CH 9

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Chopter 9 DistributedForces: Momentsof Inertio

9.1 9,2
9,1 INTRODUCTION
In chap' 5, we analyed.various Introduction systemsof forces distributed ,ver an area or volume. The three matn Second Moment, Moment or of (1)weights homogeneous tlpes of forces ";;i;;;*"." of plates Inerfto/ on Areo ,lf of ,il"i.""r, ib"", s s througli5.6), dttrilbut"d (2) iJ;; ;; ;;;,""r".- 5.8) hydrostatic 9.3 Determin-otionthe Momentof (sec. and of lnertiqof on Areq by Integrotion forces(Sec.5.g), and (Q -weigltsJ h;;g"reous three_dimensionar bodies(Secs. 5.10and 5.1I).inafr" 9.4 Polor Moment lnertio frorrogeneous of plates, the magnitude AW of the weight of an""r" "f 9.5 Rodius Gyrotionof qn Areo of eleme"t of ;p-l;;;;;p". tional to the areaM of thJelement. por q.6 Porollel-Axis distribull-r""a, Theorem themagnitude of each AW 9.7 Moments Inertioof Composite """u"r-r, of "t"*""iui;;igirt;;;;;"*fi, element of area AA : AIV uncler Areqs the loao curve; in the case "" of. hydrostatic forceson submerged 9.8 Product Inertio of LJ"!"f* ,,r.fu""r, u ,r_rf", p-_ cedure wasfollowed, 9.9 Principol In. Axes qnd principol lhe dr. "r rr"-?leneous bodies, magnitu{" orth" *"rgili?r* three-dimensional the Moments Ineriio ay of wasproportionalto the volume AV of ihe 9.10 Mohr's "t"-",rt "iir.""f"ay Circle Momenis for ond it ,rr,"i";i;;_r", consideredin Chap. 5, the distributed forces "t"_""t. Products Inertiq of were propoftional to the elemental area.^s volumes urro"iu,"J 9 . 1 rMomentof lnertioof q Mqss o-r Jir. ,r."-i ifr"';;ril,*, of theseforces,therefore,courdbe ruiri*a 9 . 1 2 Porollel-Axis Theorem uy ,"--i"g",rrJ 9 . 1 3 Moments Inertioof Thinplotes spondingareasor volumes,and the moment of the of resultant"-"rr" about any given a'riscould be determined by computing 9 , 1 4 Determinciion the Moment of of the firrt ,',o*"rrt, Inertio o Three-Dimensionol of the areasor volumesabout that #r. of Bodyby Integrotion In the first part of this c-hapter, consider we distributed forces q . l 5 Momenhof Inertiq AF whose magnitudesdepend ;;t;dy of Composite upon the elements of area 60dtes A4 on whlch tf,eseforce, act but ,in"; the distancefrom M to 9.16 Moment Inertio o Bodv "fr" of some given axis.More precisely,the malnitude of of the force pe.runit with Respect on Arbitrod ,qî, area LF/M is assumedto to vary lmearryi,ith the airtu""" io irr"" *r. through Mossproducts O. of As indicated in the next section,forces of this gpe -." h""J'il',rr" Inertiq study of the bending of beamsand in problems ii""rtt"n r"rr]""*"a principol 9.17 Ellipsoid Inertio. of Axes non-rectangular surfaces. Assurningthai the elemental f;?; l;;;l?;; or Inertto are distributed over an-areaA anf, vary linearly urrr ,rr ir.:;";" y 9,18 Determinotion the principol of to the r axis,it will be shown that while the mafnitude or tu"i, ,"r.rtAxes ond PrincipolMomentsof
lnertio of o Body of Arbitrory )hooe
momenl.or mom.enl oJ'ineftia.1, : "l y2dl ol the sameareawith re^spect the r axis.you will rearnto compute the moment, to oiirr"*" of various areaswith respect to given x and, *";y Ai;-;;ir"a*"a tl flirstparl o[ this chapteril the polor mom?ntof ineftia lh: ln : J-r'dA ol an area.where r is the distance rrom the eLment odir"u da tJie point O. To facilitate your computations,a relation will be 19 established betweenthe momeni of inertia'l of ur""A;;h;;;"". to a given r axisand the moment of inertia 1,, of'the "r, ,u-" u."u-ioith t::P",ct to the parallel centroidal rl axis (parallel-axis tt"or","i. n, wll alsostudy the translormationof the momentsof inertia of a given areawhen the coordinate g,g axesare rotated (Secs. In the secondpart of the chapter,you will learn how ""JglbJ." to'deter_ . mrnethe momentsol inertia of variousmasses with respect a given to axis.As you will see in Sec.g.11, the moment .,f ir."'rtiu oi; ;i"",,, massabout an axisAA, is de{inedas 1 : I r2,lm,;t;r;, i!'ifr" distancefrom the axis.4,4,to the element oi *"r, i_. V"_"r,, inertia of masses enccunteredin dlnamics are "f in probremsrnvorvirrg the
upon the,first moment : i y aA'r iL" Q, o, llit,^| 9:n"nl:, poinl whereR is rne rocatron the or appried depends uponthe"*" seconcl
472
rotation a rigidbody of about "r;i.
ft il"irit,[" trr"
"#;;;#,
theorem will be introof massmoments of inertia, the parallel-a,tis the transforma(Sec. 9.12). Finally, you will learn to analyze duced when the coordinate axesare of inertia of masses tion of moments 9.16 through9.18). rotated(Secs.
9.2 SecondMomeni,or Momentof lnertio, ot dn Areo
473
OF MOMENT, MOMENT INERTIA, OR 9,2 SECOND
OFAN AREA
In the first nart of this chapter. we consider distributed forces AF AF whose rrrugr.-it.,d"t are proportional to the elements of area M on which the forces act and at the sametime vary linearly with the distancefrom M to a given axis. Consider,for example,a beam of uniform crosssectionwhich is subjectedto two equal and opposite couples applied at each end of the beam. Such a beam is said to be in pure bending,and it is shown in mechanicsof materialsthat the internal forces in any section of the beam are distributed forces whose magnitudesAF : kA M vary linearly with the distancey between the element of area M and an axispassingthrough the centroid of the section.This axis, representedby the r atis in Fig. 9.1, is known as the neutral axis of the section.The forces on one side of the neutral axis are forces while those on the other side are forcesof tension; of compression, Fig. 9.1 on the neutral axis iiself the forces are zero. The magnitudeof the resultantR of the elementalforcesAF which act ovei the entire section is t l
AF - /.y A-{
^:J*rdA:k)aat
The last integral obtained is recognized as the first moment Q, of the section about the r aris; it is equal to y A and is thus equal to zero, sincethe centroid of the sectionis locatedon the r axis.The systemof the forcesAF thus reducesto a couple.The magnitudeM of thls couple (bending moment) must be equal to the sum of the momentsLM,: A LF : ky' M of the elementalforces.Integrating over the entire section,we obtain M -
| ^ t ^ )ky"dt:kly"de
The last integral is known as the secondmomnnt,or ntoment of inertia,l of the beam sectionwith respectto the r axisand is denoted by 1".It is obtainedby multiplying eachelement of areadAby the square of its distancefrom th-er axisand integrating over the beam section. Since each product y" dA is positive, regardlessof the sign of y, or zero (if y is zero), the integral I, will alwaysbe positive. Another exampleof a secondmoment, or moment of inertia, A of an area is provided by the following problem from hydrostatics:
lThe term second mnment is more proper than the term moment of inertia, since, logically, the latter should be used only to denote integrals of mass (see Sec. 9.11). In engineering practice, horvever, moment of inerlia is used in connection with areas as well as masses'
474
Dishibufed Forces: Moments Inerrio of
vertical circular gate used to close the outret of a rarge reserwoiris submergedundei water asshown i" ri!. 6.2. what is the resurtant of the forces exerted Uy tfr" *"t"; ;;";" gate, and what is the moment of the resultant about the rine of intz.secuon or tr" fm" of the gate and the water surface (r axis)? If the gatewere rectangular,the r"r,rit*t of the forces of pressure could be de[erminedfr.om,tEe pi"rru* aswasdone in Sec.5.g. Sincethe gate circular, however, a more "u*, general method must be 5
by the ^T1;P""?1"gof'water,fepth specrlic weight ff the pr-essure the elementis p : yA,l"hi" at magnitudeof the elementj force exerted on AA js AF : p M : ya M.The magnitude theresurtant th" of of "r"-"rral ar"# ffi,r,
V ti"
of anelement area and y of AA
R:/ yade:tlvae
tig.9.2
and can be obtained by computing the first moment e, : I r,td.A of the area.of the gate with iespeEt to the .r axis. Th"'-orrrlrit lr" of the resultant muit be to th" ,rr- of the _;;;;;JA : .elual A AF : yqz M of the eleinental fo.""r.-irrt"grating over the area of the gate, we have
M,:lya,dA=tlv,ae
Here again^, the inte_gralobtained rep_resentsthe second moment, or moment of inertia, 1, of the area wiih respect to the r aris.
9.3 DETERMINATIONTHE OF MOMENT INERTIA OF OFAN AREA INTEGRAflON BY

we definedînthe precedingsectionthe secondmoment, or moment ot inertia,of an areaA with respectto the x axis.Defining in a simiJar way the moment of inertia 1, ol the areaA with respect irirr""/"rr, we write (Fig. 9.3a)
r-:I a'ae 4 : l * a e
(e.r)
tll, = rz 76
dI, = y2d,A
\a)
dl, = ,z 4l
\c)
(b)
Fis. 9.3
These integrals, lnown as the rectangular momnnls of inerti'a of the dA if A,.*-b" more easilyevaluated we choose to be a thin strip area parallel to one of the coordinate axes.To compute 1',^t" strip is choien parallel to the r axis, so that all of the points of the strip are at the samedistancey from the r axis(Fig. 9.3b); the moment of inertia dI, of the strip is then obtained by multiplying the areadA of the strip by yz.To compute Io, the strip is chosenparallel to the y axisso that all of the points of the strip are at the same distancer^from the y axis (Fig. 9.3c);the moment of inertia dI, of the strip is x'dA.
Momenf Inertio 475 of 9.4 Polor
,l
let Moment of Inertio of a Rectongulcr Areo. As an example, us determine dre moment of inertia of a rectanglewith respectto its base(Fig. 9.4). Dividing the rectangleinto strips parallel to the r axis, Fig. 9.4 we obtain
dA : bdU
th
dI,: yzbdy
I*:l ba'da:trbh3
Jo
(e.2)
l" Strips. The Computing ond l, Usingthe SomeElementql

formula just derived can be used to determine the moment of inertia dl. with respect to the r axis of a rectangular strip which is parallel to the y axis,such as the strip shown in Fig. 9.3c. Setting b : dx and h: y in formula (9.2),we write dt,: On the other hand, we have dl, : *z dA : xzy dx The same element can thus be used to compute the moments of inertia 1" and lo of a given area (Fig. 9.5).
Fig. 9.5
!Y3dx
d x x
au= !v"e
dl, = xzr 4*
MOMENT INERTIA OF 9.4 POTAR

An integral of great importance in problems concerning the torsion of cylindrical shafts and in problems dealing with the rotation of slabsis
I,:lrde
(e.3)
where r is the distancefrom O to the element of area dA (Fig. 9.6). This integral is the polar momentof inertia of the areaA with respect 'pole" O. to the The polar moment of inertia of a given area can be computed from the rectangularmoments of inertia f" and Iu of the areaif these quantities are already known. Indeed, noting thx r2 : *' + A', *. write
d: I , : 1 , 2 Af t " '* , 2 ) d A : l r ' a e + l x ' z a a
Fig. 9.6
that is,
Js:I,iI,
(s.4)
9.5 RADIUS GYRATION AN OF OT AREA

Consider an area A which has a moment of inertia I, with respect to the r axis(Fig. g.7a)..Let", i;"gi"; t-hu,*" this area a strip-paralletto the #;6C; "or,""ntrate .7b). rfthe area A. t6us 11to fin concentrated,is to have the same " _o*"it .f i"".,iu *i#;;# ," the r axis,the strip shourdu" pr"""J where /c, is definei by the ,"t'utio.r- "i'l'dirtun"" k, from the r axis, I' : klA Solving for k,, we write
"'- VA
,-- li
(e.5)
The distance ft" is referred to as the radius of gyration of the area with respect to the x axis. I_na simirar iut, *" can define the radii of gyratibn k, and, (Fig. g.7" ;;i1,'r,Jj'*rit" /ca
lr: klA kr:

