NANYANG TECHNOLOGICAL UNIVERSITY

First Year Common Engineering Course

FE1071 : Laboratory Experiment 1A

Laboratory Manual
for
Experiment M1

Moment of Inertia in
Rigid Body Motion

Laboratory : Mechanics of Machines (MAE)

Location : N3-B1c-03

Session 2005/2006
School of Mechanical and Aerospace Engineering, NTU

NANYANG TECHNOLOGICAL UNIVERSITY

SCHOOL OF MECHANICAL AND AEROSPACE ENGINEERING

MECHANICS OF MACHINES LABORATORY

M1 MOMENT OF INERTIA IN RIGID BODY MOTION

1. INTRODUCTION

Applying Newton's second law to a rigid body rotating about a fixed axis leads to
T= Iα
where T is the torque about the axis, α is the angular acceleration, and I is the mass
moment of inertia of the body about the axis. Just as mass is a measure of inherent
property of resistance to translation, moment of inertia is a measure of inherent
tendency to resist rotational motion.

While it is fairly intuitive to appreciate the physical significance of the first moment
of mass, it is more difficult to do the same for the second moment, or moment of
inertia. However, from this experiment, the effect and determination of moment of
inertia in rigid body motion will be demonstrated and investigated.

2. OBJECTIVE

To understand the effect of moment of inertia in rotational motion of rigid bodies and
to determine experimentally the moments of inertia of some objects about an axis.

3. THEORY

3.1 Moment of Inertia

Consider a body of mass m which is to be rotated about an fixed axis AA' (Fig.1a).
Dividing the body into elements of mass ∆m1, ∆m2, etc., the rotational resistance of
the body can be measured by the sum r12 ∆m1 + r22 ∆m2 + ⋅⋅⋅. This sum therefore
defines the moment of inertia of the body with respect to the axis AA'. Increasing the
number of elements, the moment of inertia is equal at the limit, to the integral over the
domain of the body Ω:

I A = ∫ r 2 dm
Ω (1)

This mathematical definition can be used to compute the moment of inertia of

machine members, and tables are available in mechanics text and handbooks that
contain expressions for moments of inertia determined this way for standard shapes.
In Appendix A, it is seen that for the same geometric shape, the moment of inertia can
be different for different axis. However, experimental methods of determination are
often used for complex shapes, such as connecting rods and cams. Note that the
moment of inertia of a body depends on the prticular reference axis as well as on the
shape of the body and the manner in which its mass is distributed. The moment of
inertia is expressed in units of kgm2.

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A' G' Z'

d
r1

∆ m1
CG
r2 m
∆ m2
r3 Z
∆ m3

A
G
Figure 1a Figure 1b

3.1.1 Radius of gyration

The radius of gyration k of the body with respect to the axis AA' is defined as :

I A = k2 m (2)

The radius of gyration k represents, therefore the distance at which the entire mass of
the body m should be concentrated if its moment of inertia with respect to AA' is to
remain unchanged. The radius of gyration of a body is usually expressed in metre.

3.1.2 Parallel axis theorem

The moment of inertia of a body with respect to any axis ZZ' (Fig.1b) can be
expressed as the sum of its moment of inertia about an axis GG' parallel to ZZ'
through its centre of gravity (CG), and the square of the perpendicular distance d
between the axes times the total mass :

I Z = I G + m d2 (3)

This property is most useful when computing the moment of inertia of a complex
shape which has been divided into a collection of simple ones.

3.2 The Rotating-mass Assembly:- Effect of Moment of Inertia (I)

The Rotating-mass Assembly is shown in Fig. 2. Consider the Spindle, horizontal bar,
two point masses (M), the pulley and the applied mass m as the system. The dynamics
equation of the system can also be written in form of

T= Iα. (4)

where T is the external torque applied to the system about the axis of the spindle by
the external force mg through the string that wrapped round the spindle :

T = mg rs , (5)
α is the angular acceleration of the spindle, and

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a
α= (6)
rs

where a is the linear acceleration of the mass m.

It is important to notice that I is the total moment of inertia of the system about the
axis of spindle which can be expressed as a function of r.

