I x¢ + Ab 2 = 7.20 ´ 106 + 12.72 ´ 103 (81.8)2
= 12.72 ´ 103 mm 2 = 92.3 ´ 106 mm 4
School of Mechanical
Engineering 9 - 18
 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 mm 4 - 92.3 ´ 106 mm 4

I x = 45.9 ´ 106 mm 4

School of Mechanical
Engineering 9 - 19
Product of Inertia

• Product of Inertia:
I xy = ò 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

School of Mechanical
Engineering 9 - 20
 Principal Axes and Principal Moments of
Inertia
• The change of axes yields
Ix + I y Ix - I y
I x¢ = + cos 2q - I xy sin 2q
2 2
Ix + I y Ix - I y
I y¢ = - cos 2q + I xy sin 2q
2 2
Ix - I y
I x¢y¢ = sin 2q + I xy cos 2q
2

Given I x = ò y 2 dA I y = ò x 2 dA • The equations for Ix’ and Ix’y’ are the

parametric equations for a circle,
I xy = ò xy dA
(I x¢ - I ave )2 + I x2¢y¢ = R 2
we wish to determine moments
and product of inertia with Ix + I y æ Ix - I y ö 2
I ave = R = çç ÷÷ + I xy
respect to new axes x’ and y’. 2 è 2 ø
Note: x¢ = x cosq + y sin q • The equations for Iy’ and Ix’y’ lead to the
y ¢ = y cosq - x sin q same circle. School of Mechanical
Engineering 9 - 21
 Principal Axes and Principal Moments of
Inertia
• At the points A and B, Ix’y’ = 0 and Ix’ is
a maximum and minimum, respectively.
I max,min = I ave ± R
2 I xy
tan 2q 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 x2¢y¢ = R 2
of inertia of the area about O.
Ix + I y æ Ix - I y ö 2
I ave = R = çç ÷÷ + I xy
2 è 2 ø

School of Mechanical
Engineering 9 - 22
 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.

School of Mechanical
Engineering 9 - 23
Sample Problem 9.6
SOLUTION:
• Determine the product of inertia using direct integration
with the parallel axis theorem on vertical differential
area strips
æ xö æ xö
y = hç1 - ÷ dA = y dx = hç1 - ÷dx
è bø è bø
æ xö
xel = x yel = 12 y = 12 hç1 - ÷
è bø

Integrating dIx from x = 0 to x = b,

b 2
2æxö
I xy = ò dI xy = ò xel yel dA = ò x ()
1
2
h ç1 - ÷ dx
0 è bø
2 3 2 b
bæ
2 çx x x ö÷ é x 2 x3 x 4 ù
=h ò - + dx = h ê - + 2 ú
ç 2 b 2b 2 ÷
0è ø ë 4 3b 8b û 0

I xy =1 b2h2
24
School of Mechanical
Engineering 9 - 24
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 x¢¢y ¢¢ + x yA
I x¢¢y ¢¢ = 1 b2h2
24
( )(13 h)(12 bh)
- 13 b

1 b2h2
I x¢¢y ¢¢ = - 72

School of Mechanical
Engineering 9 - 25
 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 = 4.32 x 106 m4 and Iy = 2.901 x
10-6 m4.
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.
School of Mechanical
Engineering 9 - 26
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 = å I x¢y ¢ + x yA )
Note that the product of inertia with respect to centroidal
axes parallel to the xy axes is zero for each rectangle.

Rectangle Area, cm 2 x , cm y , cm x yA, cm 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
å x yA = -6.56

I xy = å x yA = -2.723 x 10 -6 m 4
School of Mechanical
Engineering 9 - 27
Sample Problem 9.7
• Determine the orientation of the principal axes (Eq. 9.25)
and the principal moments of inertia (Eq. 9. 27).

q m = 37.7° and q m = 127.7°

2
Ix + Iy æ Ix - Iy ö
I max,min = ± çç ÷÷ + I xy2
2 è 2 ø

I a = I max = 6.4244 x 10 -6 m 4
I b = I min = 10.7966 x 10 -6 m 4

School of Mechanical
Engineering 9 - 28
Mohr’s Circle for Moments and Products
of Inertia
• The moments and product of inertia for an area
are plotted as shown and used to construct Mohr’s
circle,
Ix + I y æ Ix - I y ö 2
I ave = R = çç ÷÷ + I xy
2 è 2 ø

• Mohr’s 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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Engineering 9 - 29
 Sample Problem 9.8
The moments and product of inertia
with respect to the x and y axes are Ix =
7.24x106 mm4, Iy = 2.61x106 mm4, and
Ixy = -2.54x106 mm4.
Using Mohr’s 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
SOLUTION:
• Plot the points (Ix , Ixy) and (Iy ,-Ixy).
Construct Mohr’s 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.
• Based on the circle, evaluate the
moments and product of inertia with
respect to the x’y’ axes.
School of Mechanical
Engineering 9 - 30
 Sample Problem 9.8
SOLUTION:
• Plot the points (Ix , Ixy) and (Iy ,-Ixy). Construct Mohr’s
circle based on the circle diameter between the points.
( )
OC = I ave = 12 I x + I y = 4.925 ´ 106 mm 4
( )
CD = 12 I x - I y = 2.315 ´ 106 mm 4

R= (CD )2 + (DX )2 = 3.437 ´ 106 mm 4

I x = 7.24 ´ 106 mm 4 • Based on the circle, determine the orientation of the

I y = 2.61 ´ 106 mm 4 principal axes and the principal moments of inertia.
6 4 DX
I xy = -2.54 ´ 10 mm tan 2q m = = 1.097 2q m = 47.6° q m = 23.8°
CD