Io: kzoA kt:
F
P
(e.6) (s.7)
If we rewrite Eq. (g.4) in terms of the radii of g,tation, we ffnd that
kb: k? k? +
(e.8)
EXAMPLE For the rectangle shown Fig. g.B,let us compute radius in the of gyrationft, \'ith respect-to base.U"ri"j f"r*"f"r'?d.Si""a'fS its Zl, we write
K- : _ A :
t2
l"
trulrt
h2
"
"k - :\_ _ j/j _ s
The radius of gnation k, of the rectangleis shown in Fig. g.g. It shourdnot be confused ,i'th th" ordin-atey : iiZ ,i. centroid of the area. While "f th: secondmaiment,o, *o-urri of inertia, .i,fr" *"", afr" f' $ene"{r.rpol ordinate y is related to the nwnwnt of the area. r first
$&&tBlfi #&*&**,ffi q.1

Determine the moment of inertia of a triangle with respect to its base'
',.
**Lar?tsru
A triangle of base b and height h is drawn; the r axis is chosen to coincide with thJ base. A differential strip parallel to the r axis is chosen to be dA. Since all portions of the strip are at the same distance from the t axis, we write dI,: y2 dA dA: I dy
Using similar triangles, we have
I b
h - y h
h - a I : h-- -'"
n
dA: b'+!da
l" -
,,
dI, Integrating fromy : 0 to y : h, we obtain : r-. : l u 2 d e ) r a - o J '

I
b l n l h . , h - a (hq2 - gt)dy nY: tr)o '7'

--" .---,--
b l , Y " -qlnf h * 4)o h l , "3
l:l',:] 12
:'-
SAfYIPLEPROBLEfifi9.2
(a) Determine the centroidal polar moment of inertia of a circular area by direct integration. (b) Using the result of part a, determine the moment of inertia of a circular area with respect to a diameter.
soruiloN
a" P*lsr iAarrtent *( ln*rtia, An annular differential element of area is chosento be dA. Since all portions of the differential area are at the same distancefrom the origin. wL write d J 6 : u 2d A dA: 2ru du
rL: z l . : l a l o : J o 'u ' t z rc u u ) n Ju ' a u

Ju: *'o
A
'"&
of te b. M*menf sf Inerliu wi?h R*spec? u Fiameietr Because the symwe area. haveI, : 1r.We thenwrite metryol the circular
JO
r^:r
L rA, : 2- '1 r ,
L r o : 2 ' 1- r
2'
l r , , , . = 1 = ! - ', . ' { r ,
"rrdt,(rr'; +
477
': '.. .,
r
"
pRogtEM 9"3 sA,l,tFtE

(a) Determine the moment of inertia of the shadedareashownwith respect to each of the coordinateaxes.(propertiesof this area*"." SampleProb.5.4.)ib) Usingthe rei.,ltsolpart o, a"t"._i'r" "onria"r"ta ,n t"#riirl g,ration of the shadedatea with respect to each of the "f coordi;;;" ;;:
Referring sampleprob. 5.4,we.obtain followingexpressions to the for the equation the curwe the totalarea: of and b " A:7'" A:iab
be dA. since all porlions of this elemenr are noL at rhe same distance from the r axis' .ve must treat the erement as a thin rectangle. The moment of inertia of the element with respect to the x a.ris is theri
of elementof areais choserr 1!lo1nen! Inertio l*. A verticaldifferentiar tt.r
: - nr dr, iy3 : I(\,,)" a": * 4-. r, J\a' 3a" /

I
't/t^
\3
foths ' t | f r' , : I d r . : | * i * u d x: l - - *b 3 x i1 o J Jnoa-
L3a67Jn
1,.
"
*b:t ' 2 1
i*.
Moment of Inertic ln. The same verbicaldifferentjal element of area is used. since all portions of the element are at the same distance from the y a,{is,we write
'/ b "\ dI,, : 'x'dA : '- \v dx) : x'\-x')ax' : b -'-- x2(u -.-/ v 1x'dx t lob I 'l r : I d t y : | . . o",d x : ll -b x s |1 " r = J Joo" La'510
.
i
a"!)
)
Rsdii of Gyrc*ion k* and k,
We have, by definition, ab3/zt _ b2

A
7 t^
arylJ
lr,.= V'ib
-'i
and
1 t N q - - y ^ -
a-0/ D
ab/3
it,.:
\'-li
'i
478
#Lffi*'*kffi &e ffi%X'# 3% W'-&% W #y3'g%WS* 'P$83

and polnr nnnunts of rvasto introduce the rectangttlor he pulpose of this lesson A-lth:ughthe probiems o'"o" ^r.d thc correspotl&ttgradii of gyratiot-'1. ilr"i+i.o-of class than for oro aboutto solvemA\/rnncrr t-.th. r-r-r" annronriate a calculus for calcuhrs may appearto b" *ot" appropriate you are oh.r,lffn cnhre you have-convinced of the ue one in mechanics, hope that our introductorycomments topics. of relevance the mon-ienis inertia to your studv of a varie{ of engineering of rryantitiesas
these m*w*n2*af i*er?i* l, *nd do.We defined t*z* 1. {**<w**t&rzg re*?xrzg****r I I (e.1) Ir: x'dA I': rl'dA I I
u,here dA is a dii-fbrential elernent of area dx cly. The moments of inertia are the ,secondntornents of the area; it is {br t}rat reason that 1., for example, depends on the perpendiculai distance y to the area dA. As ,vou study Sec. 9.3, you should recognlre the irnportat","" oi carefullv definlng the shape and the orientation of dA. Further, you shorild note the following points.
{&ytb* *%txi**&fu ****u * x ** a" Y** m*wz**tx '***rk* ** rx**?#r&&*
given in Figs. 9.3b and c ald Fig. 9.5can be The erpressions irz**gr*9i*rz, aizzg** of .rr"d to calculate1, and 1,,.Regardless whether you use a singleor a doubie intethe gration,be sure to shou'c,r t'out sketcl'i elementdA that you har,echosetl. of b, V** rx*w*tzt ** *wrxx & *rn **w i* *\'*'r*y* ry*rl&v*, regardless the location it by This a-xes. is because is obtained integratto of the arearvith respect the coordinate (Note hou' tliis differsfrom the results of ing the productof rlA and thescluare distance. (as foi the {irst rnomentof the area.)Only when an areais remoaecl in the casefor a with a rnimrssign. hole) u'ill its moment of inertia be enteredin vour cornputations ** x" &s * p*r?i*l *b*xfu" y**r wr*r*, observethat the momentsof inertia are equal to an alea times the squareof a length. Thus, every term in an expression for a moment of inertia must be alength to the foufth pouer. 2, {*nzpwting ?k* p**nr rxarr'*r8 ** ivz*r?i* Js, We defined /e as
wlrere rt - xt + r72. the given areahas circular syrnmetry (as in Sample Prob. 9.2), If it is possible to express r1A as a function of r and to compute /o u.rth a single integiation. When the area lacks circular symn-ietrv,it is usuallv easier first to calculate 1. and 1,, and then to determine /p from
I J O - T L \ - L I
I,' : ) ,' at
(e'3)
(e.4)
in Lastly,if the equationof the curvethat boundsthe givenareais expressed polar : r dr d0 and a double integrationis required to compute then dA coordinates, the integralfor/o lseeProb. 9.27]. kn ** 3" ***rwirc&xg t?z* rxdiitr g,Erx?la*r* xrz* *., *rz& &* p*n*r r*&i<s**{ grgr***x f<ry, These quantitieswere defined in Sec. 9.5, and you shorrldrealize that of rnor tliey can be determinedonly after the areaand the appropriate rrents inertia Iiave been computed.It is inportant to reniernberthat ft. is measuredin the y study in direction, lvhile k,, is measurecl the r direction; you should carefr.rlly tiris point. Sec.9.5 until you understand
479
'1,
*-T
:7 1
Fig. P9.l ond p9.5 Fig. P9.2 ond P9.6
u .l
t*r***g*x *"4 Determine by direct integration the moment inertia of the shaded area witir respect to ihe 17axis.
of
8"& *fur*a*g*? 9.-e Determine by direct integration the moment inertia of the shaded area with respect to ihe r axis.
OI
,l_*__-
'l
I t | .-r' r.* -
,.\ a = ^ h . ;^ ;,).
* '='- ---------T
li
q l -f-;
,,- L,.2
- -l-- r
-l
Fig. P9.3 and P9.7
tig. P9.4 snd P9.B
t : -rY
b i
l l ; !=c(l-krr/2) I i\
,.1,
x rJ=-c(l-kx1/2)
*.*
l i h i
i-
thr**gh *-tt Determine by direct integration the moment of inertia of the shadedarea with respect to the r axis.
iit _tl
;-a
8-72 thr*xg*t *"7e Determine by direct integration the moment of inertia of the shadedarea with respect to tle r7axis.
Fig. P9.9 ond P9.12
| > " 'i l |-' I L___-l r l_,___l

|
Fig. P9.tO ond P9.13
Fig. P9.ll ond P9.14
, =nnu" ."
-T
9.15 and 9.16 Determine the moment of inertia and the radius of gyration of the shadedarea shown with respect to the r axis.
Problems48 |
Fig. P9.15 ond P9.17
9.17 and 9,18 Determine the moment of inertia and the radius of gyration of the shadedarea shown with respect to the y axis. 9.19 Determine the moment of inertia and the radius of gyration of the shadedarea shown with respect to the r axis.
Fig. P9.19 ond Nl.2O
9.2O Determine the moment of inertia and the radius of gyration of the shadedarea shown with respect to the y axis. 9.21 e,nd 9"22 Determine the oolar moment of inertia and the polar radiusof gyralion of the shadedarea shownwith respecl to point P.
Fig. P9.21
482
Dishibuied Forces: Momenrs Ineriio of
9'23 @)Determine b1'direct integrationthe porar moment of inertia of the annular area shown with respect to point O. (b) Usine the result of part a, determine the moirent of inertia or trr" gir"ti"r"" with respectto the r axis. e,24 (a) show that the polar radius of gyration ke of the annular area s^hown approxim,ately equal to the'mean radius R_ = (Rr + R)/2 1sfor small valuesof the thicknesst = Rz - nr. (b) betermine ihe percentage error introduce{ by using R, in place of ftp for the following valuesof t/R^: I, |, and fr
9.25 qnd 9,25 Determine the polar moment of inertia and the polar radius of gyration of the shadedarea shown with respect to point P.
f-r"
A=c+kzxz
tis. P9.26
Fig. P9.25 9.27 Determine the polar moment of inertia and the polar radius of gyration of the shadedarea shown with respect to point O. 9.28 Determine^the polar moment of inertia and the polar radius of gyration of the isosceles triangle shown with respect to point O.
Fig. N).27
Fis. P9.28
*9.29 Using the polar moment of inertia of the isosceles triangle of prob. 9.28, show that the centroidal polar moment of inertia oJ a circular area of radius r is rra/2. (Hint: As a circular area is divided into an increasing number ofequal circular sectors, what is the approximate shape of each circular sector?) Prove that the centroidal polar moment of inertia of a given area A cannot be smaller than-A2/2r. (Hint: Compare the ioment of inertia of the given area with the moment of inertia of a circle that has the same area and the same centroid.)
*9.3O
9.6 PARAUET.NQSTHEOREM
ay ans of fhe Considerg.sj. moment inerlaI of anueafrorn anrespect ot axea ! with e\ementt9
A4'-;iFlg. o"rrotirrg by y the distance
Theorem483 9.6 PorolleLAxis
dA to M' . we write
t:ly'ad
BBI Let us now draw through the centroid C of the area an a>lrs parallel to AA'; this axis-is called a centroid'a.l aris. Denotingby y'
tig.9.9 : the distance from the element dA to BB', we write A A' + d, Substituting where d is the distancebetween the axes AA' and BB'. for E in the above integral, we write
: r r : J u ' aler ' + d ) 2 d A : J r ' ' a+ zd.la' + a'zIae o ae