I = 2Mr 2 + Ic (7)

where 2Mr2 is the moment of inertia of the two point masses about the axis of the
spindle with r being the distance of each mass M from the axis of rotation, since the
masses are treated as point masses. For rest of this system the moment of inertia is a
constant expressed by:

Ic = Ih + Iv + Im(eff) + Ip(eff) = constant (8)

where ,
Ih = moment of inertia of the horizontal bar,
Iv = moment of inertia of the vertical spindle,
Im(eff) = mrs2 : effective moment of inertia of the mass m,
Ip(eff) : effective moment of inertia of the pulley. (see Appendix B).

horizontal bar r
'point' mass M

2 rs

spindle F2 pulley with radius rp

F1 d applied mass m
bearings housing

photocell
y
mg

Figure 2 Experimental setup

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Since the applied mass m is released from rest and falls through a fixed distance y, its
acceleration “a” can be determined using :

v 2 = 2ay (9)

or a= (10)

where v is the velocity of the mass at the end of the fall.

The angular acceleration can therefore be expressed as :

α= (11)

Substituting equations (5) and (11) into equation (4), the moment of inertia I is :

I = (12)

In the experiment, the velocity v is determined using a digital photo-timer. This is

achieved by measuring the time taken t for the mass m (height=d) to pass by the
photocell :
v= (13)

Hence the experimentally determined value of the moment of inertia can be expressed
as :
I exp = (14)

3.3 Bifilar/Trifilar Suspension :- Determination of Moment of Inertia (I)

A bifilar or trifilar suspension (Fig.3) can provide a very accurate method of

measuring mass moment of inertia.

r
L
r
L
φ
m mp m
r
θ

mp

Figure 3a Bifilar suspension Figure 3b Trifilar suspension

Consider either of the suspension, if its platform is displaced through a small angle θ
and set into oscillation, then taking moments about the Z axis gives :
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&& = 0
−r(mp + m)g sin φ − ( I p + I )θ (15)

where φ is the angular displacement of the wires, θ&& is the angular acceleration of the
platform, Ip and I are the moments of inertia of the platform and the object
respectively.

For small displacements, the sines of angles can be approximated by the angles
themselves, therefore :
r
φ= θ (16)
L
Substituting (16) into (15) :
&& ( m + m )gr 2
θ+ p θ=0 (17)
( Ip + I )L

The motion is a simple harmonic motion and the period of oscillation (T) is :

( I p + I )L
T = 2π s (18)
( mp + m) gr 2

This equation should be used first with an empty platform to find Ip. Then with mp
and Ip and mass of object m known, the equation can then be used to determine the
moment of inertia of the object being measured.

4. APPARATUS

(a) The rotating-mass assembly

The setup (Fig.2) consists of a bearing housing, spindle, horizontal bar, a pulley,
photo-timer, and various masses. The bearing housing is firmly fixed to the bench
and the vertical spindle is able to rotate freely within the housing. The horizontal bar
is used to attach various masses, allowing the moment of inertia of the spindle
assembly to be changed.

A constant torque can be applied by winding the string round the spindle, over the
pulley and letting the mass attached at the other end of the string falls under gravity.
The photocell is used to measure the velocity of the falling mass as it passes by.

(b) Bifilar/Trifilar suspension

Both types of suspension are mounted to the walls (Fig.3). Two strings (three for
trifilar) of equal length support a platform and are equally spaced about its centre.
The platform allows object, whose moment of inertia is to be determined, to be placed
on so that its centre of mass is on the same vertical axis as that of the object.

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5. EXPERIMENTAL PROCEDURE

„ Be very careful of the rotating assembly and stay well clear from it.

„ Be sure that the masses are secured properly on the horizontal bar.

„ Be aware of the spindle assembly above when picking up the applied mass.

5.1 The Rotating-mass Experiment (Refer to Fig 2)

5.1.1 'Point' Mass M

(a) Secure the two masses M with grub screws at both ends of the horizontal bar at
specified distance r stated in the log sheet

(b) Wind up the applied mass m to the required height y.

(c) Release the applied mass m and let it falls through the set distance y; observe the
rotational motion of the spindle assembly.

(d) Take down the reading on the timer display as the applied mass m passes through
the photocell. Three readings are to be taken for every r.

(e) Slide the two masses inward at an increment of 50mm for 4 times and repeat steps
(b) to (d) each time.

5.1.2 Thin Disc

(a) Replace the two masses M with the aluminium discs. (Fig.4)

(b) Repeat steps (b) to (d) in 5.1.1 for each different positions of the discs.
( i.e. r = 120, 160, 200 and 220 mm)

Figure 4 Spindle with aluminium discs

5.2 Bifilar/Trifilar Suspension (Refer either Fig 3a or Fig 3b)

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(a) Displace the empty platform and cause it to oscillate about its vertical axis.