I max = OA = I ave + R I max = 8.36 ´ 106 mm 4

I min = OB = I ave - R I min = 1.49 ´ 106 mm 4

School of Mechanical
Engineering 9 - 31
 Sample Problem 9.8
• Based on the circle, evaluate the moments and product
of inertia with respect to the x’y’ 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 j = I ave + R cos 72.4o

I x¢ = 5.96 ´ 106 mm 4

I y ' = OG = OC - CY ¢ cos j = I ave - R cos 72.4o

I y ¢ = 3.89 ´ 106 mm 4

I x¢y ' = FX ¢ = CY ¢ sin j = R sin 72.4o

I x¢y ¢ = 3.28 ´ 106 mm 4

OC = I ave = 4.925 ´ 106 mm 4
R = 3.437 ´ 106 mm 4 School of Mechanical
Engineering 9 - 32
Moment of Inertia of a Mass
• Angular acceleration about the axis AA’ of the
small mass Dm due to the application of a
couple is proportional to r2Dm.
r2Dm = moment of inertia of the
mass Dm with respect to the
axis AA’

• For a body of mass m the resistance to rotation

about the axis AA’ is
I = r12 Dm + r22 Dm + r32 Dm + L
= ò 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
School of Mechanical
Engineering 9 - 33
Moment of Inertia of a Mass

• Moment of inertia with respect to the y coordinate

axis is
( )
I y = ò r 2 dm = ò z 2 + x 2 dm

• Similarly, for the moment of inertia with respect to

the x and z axes,
( )
I x = ò y 2 + z 2 dm
I z = ò (x 2 + y 2 )dm

• In SI units,
(
I = ò r 2 dm = kg × m 2 )

School of Mechanical
Engineering 9 - 34
Parallel Axis Theorem
• For the rectangular axes with origin at O and parallel
centroidal axes,
( ) [ ]
I x = ò y 2 + z 2 dm = ò ( y ¢ + y )2 + ( z ¢ + z )2 dm
= ò (y ¢ 2 + z ¢ 2 )dm + 2 y ò y ¢dm + 2 z ò z ¢dm + (y 2 + z 2 )ò dm

I x = I x ¢ + m (y 2 + z 2 )

I y = I y¢ + m(z 2 + x 2 )
I z = I z¢ + m(x 2 + y 2 )

• Generalizing for any axis AA’ and a parallel centroidal

axis,
I = I + md 2

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Engineering 9 - 35
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¢ = ò r 2 dm = rt ò 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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Engineering 9 - 36
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 a 3b) = 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 m(a 2 + b 2 )

• For centroidal axes on a circular plate,

( )
I AA¢ = I BB¢ = r t I AA¢,area = r t 14 p r 4 = 14 mr 2

I CC ¢ = I AA¢ + I BB¢ = 12 mr 2

School of Mechanical
Engineering 9 - 37
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 ò 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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Engineering 9 - 38
Moments of Inertia of Common Geometric
Shapes

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Engineering 9 - 39
 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
7896 kg/m3 10,000 N/m3 .
School of Mechanical
Engineering 9 - 40
 Sample Problem 9.12
SOLUTION: cylinders (a = .025 , L = .076m, x = .06m, y = .05m ) :
• Compute the moments of inertia
of each component with respect I x = 12 ma 2 + my 2
2 2
to the xyz axes. = 12 (.15kg )(.025) + (.15 kg )(.05 m )
= 42.1875 x 10 -5 kgm 2

[ ]
I y = 121 m 3a 2 + L2 + mx 2

[ 2 2
]
= 121 (.15kg ) 3(.025 m ) + (.076 m ) + (.15 kg )(.06 m )
2

= 63.56375 x 10 -5 kgm 2

[ ] [
I y = 121 m 3a 2 + L2 + m x 2 + y 2 ]
each cylinder :
[ 2
= 121 (.15 kg ) 3 x (.025m ) + (.076 m ) +
2
]
(
m = gV = (10000) p x 0.025 2 x .076 ) (.15 kg )([ .06 m )2 + (.076m )2 ]
m = 0.15 kg
= 150.20375 x 10 -5 kgm 2
School of Mechanical
Engineering 9 - 41
 Sample Problem 9.12
prism (a = 0.5m, b = 0.15m, c = 0.05 m):

[ ] [ 2
I x = I z = 121 m b 2 + c 2 = 121 x .38 (0.15 m ) + (0.5 m )
2
]
= 7.9167 x 10 - 4 kgm 2

[ ] [ 2
I y = 121 m c 2 + a 2 = 121 (0.38 kg )(0.05) + (0.05)
2
]
= 1.5833 x 10 -4 kgm 2

• Add the moments of inertia from the components

to determine the total moments of inertia.

prism :
( )
m = gV = 10,000 kg/m 3 (.05 m) (.05 m)
(.05 m) = 3.75 N

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Engineering 9 - 42
Moment of Inertia With Respect to an
Arbitrary Axis
• IOL = moment of inertia with respect to axis OL
2 r r2
I OL = ò p dm = ò l ´ r dm

r r
• Expressing l and r in terms of the vector
components and expanding yields
I OL = I x l2x + I y l2y + I z l2z
- 2 I xy l x l y - 2 I yz l y l z - 2 I zx l z l 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 = ò xy dm = I x¢y¢ + mx y
I yz = ò yz dm = I y¢z¢ + myz
I zx = ò zx dm = I z¢x¢ + mz x
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Engineering 9 - 43
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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Engineering 9 - 44