The first integral representsthe moment of inertia / of the areawith respect to the centroidal axis BB'. The second integral represents thdfirst moment of the areawith respectto BB'; sincethe centroid C of the area is located on that axis,the secondintegral must be zero. Finally, we observethat the last integral is equal to t}e total areaA. Therefore, we have
r : 1 1 A d a'
(e.e)
that the moment of inertia 1 of an area This formula expresses with respect to any gii'en axisAA' is equal to the moment of inertia 7 of the area with respect to a centroidal axis BB' parzllel to AA' plus the product of the area A and the square of the distance d between the two axes. This theorem is knor;rrnas the parallel-axi's theorem. Substituting kzA for t andl2e for 7, the theorem can also as be expressed (9.10) k2 : k2 + d2 A similar theorem can be used to relate the polar moment of inerti-aJo of an area about a point O to the polar moment of inertia /c, of the samearea about its centroid C. Denoting by d the distancebetween O and C. we write
Io:i"
+ Adz
or
k b : E b+ d 2
(e.11)
484
Distribured Forces: Moments Inerrio of
of a circulai area about a centroida.l ii, therefore,
&K&ffiP&# F As an application the paraler-axis of theorern, us deterlet mine the momentof inertiaI7 of a circuLr areawith ,"rp""iio * il;i* gentto the circle(Fig.g.f0).We found p{,h a 9 !.1.+ in Sample rL. crfine'tia
i, i : Iorn..We can wnte,
Ir : I + Ad2 = \rr^ + 1nr2)r2 = f;rrt ffi Fig. 9.lO #,X,eMPLf The parallel-axistheorem can also be used to determrne _? tne centroiclalmornent of inertia of an area when the moment of inertia o{ are,awith respect to a parallel a.risis known. consider, for instance, a lle triangular areatFig..s.Ltl we found in Sample prob. g.r th"t the mom"nt ol rnertra a triangre or with respect its base to AA'is equarto ir"bft3. Using the parallel-axistheorem, we write
" d,=|h i,
" \ |
lo^,:iuu,+Ad2
I e " , : r d a , -A d 2 : i u t t _ + b h ( i 1 , : #Utt
It should be observedthat the product Acr2 wassubtracted. from the siven moment of inertia in order to obtain the centroidal moment or rcrtiu or the triangle. Note thatthis product is added wrren transi'eringfrom a centroidal axis to a parallel aris, but it shourd be ,subtracted. *r."ii.u"rr".r"g /o a centroidal aris. In other words, the moment of inertia of ur, ur"u r, always,smallerwith respect to a centroidal aris th"" *itt ,"qf;i;;;r,y parallel a{s. Returning to Fig. g.1r, we obserue that the moment o{ inertia of the to the line DD, (which is drawn through u..t.") .u' In*,gJ".*a.h,respe.cf be obtained bv writins "
" I i, "i
d=tl,,/ - - , _ I
r-U________+l
Fig. 9.ll
t o o , : I n a , +A d , 2 : i u t t + l b h ( l h ) t : i u t t
can apphedonly if one of the i-o p".u1i.l *.i grs th,eolem !9
through the centroid ol'the area. s Note that lpp, could not have been obtained directly from I4a,. The parallel-
purr",
9.7 MOMENTS INERTIA COMPOSITE OF OF AREAS

Consider a composite areaA made of several component areas 41, A2, . 4r' , . Since the integral representing the moment of inertia of A can be subdivided into integrals evaluated overAl, As, As,. . . the moment , of inertia of A with respect to a given axis is obtamed by adding the moments of inertia of the areas At, Az, A3, . . . , with respect tJ the same axis. The moment of inertia of an area consisting oi several of the common shapes r\o*l in Fig. 9^.12 can thus be obtiined by usi'g theformulas given in that figure. Before adding the moments of inertia of the component areas, however, the parallelaxis theorem mav have to be used to transfer each moment oflnertia to the desired axis.rhis is shown in Sample Probs. 9.4 and 9.5. Photo 9.1 Figure 9.13tobulotes doto for o smoll The properties of the cross sections of various str-uctural shapes somple the rolled-steel of shopes thotore reodily are given in Fig. 9.13. As noted in Sec. 9.2, the moment of ineitia ovoiloble. Shownoboveore lwo exomples of wideJlonge shopes of a beam section about its neutral axis is closely related to the comfhotore commonly usedin the construclion buildings. of putation of the bending moment in that section of the beam. The
r",=z ^ t lut,z = Tr, |utr',

Rectangle
Areos 485 of 9.7 Momenfs lnertioof Composite
L=lut' s
to: \u't"
*t"21 I"=lulr{uz
Triangle
= T., :bh3
L=$ut's
F_u_4
Circle
t, =10= ltrra I 6 =f , n ' +
t*=L,=lrrq
d
Semicircle
Io= 7rr*
Quarter circle
\--tr= firra I o= f,n'+
I, = Ellipse
ntabs
I, =7rarb ls=!tab(az +bz)
geometric shopes' of of Fig. 9.12 Moments inertio common

t
determination of moments of inertia is thus a prerequisite to the analysis and design of structural members'
area of that be It ShOuld noted, the radiusof gyration a composite areas' of grrationof the component is not equalto the sumof the radii
it is In ordei to determine the radius of g,'ration of a composite area' the moment of inertia of the area' first necessary to compute
7".ô
7r,t
v. in.
wt8 x 76i WI6 X 57 WI4 X 38 W8X31
I8.2 16.4 L4.I 8.00
11.0 7.I2 6.77 8.00
152 43.1 26.7 37.r
2.6L 1.60 1.55 2.02
srs x 54.71 s12 3r,8 x

S10x95.4 s6 x 12.5
20.7 9.33 6.73 1.80
l.t4 1.00 0.s50 0.702
C Shapes (American Standard Channels)
c12x 20.71 c10x 15.3 c8 x 11.5 c6 x 8.2
12.0 10.0 8.00 6.00
2.94 2.60 2.26 7.92
I29 67.3 32.5 13.1
4.6I 3.87 3.r1 2.34
3.86 2.27 r.31 0.687
0.797 0.711 0.623 0.536
0.698 0.634 0.572 0.512
ffll
Fig. 9.13A Properties of rolled-steelshopes (U.S. customory units).* *Courtesy of the American Institute of Steel Construction, Chicago, Illinois iNominal depth in inches and weight in pounds per lbot jDepth, width, and thicLress in inches
17.3
:.i3 in ;.4
l.9l 1.98
t# iii, iJ3,
35.4 5.52 t.23 6.28 2.55 0.s90
t.7S 7.21 0.926 1,14 0.824 0.569
1.86 1.18 0.836 0.981 0.746 0,487
486
shopes(Sl units)' of Fig. 9.138 Properties rolled-steel per in and lNominaldepthin millimeters mass hlograms meter
{Depth, width, and thickness in millimeters
487
r-n'*ii
...@--
*in.
c{iI
|
14.1 in.
I . 1 I r.i-r
I i , i l
lo,//rn.
li"::i T**:"':*:;;u_mi": plate p",r;-li;;sh ,h"";"i,"fr"; isparalletthe :f tJ ""d trH,[l':t "f
The strength a Wl4 X 3g rolled_steel of beamis increased_by attaching a x f-in. plate to its upper flange-as shown-Determinetf,ri ,"*."t 9 thecomposite *rtr,,"ffii t" "f section
sotuTtoN
T-+&
_T
d
U
425|n.
t - *
o
-_l-'
Y
The origin o ofthe coord.inates praced.at-thecentroid is of the wide-flange shape,and the distanceY to the cintroid of the composrte section is computed using the methodsof Chap. 5, The area of tf."'",ti"_n""n"-r"t# ,, tou1o.!r to Fig. 9.13A. The area and the y coordriate of the lelerrifg centrold of the plate are 'n2 A = (9 in.)(0.75 in.) : 6.75
+ in,) V : +Q4.1in.) t(0.75 : 7.4tU.n.

Area, in2 o ./ D 11.9
1n
L42D
Section
aA. in"
DU.LZ
Plate Wide-flange shape
)A = 17.95
2yA = 50.12
Y : 2,792in
: v>,+ >ye
: f(rz.gs) 50.12
[4*menf cf Inertic. The parallel-axist]reorem is used to determine the moments of inertia of the wide-flange shapeand the plate with respect to the r' axis.This axis is a centroidal axis for the compbsite section 6ft not for either of the elements considered separately.The varue of I for the wide-flange shapeis obtained from Fig. g.l3A. For the wide-flange shape, I, : I, For the plate, : Ay2 :38b + (tf .Z)\2.792)2 472.3ina
1 , , : 1 , + A d L : ( # X s x l t t+ 6 . 7 s ) ( 7 . 4-2 2 . 7 s 2 ) 2 L 4 s . 2 i n 4 : s
For the composite area,
1,, : 472.3 + 745.2: 617.5ina Rsdius of Gyrotion. \4,'ehave

l (-" , :
f,' : {}1,1ira' a!
1e
r,,
617.5ina
1 7 . 9 5n ' i
1,, : 5.fi? irt. '4.i
488
'l_rnomm__l
9.5 sAfifiPtEPROBLEIYI
Determine the moment of inertia of the shaded area with respect to the r axis.
sorunoN
The given areacan be obtained by subtractinga halfcircle frg,rya rectangle, The momentsof inertia of the rectangleand the half circle will be computed separately,
2a0 mm----l
r
120 J*
Mar*ent of Ine*ia of R*ctcngle. Referring to Fig. 9.12, we obtain
= : x mma mm)3 138.2 106 mmX120 L: trbhs trQSO

the to cf &4oment Ine*ia ef Half Circle. Referring Fig. 5.8,we determine AA'. to location the centroidC of the half circlewith respect diameter of (aXg-o mm) : mm 38.2 x' " " : {,JTl sn
The distanceb from the centroid C to the r axis is b : 1 2 0m m - o : 1 2 0m m - 3 8 . 2m m : 8 1 ' 8m m Referringnow to Fig. 9.12,we computethe momentof inertia of the half circle witli respect to diameter AAt; we also compute the area of the half circle. Ioo,= lnra: *z'(90 mm)a : 25.76x 106mma A : lnf : iz.(90 mm)2 : \2.72 x 103mm2 Using the parallel-ads theorem, we obtain the value of l,: I,',a:i, + Aa2 m m m 2 5 . 7 6x 1 0 6 m a : l , + Q 2 1 2 x 1 0 3 m 2 ) ( 3 8 . 2 m ) 2 I" : 7.20 X 10" mm" theorem, we obtain the value of I.: Again using the parallel-tr-'ris m + r I - : 1 " , + A b 2 : 7 . 2 0 x 1 0 6 n r n a ( 1 2 . 7 2x 1 0 3m m 2 ) ( 8 1 . 8 m ) 2 : SZ.SX l06mma &tcre*r* ef l*re*i* *f *ilren Ar*c" Subtractingthe rnoment of inertia of the half circle from that of the rectangle,we obtain I, : 138.2 x 106mma - 92.3 x 106mma I : + i . t i X l { } 0r r i n r ' . : .
mm b = B1.B
489
ffi%%'#sx W6A%,, : #ffi, ,,