(b) Record the time for a specific number of oscillations.

(c) Secure the object on the platform and cause it to oscillate as above.

(d) Record the time for a specific number of oscillations.

(e) Repeat steps (c) to (d) for other object.

6. DISCUSSION

6.1 Log Sheet and Formal Report

(a) Comment and justify on the motion of the spindle assembly as the 'point' mass is
moved inward.

(b) Plot the graphs of Iexp vs r 2 for both the point mass and the thin disc. What are
the equations of the lines ?

(c) From the graphs, what is the value of Ic ?

(d) Determine and discuss the percent discrepancy between the slope of the line and
the sum of its corresponding two masses (2M) ?

(e) Can the thin disc be treated as 'point' mass ? How would you determine its mass ?
[Hints: Use eqns 3 and 7]

(f) Compare and comment on the experimental values from the bifilar/trifilar setup
with the theoretical results using the equations in Appendix A.

6.2 For Formal Report Only

(a) Calculate the moments of inertia of spindle assembly (Ih + Iv) and compare it with
the experimental value Ic, and discuss the reason of the difference.

(b) Explain and justify why the graphs plotted (in 6.1.b) intercept the y-axis at
different points ?

(c) It is found that there exists a value of mass (mf) that when the applied mass is less
than it (m<mf), the spindle assembly will remain stationary, and only when m=mf
the system may rotate with constant angular velocity. How would you include mf
in your calculation ? Explain.

(d) If two rectangular plates are mounted on the horizontal bar in place of the discs
(Fig.4), will the orientations of the plates affect the timing t ? Explain.

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NANYANG TECHNOLOGICAL UNIVERSITY

FIRST YEAR COMMON ENGINEERING COURSE

Experiment M1 : Moment of Inertia in Rigid Body Motion

LOG SHEET

Name :______________________ Date :__________________

Group :______________________ Submit to:__________________
_____________________________________________________________________

The Rotating-mass Assembly (Fig 2)

r s = ________ mm y = 490/500/520 mm
m = ________ g d = ________mm

(i) 'Point' mass M (ML = kg, MR = kg)

r (mm) t (s) taverage(s) r 2 x 10-3(m2) I exp x 10-3(kgm2)

275
225
175
125
75

Sample calculation : For r = 275mm, t = _________ s

I exp =

(ii) Cylindrical discs (ML = kg, MR = kg)

Average radius of the disc = mm

r (mm) t (s) taverage(s) r 2 x 10-3(m2) I exp x 10-3(kgm2)

120
160
200
220

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Bifilar/Trifilar Suspension (Fig 3)

r = ________ m L = ________ m
m p = ________ kg m object1 = ________ kg (cylinder)
m object2 = ________ kg (ring)

(i) Empty platform

Number of oscillations Time taken t (s) Period T (s)

T average = ________ s

Ip =

(ii) Platform with object 1 (cylinder) :- Radius = mm

Number of oscillations Time taken t (s) Period T (s)

Average T = s

I object1 =

Theoretical value of I object1 =

(iii) Platform with object 2 (ring):- Radius i = mm Radius o = mm

Number of oscillations Time taken t (s) Period T (s)

Average T = s
I object2 =

Theoretical value of I object2 =

Note : Attach the graph and Discussion/Conclusion with this log sheet.

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APPENDIX A: Moments of Inertia of Common Geometric Shapes

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APPENDIX B: Concept of effective moment of inertia

Firstly, consider the linear motion of mass m:

mg − F1 = ma . (B1)

Secondly consider the rotation of the pulley:

a
( F1 − F2 )rp = I pα p = I p , (B2)
rp

where Ip is the moment of inertia of the pulley about its axis.

Thirdly, consider the rotation of the spindle together with all parts on it:

a
F2rs = Is α s = Is . (B3)
rs

where Is = Ih + Iv + 2Mr 2 .

Combining the three equations, eliminating F1 and F2 yields

⎛ I p rs2 ⎞a
mgrs = ⎜ Is + 2 + mrs2 ⎟ ⇒ T = Iα (B4)
⎝ rp ⎠ rs

where T = mgrs is defined as the torque acting on the system about axis of spindle;

I p rs2
I = Is + 2
+ mrs2 is the moment of inertia of the whole system including pulley and
r p

the mass m;

a
α= is the angular acceleration of the spindle;
rs

Im ( eff ) = mrs2 is defined as the effective moment of inertia of mass m;

I p rs2
I p ( eff ) = is defined as the effective moment of inertia of the pulley.
rp2

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