:::li;'
y*sJ g%yS %3*,"# ;*r s., J

''::L:,:.2t:
gn this lesson introducedtlie parallel-axis lve theoren't and illustratedhow it ca1 A be used to sinlplify the computationof momentsand polar rnomentsof inertra of compr-r^site The areasthat you will considerin the followingproblemswill areas. consisto1'cotnmonshapesand rolled-steelshapes. You will ulro ,,i" the parallelilxis theorelr.r to.locate the point of applicatio^n (the center of pr"rr.,.") of the resultantof the hydrostaticforcesactingon a subrnerged plane area. \," &'pplyimg?h* pcre lf*l'uxls t*e**rent. In Sec.9.6 we derivedthe parallel-.rxis
UleOrem
I : I -t Adl
(9.9)
which states that the motrlent of inertia 1 of an area A with respect to a given axis is_equalto the sum of tl'ie moment of inertia 7 of that area rvitlirespect tJ a Ttttrallel centroiclal aris and the product Ad2, rvhere d is the distance bet*een the two ares. It is impotant that you remember the following points as you use the parallelaxis theorem.
*. T!r* *en*ncidal rx*ruz*nt irz*r?&x ** *xt wreq & s*{t b* *bt*&*** by *{ I **bgraefic:g prrz&w*&d2 from the mornentof inertiaI of the areawitir th*
r e s p e t ' tt o a p a r r L l l ea r i s . I t l o l l o w s t l r a i f h e r n o r r r e n o f i n e l t i a I i s s r r r r r l l etrl r a n l I the moment of inertia 1 of the same area with respect to any parallel aris.
h, ?b? p*r*11*l-mx',s *gte*reffi be *pp&ied csn *nty E* *rz* a* ??** ?w* *x*x " irlcrlv*& is * s"enkr*V&x6 Therefore, we noted Example to cornnute *x4*" as ln 2.
t l r e r n o r n e n to l i n e r t i a o f a r r a r e a w i t l r r e s p e c tt o a n o n c e t t t r o i i a la . r ' i .w l r e r i t h e s mor]rent of inertia of the area is knorvn witd respect to another noncentroiclal axi,s. it is necessaryto fir,st conryxttethe mornent of lnertia of the area with respect to a centroid.al axis parallel to the tuo giuen axe,s.
2. {*e*.Bwti*g *h* rmr,wz*rai'* ***
p*&*r ffisffii*g?te i*er\E* o{ **ewp*xit* *#
#re&' Sample Probs. 9.4 and 9.5 illustrate the steps you shoulcl follow to solve problerns of this type. As with all cornposite-areapioblen'is, you should show on v o r r r s k e t < ' l t h e c o m r n o r s l r a p e s l r o l h d - s t e e ls h a p e st l r a t c o n s t i t u t et h e v a r i o u s r o elements of the given area, as well as the distancei between the centroidal ixes of the eletnents and the irxes about which the monents of inertia are to be computed. In addition, it is important that the follor,vingpoints be noted. e' Yhe m*rsren? *{ i**rtia cf sn sr*a is *\w*y* p**&t"*v*, regardless of the location of the aris with respect to which it is computed. As pointed-out in the comments for the preceding lesson, it is only when an area is ritnouecl (as in the case of a hole) that its trornent of inertia should be entered in your coml)utatroDs with a minus sign.
490
It shouldbe noted,howeveqthat the momentsof inertia obtainedin this m.ulner are moments to uith respec-t the axesof symnztry of the elllpse To 9bta11the cent'roidnl tleorem should be used. Note that this of in"rtiu of these rhapes,ih" pu.all"l-axis remark also appliesto a semicircleand to a quarter circle and that the expressions in given for thesb-shapes Fig. 9.12 are nof centroidalmomentsof inertia. c. To cqlcrrlafe the polor moment of inertia of a compositearea,you can given in Fig. 9.12 for/o or the relationship use either the expressions
b" Themsments inertiaof c semiellipse c qucrferellipse be of and can 4, by of anellipse 2_and respectively. of the by determined dividing moment inertra
Io:
l''t lo
(s.4)
depending on the shape of the given area.
of d. Beforecomputingflre centroidulrnoments inerfic of a givenalea,you of of the areausingthe methods to mayfind it necessary first locatethe centroid Chapter 5. of 3. Locctingihe paint of cppliccfion of the resultqntof a systern hydrostatic forees.In Sec. we foundthat 9.2
R : 7
l r o ^ yiA :
J
M,:7[y"at:yt,
where y is the distancefrom the r axisto the centroid of the submergedplane area. Since R is equivalentto the systemof elemental hydrostaticforces,it follows that 2M,: yrR: M,
where yr is the depth of the point of application of R. Then
Ap1iA) : Yl,
or
uD
,,4
In closing,we encourageyou to carefully study the notation used in Fig. 9.13 fbr the rolled-steel shapes,as you will likely encounter it again in subsequentengineeringcourses.
49r
9,81 and 9,52
Determine the moment of inertia and the radius of
gyration the shaded with respect ther axis, of area to

{ -T
8mm
6mm
I,t- ' , , - lt
r_ztn
7in -J
I I
24mm
-*_*i
I I
I i-T
f-* *
l l I zln.
24mm
F24mm
24mm-l
r It
** *l
I in, i
l**
Fig. P9.31ond P9.33
9.33 cnd 9.34 Determine the moment of inertia and the radius of gyration of the shadedareawith respectto the y axis. 9,$5 snd LSf Determine the momentsof inertia of the shadedarea shownwith respectto the r and y axesu'hen a : 20 mm.
,l
I.DA
'a
_*_*i
tig. P9.35
*-*F For the 4000-rnm2 shaded area shorvn, cleterrnine the distance d, t a n d t l r e r n o r r r e no I i n e r i i a r v i t l r r e s p e c tt o l h e t . c r r t r o i d aa . . i s l r a l l p Iel to AA' knor,r'ing th-at the rnoments of inertia u.ith respect tb AA, and BB' are 12 X 10'' rlrna and 23.9 X 106 mma, respe.ctir.elr,, nncl ilrat t1, : ')5 utlt. Deternine for the shtrded region the area and the mourent cl{' i n e l t i a r v i l l t l e s p e c tt o t h e c e r r t r i , i d aa r i s p L r r . a l l eo B B ' . k l o r r i r r g l Il t l r a td 1 - 2 5 r n r r r a r r t 1 . : 1 5 r r r n r n d t l r a t t l r e r r r o r n e n os i n e r t i a d l t i rvith. respect to AA' and BB' are i.84 x 106 nin'l and 5.20 x 106 t rrt rr', t'espet'tir ely.
,3&
492
9.39 The shadedareais eoualto 50 inz. Determine its centroidalmoments

of inertia I. and Ir. knowing that I, = 2I" and that the polar moment of inertia of the area about point A is /a = 2250 in*.
Problems 493
l"
Fig. P9.39 and P9.4O 9.4O The Dolar moments of inertia of the shadedarea with respect to i#, pointi A, B, andD are, respectively, = 2880 ina,Jn : O7ZO /a and /o : 4560 i#. Determine the shaded area, its centroidal moment of inertia ,lc, and the distanced from C to D. 9.41 through 9.44 Determine the momentsof inertia I, and /, of the area shownrvith respectto centroidal axesrespectivelyparallel and perpendicularto sideAB.
Fig. P9.41
-l r.3 in. r-
3.8in,
I I
_l
u.D 1n.
Al
6 mm' 12mm'
t l<j 6 in -----------+l
" l IlFT
Fig. P9,42
Fig. P9.43
Fig. P9.44
9.45 ond 9.45 Determine the nolar moment of inertia of the area shown with respect to (a) point O, (b) the centroid of the area.
84 mm
l-roo *Fig. P9.45
494
Distributed Forces: Moments Inertio of
9.47
o,nd 9,48 Determine the polar moment of inertia of the area shown with respect to (a) point O, (b) the centroid of the area.
Semicircle
o?"
t l 'n.-f+'J l--4.5in.-J
l |
Fig. P1t.47
Fig. p9.48 9.49 Two 20-mm steelplates are welded to a rolled s section as shown Determine the momentsof inertia and the radii of gyration of the combined section with respect to the centroidal r a'ndy axes. 9.5o Two channelsare welded to a rolled w section as shown. Determine the momentsof inertia and the radii of gyration of the com_ bined section with respect to the centroidal iand q axes.
5310x 47.3
Fig. P9.49
Fig. P9.5O 9.51 To form a reinforced box section, two rolled W sectionsand two plates are welded together.Determine the momentsof inertia and the radii of gyration of the combined section with respect to the centroidal axesshown. 9,52 Two channels are welded to a d X 12-in. ste_el plate as shown, Determine the width d for which the ratio I,tI, of the centroidaL moments of inertia of the section is 16.
W200x 46.1
l*-zos-r.-J
Fig. P9.51 C10x 15.3
Fig. P9.52
9"53 Two L76 x 76 x 6.4-mm anglesare welded to a C250 x 22'8 channel.Determine the momentsof inertia of the combinedsection with respect to centroidal axesrespectivelyparallel and peroendicular to the web of the channel.
Li6 xi6 ^6.4
Problems 495
*"54 Two L4 x 4 x j-in. anglesare welded to a steelplate as shown. Determine the mornentsof inertia of the combined sectionwith respectto centroidalaxesrespectively parallel and perpendicular tis. P9.54 to the plate. by S,55 The strength of the rolled W sectionshown is increased welding a channelto its upper flange. Determine the momentsof inertia of the combinedsectionwith respectto its centroidalr and y axes. 9"56 Two L5 x 3 x j-in. anglesare welded to a |-in. steelplate. Deterinertia I, and n-rinethe distancelr and the centroidal rnoments_of i, of the combined section, knowing thatI, : 41,.
i.:ISJ'--
i,,i I, x trs $,,i--w+oo {:'1
Fig. P9.55 0.5in
]-
I
tig, P9.56 9-57 cnd 9,58 The panel shown forms the end of a trough that is lig. P9.57 filled with water to the line AA'. Referrinsto Sec.9.2, determine the depth of the point of application of the resultant of the hydrostatic forcesacting on the panel (the center of pressure). ^ - = -i: - = - o , " .9"&& The panel shown forms the end of a trough that is i *.59 an& to filled with water to the line AA'. Ref'erring Sec 9'2, determine the depth of the point of application of the resultant of the liydrostatic forcesacting on the panel (the center of pressure).
i* --'-'
'Quarter
ellipse
Fig. P9.58
*T -;-T--^ ^_[-_'_]:_-.----r----^, I
p",.bnl"A
Fis. P9.59 Fig. P9.60
r,
| -t:----l
496
Dishibuted Forces: Momenrs Inerrio of
9.61 'the cover for a 0.5-m-diameteraccess hoie in a water storagetank is attachedto the_tankwith four equally spacedbolts asiho*n. Determine the additional force on bolt d,r" to the water pres"u.h sure when the center of the cover is located 1.4 m below the water surface.
tlg. P9.61
9,62 A vertical trapezoidal gate that is used as an automatic varve is h_eld shut by-two springs attachedto hingeslocated along edgeAB. 519wil1g that each spring exerts i couple of ilugiitude 1470 N . m, determine the depth d of water for which t"he gate will open.
Fig. P9.63
Fig. P9.62
*9,63 Determine the r coordinate of the centroid of the volume shown.

(Hi.nt: The height y of the volume is proportional to the r coordinate; consideran analogybetween this height and the water pressure on a submergedsurface.)
'9.64 Determine the r coordinate of the centroid of the volume shown; Fls. P9,64
this volume was obtained by intersecting an elliptic cylinder with an obliqueplane. (Seehint of Prob. 9.63.)
*9,65
Show that the systemof hydrostatic forces acting on a submerged nlane areaA can be reduced to a force P at the centroid C of the ir"u und two couples.The force P is perpendicular to the area and ts of magnitu,-l" r : 7Ay sin 0,.tlie.e -y is-the specific weight of_the liquid, and the couples are M", : (y1,, sin 0)i and Mr' _: : Note thatthe Q|,,r' siio)j, where1",0, I *'y'dA (seeSec.9.8). couples are independent of the depth at which the area is submerged.
of 9.8 Product Inertio 497
Fis. P9.65
*9.66 Show that the resultant of the hydrostatic forces acting on a submerged plane areaA is a force P perpendicular to the area and of *ugnitnde P : yAA sin g : pA, where 7 is the specific weight of the liquid and p is the pressureat the centroid C ofthe area. Show that P is applied at a point Cp,called the center ofpressure, whose atexp: I*r/Ay andyp: lJAi, where 1,, : I xy dA coordinates (seeSec.9.8).Showalsothat the differenceof ordinatesyr - y is equal to El,ty and thus dependsupon the depth at which the area is submerged.
Fig. P9.65
*9.8 PRODUCT INERTIA OF

The integral
'"r:
lxv
d'A
(e.12)
which is obtained by multiplying each element dA of an areaA by r its coordinates and y and integratingover the area (Fig. 9.14), is known as the product of inertia of the area A with respect to the x and g axes.Unlike the moments of inertia l, arrdI* the product Fig. 9.I4 of inertia I,u can be positive, negative,or zero. When-one or both of the x and y axesare axesof symmetry for the area A, the product of inertia 1,, rs zero. Consider, for example,the channelsectionshownin Fig, 9.15. Sincethis section with is symmetricalwith respect to the r axis, we can associate dA' of cooreach element dA of coordinatesx and y an element dinates x and -y. Clearly, the contributions to 1", of any pair of elements chosen in this way cancel out, and the integral (9.12) reducesto zero. in theorem similar to the one established Sec'9.6 A parallel-axis of inertia' for moments of inertia can be derived for products Consider an areaA and a systemof rectangularcoordinatesr and y Fig. 9.15
498
Dishibuted Forces: Moments Inerlio of
(Fig. 9.16). Through the centroid c of the area,of coordinates i and y, we draw trvo centroidal axesx, at d y, which are parallel, respec_ ti,vely, the x and y axes.Denotjng by r and y the to df an element of areadA utith respectto tlre o.iginj **.","fordir,utes nd b2. md y, *, the coordinatesof the sameelement witlirespect to the centroidal ixes, we write r : x, + i and y : + y. Substituting intO (g,lZ). ' !, we obtain the following fo. thd product ffi;i; i;, ""ptestiott
t* :
d A : ( * ,+ i ) ( A '+ i ) d A Jxy I
: l * ' r ' d A + i I r O ol a , d A + i i l d A *r
The first integral represents_ product o[ inertia I, ol the area the A r, with respect to the centroidal axesr, ^! y, .The next two integrals represent first moments of the area with respect to the centrJidal axes;they reduce to zero, since the centroid^c is located on these axes.Finally, we observe that the last integral is equal to the total areaA. Therefore,we have
Fig. 9.16
lrv:Ity,+iiA
(e.r3)
*9.9 PRINCIPAT AXES AND PRINCIPAT MOMENTS INERTIA OF

Consider the area A and the coordinate axes x and q (Fig. g.17). Assuming that the moments and product of inertia
n: l v'ae 4 : [*'ae
,., :
Ixy
dA (e.r4)
of the areaA are known, we proposeto determine the moments and product of inertia l*,, ly,, ?"9 lr, of A with respect to new axesr' ^d A' are obtained by rbtating the original axes about the .whichorigin through an angle 0. we ffrst note the following relations between the coordinates x', y' andx, y of an element of irea dA: -rsing : x ' : x . c o s 0i y s i n f l A' Acosd
Fig. 9.r7
Substituting for y' in the expressionfor 1*,,we write / - , = | Q l ' ) ' d A = | ( U c o s g- x s i n l ) z d A * J " J | |
9.9 Principol Axes ond Principol 499 Moments tnerlro oI
- 2sin0cos0 : c o so * s i no 2 2 )x'zdt Jxyde lvnde

(9.15)
Using the relations(9.14),we write r* : I,cosz 0 - 2r*, sin 0 cos0 * ro sinz0 Similarly,we obtain for 1r, and l,,r' the expressions lv, : I,sin2 0 + 2I*, sin0 cos 0 * f, cos2g I*,a,: (l* - 1o)sin 0 cos 0 * f,r(cos20 - sinz0) Recalling the trigonometric relations sin20: 2 sin 0 cos0
and 1*cos20 e^ coS-A: 2
(9.16) (9.17)
cos20 = cos20 - sinz0 1 - cos20 . e^ srn-d:
we can write (9.f5), (9.16),and (9.17)as follows:
L+1,, I"-1,, * cos29 - Irrsin2? t, : tit ; L+L, I"-1., -;cos20-r l,rsin20 Ir,:;
I,_ IU I*,r, : -; sin 20 t I*rcos20 Adding (9.18)and (9.19)we observethat l*,+ly':l*ll,
(9.18) (9.19)
(e.20)
(e.21)
This result could have been anticipated, since both members of (9.21)are equal to the polar moment of inertia /o. Equations (9.18) and (9.20) are the parametric equationsof a circle. fhis means that if we choose a set of rectangular axes and of I", plot -the a point M of abscissa and ordinate \o' for any given value will lie on a circle. parameter 0, all of the points thus obtained To establishthis property,we eliminate g from Eqs. (9'f8) and (9-20); this is done by transposing(1. + Ia)/z in Eq. (9.18), squaring both membersof Eqs. (9.18)and (9.20),and adding.We write l" + I,,\2 / /1" - r \2
(r., +) 2 \"
* t,,,: (" 2 : \
R:
^, ^t | * fi, /
(s.22)
Setting
T aave -
and
r::_Ir)'
* r_ (e.2s)
(9.24)
we write the identity (9.22) in the form (1,, - r^,")' I I2*,r,: P2
500
Dishibuted Forces: Moments Inerrio of
Ci
I
which is the equation of a circle of radius R centered at the point c wfrosex andy coo.rdirrates l*" and 0, respectively (ftg. O.fAa).We T? observe that_Eqs(9.19)and(g.20)arethe parametric eqriations the of samecircle. Fufthermore. because the sl,rnmetryof the circle about of the horizontalaxis,the sameresultwould havebeen obtainedif instead had plotted..apoint N of coordinates1r, and -1,,r, 9{ nlottinS.M, y" (Fig. 9.18b).This properrywill b; usedin Sec.9.10. The two points A and B where the above circle intersectsthe horizontal axis (Fig. 9.18a) are of specialinterest: point A corresponds to the maximum value of the momerrt of inertia I",, while point B correspondsto its minimum value. In addition, both points correspondto a zero value of the product of inertia I,,,,,. Thu-s,the values0- of the p_arameter whicli correspondto the points A and 0 B can be obtainedby settinglro, :0 in Eq. (9.20).We obtaini tan 20- :
2t",, I. - t.,
(e.25)
Fig. 9.18
This equation definestwo values 2l*whichare 1B0oapart and thus two values9- which are 90' apart. One of these,ralrres coiesponds to point A.in.Fig. 9.18aand to an axis O in Fig. g.f7 \/ith,"rp"^"t to Fl"Wh which the moment of inertia of the given *u i-, maximum; th6 other value correspondsto point B and to an axis through o with respect to which the moment of inertia of the areais minimuir. The two a"is thr^ defined,which are pelpendicular to each other, are called the principal of the area abutt O, and the correspondingvaluesI.o and I.6 of ryes the moment of inertia are called the priicipal iraments of lnertia ilthe area abatt o. since the two values 6- de{ined by n4. (g.25) were obtainedby setting1,,0,: 0 Eq. (9.20),it is clearit ut tt product of -in " inertia of the given_area with respect to its principal axesis iero. We observefrom Fig. 9.18a that 1-*: 1"u" R + f.in:1uu"-R (e.26) Using the values for 1*" and R from formulas (g.23), we write
rT u . m i n- m
l,+ l,
' 2
+-
(e.27)
unless it is pos-sible tellly-inspection which of the two principal to axescorresponds 1-* and which corresponds 1,;., it is riecessary to to to substitute one of the values of 0. iito gq. tg.lsl in order to determine which of the two correspondsto thl maximum value of the moment of inertia of the area about O. Referringto Sec.9.8, we note that if an areapossesses axisof an s;.rnmetry through point O, this axis must be a principal axis of the _a areaabout o. on the other hand, a principal axisioes nlt need to be an axisof synmetry; whether or not an areapossesses xesof syrnany metry it will have two principal axesof inertia about any point O. The propertieswe haveestablished hold fo. any pbirrt O located _ inside or outside the given area.If the point o is cho^sen coincide to with the centroid of the area, any axisthrough o is a centroidal axis; the two principal axesof the area about its centroid are referred to as the principal centroidal axesof the area.
iThis relation can also be obtained by differentiating r,, in Eq. (9.1g) and setting il,,/de:0.
' j '
9.6 SAftAPtEPROBLE#T
Determine the product of inertia of the right triangle shown (a) with respect to the r and y axesand (b) with respect to centroidal axesparallel to the :r and u axes.
S0runoN
s. Prsdue?a( lnertia l"r. A vertical rectangularstrip is chosenas the differential element of area. Using the parallel-axistheorem, we write dI,, : dI ,.r, + i"ti.t dA we with respectto the r' and y' axes, note Sincethe element is s),rnmetrical that dl,,r' : 0. From the geometry of the triangle, we obtain
o '
: n ( r- i ) b/ \
d A :n a r : n ( t - ib). /0 "
ia: ty: lr(t - ;)
/ -\: - il d.r
b/ _3 "41b
ia: x
Integrating d,1,, fromr : 0 to x : b, we obtain
r,,:
r , r " , d:A r r ] ) h ' (i \ )" l a r , , :)

lb/^. ..2
: h' 1,( ; - ;
*3\
:
zb!) dx
'"1+
r l l " 1 h - l -
f_!
3b
-
8b2)o
L .. : i;ls"h'
L i, t
.3.
b. Pr*d$cf *i lne;rtia 7,"r". The coordinatesof the centroid of the triangle relative to the r and u axes are x:ib
1 1 I t
A:in
Using the expressionfor I,o obtained in part a, we apply the parallel-axis theorem and write I,y:7r'r"+iYA
*u'h' :1,,,,,+ 1lu11lh)(tbh) 1,.r.:fib2h2-#bth,t

7'"'' : *);'l'"lt' 4
50r
SAll,lptE FROBIEM 9.r

For the section shown, the moments of inertia with respect to the r and y axeshave been computed and are known to be 1" : 10.38in4
4 in.
Iy = 6.g7 ina
Determine (a) the orientation of the principar axesof the section about o, (b) the values of the principal -o*",it, of inertia of the section "t;;ib.
sotuTtoN
of inertia with respectto the r and y axes.The Y_" tit\::lpute.the,product area ls drvided into tlrree rectanglesas shown. we note that thebroduct of Using the parallel-axis theorem l*, =I,,ri _l iyA, ute find that 1,, reduces toi'yA for each rectangle.
inertia withr,espggtcentr;dal_ purdrct tt ; ; 1,,r, to axe, io Aj;#ilJ;"r" tor each rectangle.
Area, ing
I,
ln,
ln.
fI./D
iaA, ina
I.25 in
I II III
_ I.ZD
I.D l.D
0
_I. /D
-3.28 0 -3.28
2iyA: -6.56
1,, : 2iyA:
-6.56 ina and I*, are known,
c" Frincipcl Axes. Since the magnitudes o! I* !,, Eq. (9.25) is used to determine thJ valuesof 0_:
\-\--1038-ae?:+3'85 20^: 75.4'and2SE.4. 8,,,: 37.7" :lrrr1 ,n: 127.7o ,,i, b" PrincipclMc*enfs of Inertic. UsingEq. (9.27), write we
r,n L a \ . m i n -
tan2o^:-:+:
--3!:!
lo)
lr+
" 2
Iv
+ -
_ 1 0 . s 8 + 6 . e/7\ o f f i * .V r =
2
/+(-6'56)= I,,,,,, 1.8,g7 !n4 ":rii
l*r*, : 15.45in'*
Notl"g that the elementsof the area of the section are more closelydistributed about the b axis than about the. a a,tis,we conclude that 1, I 1_ : 15-45 ina and 1, : 1-6 : 1.8g7 in4. This conclusion can be Uy ""ril"f substituting : 37.7'into Eqs. (9.18)and (9.19). 0
502
of yourworkwith mnments ineftia for you f n theproblems thislesson, will continue of inertia.Nthoughthe for techniques computingproducts Iand will utilizevarious itemsarervorthnoting' several straightforward, are problems generally
l" Colculalingthe produd of inertiq l* by integroticn, We definedthis quantityas
l,r:lxydA
(e.12)
or and statedthat its value can be positive,negative, zero.The product of inertia can be computeddirectly from the ibove equationusingdouble integration,or it can be determinedusing singleintegrationasshownin SampleProb. 9.6.When applyi"g 9" theorem,it is important to rememberthat latter techniqueand usingthl parallel-a"xis x', and tl4rnthe equation + f,Ixa crl,,r, idy"tdA of are the coordinates the centroid of the element of areadA. Thus, if dA is not will be negative. in the first quadrant,one or both of thesecoordinates 2. Calculcting the products of inertis of camposite urecs" They can easilybe computed from the products of inertia of their component parts by using the theorem parallel-a'xis (g.rs) 1,, : rrv, + iyA The proper technique to use for problems of this $pe is illustratedin, Sample problems,it Probi. 9-.'6 and 9.7.ln addition to the usual rules for composite-area that vou rememberthe following points. is essential a. lf eiflrer 6f *h* centrcidol axes of deômpenentcrea is cn cxis of sym' mefry for thst crec, the prcduct cf inertia I*'"' fa1 thel areq is zerc. Thus, and rectangles, isosceles semicircles, areas suchascircles, for component ii 1.,,,, "".o axes. *hich poisessan axisof symmetrypardlel to one of the coordinate trilngles Pay csrelui qftentlon to ihe signi of the cocrdinstes x cnd y of each b.' theorem lsample Prob. 9.7]. areawhen you use the parallel-a-xis "o*pon"nt 3" *efermi*ing the mcm*n?s of inertic snd the prcduct of inertia fer rctafed coardinEte cxes. In Sec.9.9 we derived Eqs. (9.18),(9.19),and (9.20),frorr which the moments of inertia and the product of inertia can be computed for coordinateaxeswhich have been rotated about the origin O. To apply these equations, you must know a set of values/., Iu, and !., for a given orientationof the rotationsof ares.und vou must rememberthat g is positivefor counterclockwise ares. the axesand negativefor clockwiserotations of the 4. {onnpu?ingth* prineipcl nncrrre*tsof inerfic. We showed in Sec. 9.9 that there is-a narticularorieniationof the coordinateexesfbr which the momentsof ?rid for which ineftia attalin their maximum and minimum values, 1-u, and 1,,1n, the product of inertia is zero.Equation(9.27)can be usedto computethesevalues, kno""n as theTtrincipulmomentiof inexia of the areaaboutO. The corresponding are &xes referredto asthe principal axesof the areaabout O, and their orientation to is defined by Eq (9.25).io determinewhich of the princiT:alaxesco_rresponds you can either follow the procedureoutlined l,,,ând wLtichiorrespondsto l,r,in, or i" the text after nq. (O.ZZ) observeabout which of the two principal axesthe to corresponds 1,,i,,lSampleProb. 9.7]. areais -ore clo."l1idistributed;that a,xis
503
8"&7 thrdugh *"7Q Determine by direct integration the product of inertia of the given area with respect to thJr o.rd urir. 4
,l
'
Li
Fig, P9.7O 9,Vl
rl
1 . _ | - ' ' ----'', t '
i_]__
.t
i,
*hreugh LVA Using the parallel-axis theorem, determine the product ofinertia ofthe areashownwith respectto the centroidal r and y axes.
f-120
mm
Fig. P9.71
Fig. P9.72
0.25in
L3x2x4
_+l
, 1l n +
l<_ t) 25 in
I
Fig. P9.74
theorem, determine the 9.75 fhrough 9.78 Using the parallel-aris with respect to the centroidal product of inertia of the areashown r and y axes.
Problems 505
I
i FSmm
foin
9 in.
lD rn.
I I
3in
Fig. P9,75
s-*]
--1 in. f1.3
Eig. P9.76
tl F
.:l.i:.:..'::j1
*t-t-T
I 1.0in.
Y
t-l
l;i*--
mm 18.9 rz. / mm
lf
1-
l l n
10.412
Ll27 x76x72.7
z.zD 1\).
o.s,'.
t2.7mm
_t_ f l*- ,u -*l .-
Fig, P9,77 ?.79 Determine for the quarter ellipse of Prob' 9.67 the moments of inertia and the prod.tct ofinertia with respectto new axesobtained by rotating thei and y axesabout O (a) through 45" counterclockwise, (b) through 30'clockwise. 9.$S Determine the moments of inertia and the product of inertia of the areaofProb. 9.72with respectto new centroidal axesobtained by rotating the r and y axes30'counterclockwise' 9.81 Determine the moments of inertia and the product of inertia of the area ofProb. 9.73with respectto new centroidal axesobtained by rotating the r and y axes60o counterclockwise' 9,82 Determine the moments of inertia and the product of inertia of the area ofProb. 9.75with respectto new centroidal axesobtained by rotating the r and y axes45oclockwise.
Fig' P9'78
9,83 Determine the moments of inertia and the product of inertia of the L3 x 2 x |-in. angle cross section of Prob' 9'74 with respect to new centroidal a"es"obtaited by rotating the r and y axes30o clockwise.
506
9.84 Determine the moments of inertia and the product of inertia of theLl2T x 76 x L2.7-mmangrecross section of prob. g.7g with respect to new centroidal axes obtained by rotating the r and y axes45" counterclockwise. 9.85 For the quarter ellipse of prob. g.67, determine the orientation of the principal axes.at the origin and the corresponding varuesofthe momentsof inertia. 9.86 through 9.88 For the areaindicated, determine the orientation ofthe principal axesat the origin and the correspondingvaruesof the momentsof inertia. 9.86 Area of prob. 9.72 9.87 Area of prob. 9.7S 9.88 Area of prob. 9.7b 9-89 cnd 9'9o For the angle cross section indicated, determine the orientation ofthe principal axesat the origin and the corresponding values of the moments of inertia. 9.89 The L3 x 2 x ]-in. angle cross section of prob, 9.74 9.94 The LLZT x 76 x l2j_mm angle cross section of Prob. 9.78
*9.I0 MOHR's CIRCTE MOMENTS FOR ANDPRODUCTS INERTIA OF

The circle used in the preceding section to illustrate the relations existing between the moments and products of inertia of a given area with to a.xes passing thro:gh. point O was firsiintroduced by :,"tp:". " (1835-lgr8) the German engineerotto Mohr B:9 and is known asMohr's ci'rcle. lt will be shown that if the moments and product of inertia of an areaA are known rlth 1e;pectto-two rectangularr and y axeswhich p]ss a point O, Mohr's circle can be uied to grapliically deter_ $r3r1gh mine (a) the principal axesand principal momentsof i"trertiu the *eu of about o and (b) the momentsand product of inertia of the areawith respectto Ty other pair of rectangularaxesx, andy, through O. C.onsidera grven areaA and two rectangulaicoordin"ate a*esr , and y (Fig. 9.19a). Assumingthat the -o-"it, of inerlia l, and I, and the product of inertia I,o are known, we will represent ti"- o' a$agray by plotting a point X of coordinates andi, and a point y 1, 1, and -{,, {fig. 9.f9b). If 1,0is positi.i,e, ailumed as :t :?".$Ttes in,Fig. 9.19a point x is located abovethe horizontal axisand point y is locatedbelow, as shownin Fig. g.rgb. If 1,, is negative,x is iocated below the horizontal axis and Y is located'"bou"I Joining X and y with a straight line, we denote by c the point of inierse"fion of line xY with the horizontal axis and draw the circle of center c and diameter xY. Noting that the abscissa c and the radius of the of cjrcle are ysgellyely equal.to.the quantities I*," and R defined by the tormula (9.23), we conclude that the circle obtained is Mohr's circle for the given area about point o. Thus, the abscissas the of pointsA and B where the circle intersectsthe horizontalaxisrepresent respectivelythe principal moments of inertia 1** and r"6 of tli" *"u. We alsonote that, sincetan (XCA) : 21,,/(1,- 1,,),the arrrsle XCA is equalin magnitudeto one of the angles2l*wbrchiatisfy nq] (S.ZS);
o 9 . , l 0 M o h r ' sC i r c l ef o r M o m e n t s n d of Products Inertio
507
Ir!/
(b) Fig. 9.19 thus, the angle em, which deffnes in Fig' 9'19a the grilciqal ar;s Oa
correspondiigto point A in Fig, 9.19b;is equal to half of the angle XCA of Mohi's ciicle. We funher observethit if Ir ) Iy and 1,, ) 0' as in the caseconsideredhere, the rotation which brings CX into CA is clockwise, Also, under these conditions, the angle 0* obtalned Oa from Eq. (9.25),which definesthe principal axts in-Fig'.9'l9a' is negative;thus, the rotation which brings Ox into Oa is alsoclockwise. of WJ concludethat the senses rotation in both parts of Fig' 9'19 rotationthrough 2d, is requiredto bring are the same.If a clockwise CX into CA on Mohr's circle, a clockvise rotation through 0- will bring Ox into the correspondingprincipal axisOa in Fig. 9'194' Since Mohr's circle is uniquely delined, the samecircle can be obtained by consideringthe moments and product_of inertia of -the area A witir respectto the rectangularaxesr' and y' (Fig, 9'19a)' The point X' ofcoordinates1,, und I,,r' and the point Y'.of coordinates 1,, and -l,,u,are thus located ott Mohrs circle, and the angle X'CAi;Fig. 9.19bmustbe equalto twicethe anglex'Oain Fig' 9,194' Since, as ioted above, the ingle XCA is twice the angle xOa, it follows that the angle XCX' in Fig. 9.19b is twice the anglexOx' in Fie. 9.19a.The diaireter X'Y' ,which definesthe momentsand prodof ucl of inertia I*,,1* and 1*,4, the given areawith respectto rectcan an&y' forming an angle 0 with the r and y- axes, angular axesr' rotating through an angle 20 the diameter XY whlch be"obtainedby -uttd p.od,t"t- of inertia 1,,-Ir-, and l,r' correspondstb the mdments rotation whlch btings the diameter XI into the We note that the diameterX,Y, in Fie, 9.19bhasthe sa*L renseasthe rotationwhich brings the r and y *t into the r' and-y' axesin Fig. 9.19a'. "It shouldbe noted that the.rt" of Mohr's circle is not limited basedon the carefuldrawing graphicalsolutions, i.e.. to solutions to rneasrring of the variousparametersinvolved. By mgre]y sketch"ni Mohr's ciicle and using tigonometry one can derive the ing êasily of a given problem u"iiom relationsrequired for a numerical solution (seeSample Prob. 9.8).
yi-',5&ffptgpnoen.g*.;""a...::.:....................:.:..::.::|.
u
-,I j; I I j
j j; I I
I
,'
-r=u,, ,
rr<o',^r,..al Lls2x l02xtzz].$-
i,i' *jffi
and product olinerlia *ith respectto o-o* or,n"n'* withrespec{ rc ,f," the ;..and y axesare known to be axes known be are " ""a I,:7.20x106mma Io:2.s9x106mma lru:-Z,b4Xlgummo cir"cle. derermrne theprincipal of thesectjon (a) axes Yi':F-nt"l,= aborro (c) the moments i""r,i" ot-i ttl'r""uo' with respect the to ""air.a,i"t "r x' and. o", -t i"n f5._ un urrgl"of 60" with y, the r andrya,""i.
"'":":-;:;" :- the sectionshown'the moments For For thesection shown. ;;r";;."0 ;;"
{riril';;ffi""rT"T#il: ftff"'.ffi''#ffTii1",:*1##;J8
(106 mma) 11.,
*z.s+l Ittz.so.
g*t uTtsF{
,J4____, l'JT* the radius n Jtr'" circre b";;;;;; . , can 1zo,,,i r r 0 6 m m 4.*,,;t;:t;:u:31'lJui,Sll | ,.*,r, ,. )
c_D:i!, !):j7.,20
. ,l--/, \ ,:,, l \ I :.:,,I , \
I /i\ j
j:*#l1',,:^"T',*1"-:j ;';ii'astraight wedefinet,! zsir;tu;;;);';#i'L; line, theLe"t"'oiiftoh'i;;"1;il:':#"il:; c

x t06- 2.sgx 106) 2.305 106mma = x
: 3 . 4 3 0x 1 0 6m m a
i:, I
"
\ l/ \ ---,-----lx(7.20-2s4) v
| t:::?":*(r,+rv.):+(7.20x106+2.59x106):+.sg5X106mma
ii.
b\ yt
\ |
#?jffi#;1;'":1i:*l;l:1ilflT"-;4ffi;;r";ffiil;*
+^_ 2o' : DX tanon 2.54
: "?i''f*
ffi:
section correspond points to l*^n11;*-ll-ares,or.1he : 1'102 Zon, 47.go : \
;:
ffi
$,,: u.*' \t 4
p.ii:iq"l1xis Oa correspondingto maximumvalueof the moment rhe Ti:: *" rs .,r lneroa obtainedby rotatingthe r axisthrough 23.gocountercrockwise; the principalaxisObcorreiponqg * the *inimum?"f"" ol*" *o;;;;;fi;*" can be obtained by rotiting th"ey a.xis through the same angle. b" Fri*eipal oi tnerria. The p"rincipalmoments of inertia -fi4omenfc are representedby the abscissas A and f. We of hau" 1-o: OA : OC + CA : I*" * 6 : (4.895+ 3.480)106 mma
}{Jt *t*.ta I,rrin: OB : OC - BC : 1ou" 6 : (a.8953.430;10u mma Inin: 1.47 x j${; alrna _,1 I,t'o" * f .i)J X 44
4.895 X 106mma
3.430 106 x mrn4 I

Y
e" l!{cmen?s sxd Froducfaf InerfiEwiih Respect thex,and y rs Axes. on Mohr's circle,the points x'and y', *hi"h "o.r.rpo"a"i.iirJ"'*"a y, by rotating andCy through CX #""gi";e': : ,rn" T?..;il" "P.t?"q rzo" ('ountercrockwise. coordinates x' and v,"yr"td ,(oo") The of the desired moments product.of and. inertia.-xourf *", ,rr" ,rrii?i,'i,L*, *rr, the horizontal is @ : 120"- qZ.SZ ""gr" axis :72.2,we write t",\ It: OF: OC + CF:4.895 X 106mma (3.430 106mrna) + x cos11.2"
: tv, oc : oc - cc : 4.8e5106 - (J.d inrt,i#{ X;r; x mma

o r,,y,: FX,: (3.430 ro6*-4us;1:;.^ x
l,',,' : 3"27 X l{}ti nr*ra
'ryi itjt'u nzzt",a

"q
508
*L#rtaraffi &s ffif#%'# 3{* W;*%
Y*'F{v3 %v3 f %?3X#
:l''
cirt:le to detennine the grr thc p.oblerns for this lesson,you will 6se Mohr'.s' A,ooul"irt, ancl products of inertia of a given area fbr different orientations of Although in some caies using Mohrt circle rnay loi b" .1t axies. the coorclinate (9'20)], clirectas substitutinginto t# appropriateequations[Eqs. (9.18)through of has this method of solut"ion the'advintageof providing i r'rsualrepresentation Mohr's circle showsall of amongtlre variousvari"ables.^Further, relationships the the values of t'h" momJnts anclproducts of inertia which are possiblefor a given problem. #*ing fifi*?:r"ceirs!*- The underlyingtheory wtrs presentedin Sec.9.9, and we the discu"ssed applicationof this metiiod in Sec.9.10 and in-Sanple Prob. 9.8.In the stepsyou should follorv to determine the the sameprnbiJrrr,we presentecl ,rf tnontents iieiia, and the momentsand product of principttl 'ineftiu riles, the princ'ipal ares.When_-you orientationof the.crtordiruttes o speci.fied toith respectto it is irnportantthat you rememberthe ibllorvuse Mohr's circle to solveproblerns, ing poiuts. by u. ffi*l**'u eir*le is ***rptefely &*"*sz*& fhe q*cnti?ie* # **ld f*o*,which from the origin O thb respectively, radiusof the circle and the distance represent, to the center-C of the circle. These quantitiescan be obtainedfrom Eqs. (9.2,3) if the moments and procluctof inertia are known for a given orientationof the of ilxes,However,Mohri circle cnn be definedby other combinations kno*n valit 9.103,9.106,and 9.107].For thesecases, may be necessary first ues fProbs. ^to such as choosingan arbitrary locatiorrfor the make one or more assumptions, to relative rtragnitudes the moments of center rvhen 1".,"is unknoiwn,assigning the sign of the product of inertia. inertia (fbr example,1. > 1y),or seiectlng *f"yi are both b. p*lr:* K ** ***rdEn*t*s {f*, 8,} **& p*i*t Y *F e**rdizz*?*s {Er, loc:rtedon Mohr's circle and are diametricallyopposite' lie e, Sirr** m*r*ents sf in*r?ic mzsstb* p*xitiv*, the entire Mohr's circle n-rust to the right of the I.u aris; it follorvs that f".." ) R for all cases' d. As t!"le ce*rdi* q;tt**x** cre ratsfed threasghcn *ngle #, the associated rotation of the diarneterof Mohrs circle is equal to 20 and is in the samesense that tlie known points on the \Ve (cloclcrvise counterclockwise). stronglysuggest or circunference of tlie circle be labeled with the appropriate capital letter, as was clonein Fig. g.lgb and for the Mohr circlesof SampleProb. 9.8. This will enable product,of' you to detErniine,for each value of 0, the sign of the corresponding 'inertia u'ith eacli of the and to determinewhich moment of inertia is associated coordinateaxeslSampleProb. 9.8, parts a anclc]. introducedMohrs circlc within the specificcontextof the studv Althougli we ha.,,e of anclproclucts inertia, the Mohr circle tichnique is also applicable of 1-ioments but physicallydifferent problelis in mechanicsof onalogo.,s to the solution ui of a sfecific technique is not unique, pd. as yoll purmaterials.This rirultiple ise you sueyour engineeringistudies, will encounterieveralmethodsof solutionu'hich can be applledto a variety of problen'rs.
509
9.91 using Mohr's circle, determine for the quarter ellipse of prob. 9.67 the moments of inertia and the produci of inertia with respect to new axesobtainedby rotating the r and y axesabout o (a) tirrough 45o counterclockwise,(b) through 30o cioekwise 9.92 using Mohr's circle, determine the moments of inertia and the product of inertia of the area of prob. g.72 with respect to new centroidal axes obtained by rotating the r and y axes 30" counterclockwise. 9.93 Using Mohr's circle, determine the moments of inertia and the product of inertia of the area of prob. g.73 with respect to new centroidal axes obtained by rotating the r and y axes 60o counterclockwise. 9.94 using Mohr's circle, determine the momentsof inertia and the product ofinertia ofthe areaofprob. g.7bwith respectto new centroidal axesobtained by rotating the r and y axes45o^clockwise. 9.95 using Mohr's circle, determine the moments of inertia and the product of inertia of the L3 x z x j-in. angle cross section of Prob.9.74with respectto.newcentroidalaxesobtarned rotati'g by the r and y axes30o clockwise. 9,96 Using Mohr's circle, determine the moments of inertia and the product of inertia of the Ll27 x 76 X 72.7-mmanslecrosssection of Prob. 9.78with respectto new centroidal axesob"tained rotatby ing the x and y axes45o counterclockwise. 9.97 For the quarter ellipse of prob. g.67, use Mohr's circle to determine the orientation of the principal axes at the origin and the correspondingvalues of the moments of inertia 9.98 throsgh 9.1O2 Using Mohr's circle, determine for the area indicated the orientation of the principal centroidar axesand the correspondingvalues of the moments of inertia. 9.98 Area of Prob. 9.72 9.99 Areaof Prob.9.76 9.lOO Area of Prob. 9.73 9,l0l Areaof Prob. 9.74 9.102 Area of Prob.9.77 (The momentsof inertia I, and 1, of the area of prob. g.102were determinedin Prob. 9.44.) 9,l0g The moments and product of inertia of an L4 X 3 X j-in. angle crosssectionwith re_spect two rectangularaxesx and 17 to throrieh C a r e ,r e s p e c t i v e 1y ,: 1 . 3 3i n a . l , : i . l S i n n , u n d l . ' a O - * f ? f , l, the minimumvalueof the momentoiinertia of the areari,ith resoect to any axis through C_being7.i, : 0.6g2 ina. Using Mohr's ciicle, determine (a) the product of inertia 1,, of the ^r"u,1b) the orienta_ tion ofthe principal axes,(c) the val# of7*u,.
5r0
section for determine thecross circ]e, trllohr's a mA frnd 9JA5 [Jsing - '-orientation of ttre princtpa\
,to-" itre oi'tn"-iofl"O-rt""iû"gt" centroidal axes and tlie correspondingvalues of the moments of inertia. (Propertiesof the crosJsectionsare given in Fig' 9'13')
Problems 5 | |
6,4mr
-T-l -
I
L 7 6 x 5 1x 6 . 4
t l
I
-*l
/b mm------+1
f'- 6'4mm I
z/ mrn
t1_
Ll27 x76xL2.7
Fig. P9.lO4
44.2mm
*g.1nb For a given area the moments of iqertia with respect to two :,300^rectina' a.tgrrlaicentroidalx andy axesare f' : fZOOina and 7, Fig. P9.lO5 re$ectively. Knowing that after rotating the x and y axesabout the of inertia relative to cerrltroid3b. counterclockwise,the moment the rotated r axis is 1450 ina, use Mohr's circle to determine (a) the orientation ofthe principal axes,(b) the principal centroidal moments of inertia. : 9,107 lt is known that for a given area I, : 48 x 106mma and I-, "u*es -20 x 106mma,where'the r and y ute rectangular centroidal If the axis correspondingto the maximum product of inertia axes. is obtained by rotating the t axis 67.5ocounterclockwiseqboqt C' use Mohr's circle to d"etermine(a) the moment of inertia 1" of the area,(b) the principal centroidal moments of inertia' 9.t08 Using Mohr's circle, show that for any regular polygon (such as a pentigon) (a) the moment of inertia with respect to every axis itrto"[tt the centroid is the same, (b) the product of inertia with respect to every pair of rectangular axesthrough the centroid is zero, I,'Iv'- lf'r' is inde9.109 Using Mohr's circle,prove that the expression of the orienlation of the x' aid y' axes,where I'', 1r" and penient i,,r, representthe moments and product bf inertia. respectively,of ^ liu"tt area with respect to a pair of,rectangulat axesx' and y' thiough a given point O. Also show that the given expressionis square of the length of the tangent drawn from the equal'to th.-e orlgin of the coordinate systemto Mohr's circle. 9.IlO Using the invariance property establishedin the preceding problem,ixpress the product of inertia 1,, of an areaA with respect to a pair of rectang'ularaxesthrough O i.t t"t*t of the moments of inirtia 1. and lu"of A and the principal momentsof inertia f-to and I-o* of A about'o. Use the foimula tbtained to calculatethe produc[ of mertia 1*,,of the L3 x 2 x ]-in. angle cross section shown in Fig. 9.13A,knowing that its maximum moment of inertia is
,
l_^*__.1
I2.7 mm
I.ZDI ln .
^---.
5 | 2
MOMENT TNERTIA A MASS OF OF

of negligible mass which canrotatefreelyab-out ;;;;,"(F,g. 920ri'i?" is appliedto the system, rod u"a tle """pr" **r, d";; i; u","rJiry at rest,will start rotatingunoutaa;.-rn""Jetairs of this motionwilr be studiedlater in drmamics. present, At we wish onryto indicate jh".time requir"a fo, tt" ,irt-rn'to'r"u"h a given :i:1, speedof rotationis p:oportiol"l.tooq" mlss Am ,o'*""'r0""#'"?",h" The product f Am provides,th"."fo*, ""J ffl::::,: theinertia thesystem, a ineasu."'"il;;';;ft.1#itnT"rrll of i.e., ""riiisir"'"f Consider a small mass A?n mounted on a rod
it :""*,?P5' is X lZ toset productAm ca'ed'the i" _ouo"-F;ffi;;*n, ln" & *:: "*;;; i;;;;;"f"##"ffi,Jff respectto the axisAA,.
Fig. 9.20
Consider now a body of massm which is be rotated about AA' (Fig. 9 "we ^Zo?.-Dividing the body in elements of mass i" "d: Am1, Lm2, etc., find that the b;dy,; ;;;1";; to beinq rotated is measuredby the sum { Lm1 -l fi' Lm, + ... This su-mde{ines, Lrreretore, moment of iner[ia of the body wit the respect to the axis AA'. lncreasing the number of elements,we that the moment ot inertia is equal, in the limit, to the integral
,':{rr^
The radius of gyration k of the body with respect to the axis AA' is defined by the relation
o[ of 9.1I Moment Inertio o Moss 513
I=k2m
or
o=\;
(e.2e)
rli:tarco ot \*rhich The radius oI gyration h rePresents, tnerelore, ths if its moment of the entire mass of the body' should be concentrated (Fig', 9 20c)' inertia with respect to AA' is to remain unc!11ged or,whether it is Wtl"tt"t it is kept in its original shape-(Fig' 920b) "*utt t will react in the in F"ig' 9'20c' the concentrated ",,hortt same way to a rotation. o! {lration, about AA'' "tit" ,udiu' oF gyration k is expres'ted in If Sl units are used,
for the meters and the massm in kilograms,andlhus the unit used units,are moment of inertia of a massiJkg'm'' If U'S' customary in ation is expiessed feet and the massin slugs d* radius of g,T ;A t'udt, u'i6 tn"t the derived unit used for the moment of [:;:';'h-. is inertiaof a mass lb 'ft' s2.l The moment of inertia of a body with respectto a coordinate in !'A'z axis can easilybe expressed terms.of the coordinates dm (Fig' 9'21)' Noting'-for example'that of ,rris tft" "l"*"i.t "l squareof the distancer from the element dm to the-y axrsts the respect the ;;; i'z. we express moment of inertia of the body with ai to the q a.xis
I r : l " d m = l (22+ x2)dm

" J J "*------- r Fig' 9'21
f
l
axes.We write respectto the x and z o-oo \l[/o rxrril-e
+ ' r =J ' r "

tr:
"
zz)dm (e.30)
l
)
f
\ 2 " + x2)dm
"
t .. : J G 2+ gz) dm I
unit in used the derived units U.S.customary to SI unitsthatthe baie unitpound

be converted into tt ' lt' ,' is a'unit of force (not of mass) and should therefore newtons. We have : 1 l b ' f t . s z : ( 4 . 4 5 N ) ( 0 . 3 0 4 8m ) ( 1 s ) e or,sincelN:lkg'm/s2, r lb ' ft . s2: 1 . 3 5 6k g ' m 2 1 . 3 5 6N ' m ' s 2
of a mass from ilt should be kept in mind when converting the moment of inertia
in Phoio 9.2 As you will discuss your dynomics o[ behqvior the comshofi the course, rototionol of uponthe mossmoment shownis dependent to with respect itsoxisof o[ inertio the cqmshoft rotcrtion.
514
Distributed Forces: Moments Inerlio of
9.12 PARAILEI..AXIS THEOREM

consider a body of massm. Let oxyz be a systemof rectang'rar coordi^nates..w-hose origin is at the arbitrary poinl O, and. Gx,y,j a system ofparallel centroidnJ axes, i.e., a system,"hose origin is at"thecenterof
Denotinghy; i. ? tJ.. ooo.a;..tj" TY Tgr. t -T. respectto Oxyz. we write the following relations between :t [he coordinatg,*, y,.z of the elementdm wtth resfect lo Oxuz and its eoordinates A', z' wit} respect the centroi.lj axesCx,i,z,, x', to x:x, li z:2, lz (g.31) A:y,+i Referring to_Eqs. (9.80),we can express the moment of inertia of the body with respect to the r axis as follows: f r
F:Tiy
c ofthebodyl *lqry axes U,. ,r. perillol r}ro a. rn s, *{ 9.22). r'. z, respectively^(Fig.
,,:
J ,r'
|
+ z2) : dm
.o.
+ * (2,1_ z)21dm J lrr, i),
| | r + rr'' t z'')dm Zi y,dm-r 22)z,dm+ (yz* Zr)la* J J
.o
The first inte-gral this expression in representsthe moment of inertia 1'' of the body with respeci to the ceitroidal axisr'; th" ,""ooJ third integralsrepresentthe {irst moment of the bodv with respect ".rd to.the z'.tr' andx'y' planes,respectively, and. sinceboih planesion_ G, the h.vo integrals are iero, the last integral is equal to the luln, total massm o{'the body. We write, therefore-
I*=I*,+m(yz+v2)
and,similarly. Io:lr,+m(iz+i2)
t , 9 r , : i1 " ,+ m /(- x " I a . ) -o,
(e.32)
(9.32,)
W" easilyveri,fyfrom Fig. g.Z2 thatthe sum z2 + x2 represents ,, tgr-tnu." oB between the y-and y,axes. S'imilarly, !hr" ?Llh: {;tun"" A' + z" andx" * y" representthe squares the distancebetween of the x and r' axesand the z and z' a""s, terpectively. Denotine bv .1 the distancebetween an arbitrary axisAA' and a parall"l ""rriroid"l axisBB' (Fig. 9.23),we can, therefore,write the following general relation between the moment of inertia 1 of the body witfi iespect r to AA' and its moment of inertia f with respectb Bb,: I :7 + rrudz (9.s3)
Expressing the moments of inertia in terms of the corresponding radii of grration, we can also write
Fig. 9.23
k':k2+d2 (e.34) *hgT]. and k representthe radii of gration of the body about AA, and BB' , respectively.
lNote that the term centroidal is usedhere to definean axispassingthrough the center of gravity G of the body, whether or not G coincideswith the centriid of fie ,olr-" or the body.
HAIES OF OF e.13 r,toMENTE INERTIA Tt'tlN

consider a thin plate of uniform thickness t, which is made of a : mas.s per unit volhomogeneou, ,nrlt"ri"l of density p (density mass moment of inertia of the plate with respect to an ume).-the in axisAA' contai,ned the plane of the plate (Fig. 9.24a) is lAA'.-"rr:lf O*
J
9.13 Momentsof Inertioof Thin Plotes 5 | 5
Sisce dm : pt dA, we write I A A ' . ^ ^ r rP t | " a A :

J
But r representsthe distanceof the element of area dA to the axis
(b)
Eig,9.24
AA'; the integral is therefore equal to the rnoment of iner[ia of the area of the plate with respect to AA' . We have
/AA,,-ur, : PtlAe',u.u
(e.35)
Similarly,for an axisBB'which is containedin the plane of the plate and is peqpendicularto AA' (Fi1.9.24b), we have
lBB',*"r, : Ptlen',u",
(e.36)
Considering now the axis CC' which is perpendicular to tfre plate and purr"t"thtongh the point of intersection C of AA' and BB' (Fig.9.24c),we write (e.37) fcc,,-".. : ptJc.ur"^ where /c is the polar moment of inertia of the area of the plate with respect to point C. ' Recaliing the relation Jc : Iee' -l lns'whlch exists between oolar and ,e"iangola, moments of inertia of an area, we write the folo*ine relauoi between the mass moments of inertia of a thin plate:
Icc':lA1\'+IBB'
(e.38)
516
Oisfributed Forces: Moments lnerrio of
the foil,oJ"j'*ass momentsof inertia wlrn respect to axesthrough the center of gravity of the plate: = fAA,,,n"r, ptIAA,,^r"n= pt($a3b) : ptIBB,,^r"^ pt(habg) = fgB,,."r, observing,thatthe product pabt is equal-tothe mass m of the plate, the massmoments of inertia of a thin rectangularpfit" ,, I?^yl* rollows: Ied,: h*o, lnB, : h*b, (g.3g) Icc, : lee,-t lBn,: $m1a2 + bz1 (g.40i
Fig. 9.25
Reciungulul of pl"f" !!.ute. ln the.case a rectangular of .iJ,, o and b (Fig' 9.2s),we-obtain
circulor Plob. In the caseof a circurar plate, or disk, of radius r (Fig. 9.26),we write = /44,,*"r, ptILA,,^r"r= pt(Inra) Ob,t:,rr"g that the product prrr2t is equal to the massm of the plate and tiat lae, : lnB,,we write t}e massmomentsof inertia of a ciriular plate as follows:
lee':lg':[mr2
lcc,:lee,*fts,:f,mf
(e.41) (e.42)
Fig,9,26
9.14 DETERMINATIONTHE OF MOMENT INERTIA OF OFA THREE.DIMENSIONAT BODY BYINTEGRATION

The moment of inertia of a three-dimensionalbody is obtained by evaluatingthe integral I = ! ,n drn. rf the body is rirade rr"-"geneous is _materialof density p, the element of -ass d.m"1" equd,to p dv andwe can write 1 ='p[ 12dv. This integral dependso"ti,roo' the shape of the body. Thus, in order to coirpute'tt" *onl"i or inertia of a three-dimensionalbody, it will geneially be necessary to perform a triple, or at least a double, integration. However, if the body possesses two-planes of slmmetry it is usually possible to determint the body's rioment of inertia with a single integration by choosingas the ellment of massd.m a thin slab to yhi:h is^perpendicular the planes of symmetry.In the case of bodiesof'revolution, for example,the element of masswould be a thin disk (Fig. 9.27).Using forinula (9.42),the moment of inertia of the disk with respect to the axis of revolution can be expressedas indicatedin Fig. 9.27.Its moment of inerlia with respectio eachof the other two coordinate axes is obtained by using formula (g.41) a1{,the.parallel-axistheorem, Integration of the expiessionobtained ' yields the desired moment of ineria of the body,
dI, = d1r, xzdm= (!rz * xz)am + dl,= 47^, x2dtn= (|rz * *z)ar" + Fi1.9,27 Determinotionthemoment of of inertio o bodyof revolution. of
9.I5 MOMENTS INERTIA COMPOSITE OF OF BODIES

The moments of inertia of a few common shapesare shown in Fig. 9.28' For a body consistingof severalof theseiimple shapes, the moment of inertia of the body with respect to a givin axis'can be obtainedby first computingthe momenti of inertia"ofits component parts about the desired axis and then adding them togeth"r, i, *", the casefor areas,the radius of grration of a"compositle bodv cannot be obtained by adding the radiiif g;rrationof its'comporre/parts,
of.lnertiq,.of Momenls 9.15 517 LomDosrfe Eooles
rod Slender
I r = I u =m L z t
4= |m(b2 + c2) Thin rectangularplate I V =E m c '

. 1 I7= 6mo' I
\= $m(b2+ cz)
prism RectanguJar
lr= jm@z + a2) I " = j m @ 2+ b 2 )
Thin &sk
Circular cylinder
4= f,maz
lr=I^: jrn(3a2 + L2)
3 1r= l\rna'
Circular cone
I r = I ^ = | m ( l a z+ h 2 )
Sphere
l,= ly = l"= lmaz
Fig. 9.28
of Moss moments inertioof commongeomelricshopes
::a;":-::,::..t,:..:\:?:.:l*.:,,r;::,t:,!-l:
5A*TPIE PROBLEAfi 9.9

l l |-L-------------r ) t
Determine the moment of inertia of a slender rod of length L and rnassrn wrth respectto an axiswhich is perpendicular the rod and passes to through one end of the rod.
,l
i
a::a::::.:..;::...,
t_________ /+_______:__a_:3x ____*l la,l

F-t-------,1
Choosing the difl'erential element of massshown, we write rn, , am : Tdx

rll
: Ifx ' d m :f L x ' ' - , ^ : f + { l t 1

) Jn L LL3.lo
tr:
lml,r
44
SAftIPtE PROBLETA 9.IO

For the homogeneous rectangular prism shown, determine the moment of inertia with respect to the z axis.
'':l:: :::ir::-:-..- : :,. :::.::i ::t..',-:. 1 :.
f,_,
soLlrYtor.l
We c'hoose the differential element of massthe thin slab shown; thus as 1rp: pbc dx
Referring to Sec. 9.13, we ffnd that the moment of inertia of the element with respect to the a' axisis
: 41.. sb2dm
Appllng the parallel-aris theorem,we oblajn the massmomenI of inertia of the slab with respectto the e axis. d l , , + x 2d m : l r b ' c l m I x 2d * : ( , t r b ,+ x 2 ) p b c x d : 0 to r : a, we obtain Integrating from r dt":
r.:
dx + I dr": JIo (ibt + xn)pbc : pabc($b2 !a27

,o.b:, *" can write : : = *(#b2 + Iot) . 1 - ; { o l i { 4 n :+ } r )
r"
Since the total massof the prism O t,:
We notethat if the prismis thin. b is smallcompared a. and the expression to f'or 1. reduces to !m,a', which is t1le result obtained in Sample piob. g.g when L : a.
518
Determine the moment of inertia of a rieht circular cone with respect to (a) its longitudinalaxis.(b) an axis through the apexof the cone und p"rpendicular to its longitudinal aris, (c) an axis through the centroid of the cone and perpendicular to its longitudinal axis.
$otuTrof{
We choose the differential elernent of mass shown.
, :
";
a2 1 9.t 6* : pr4 dx : onlxz
r .,
dx
*. &t*rxen? cf Inertic lu. Using the erpressionderived in Sec.9.13 for a thin disk, we compute the mass moment of inertia of the differential element with respect to the r aris.
: ttr, 1,to^:
.(,i)'(r"
;'"r
,,r) : ;p,oô"ro ,tr
Integratingfrom r : 0 to r : h,we obtain
f. : I r/f,: I ipn *r'dx: ipn,t J J o n t s:

Since the total mass of the cone is rn : lproth,
fn ,
0^ o ,
noh'
,'oprra"h
4t
we can write
: : 1,: ftpnaah rto'(Ipno'h) Sma2 7-: fitttt' .,;:

element is used. Applyrng b, &1s*:enf of *ner?ic f"- The sameclifTerential the parallel-axistheorem and using the expressionderived in Sec. 9.13 for a thin disk, we write dtr: d t r , + x 2d m : l r 2 d m + 1 2d m : ( I r t + x 2 )d m
for Substituting the expressions r and dm into the equation, we obtain

a ! / a ' + | \ , . dx + n, : ," "')(n'bi ) *\on, )ra loL^,x' t / a' * \h' t ') ) " t , ,: f a r ,: 1 " o'o o , '-, ( ' L ^ . . '" d:" ' ) t J o " h ' \ + h" . r " n"\+nt
dt, :
/ l a 2
\ /
n 2
Introducing the total massof the cone nr, we rewrite I, as follows: janti];a2 + tz2i ,r,: l, : tu : *(Ia" + h2)!pna2h c" Marnenf ai lnerti* iy" We aplly the parallel-axistheorem and write Ir:lr"*mx' Solving for t, and recalling that r : fh, we have 1r, : I, - mi2 : **(Ion + hn) - *(?h)n * 1..= r',,rnia; ll,:l
-;
5r9
3 in ---l
g.l2 sAfi[pLE pROBtEtvt

consists a 6 x 2 x 2-in.rectangular andtrvocylin_ of prism f , ,- *^]l.lf fiS_rn_q in. andlength dersotdiameter 2
3 in. asshown. Detelrmine moments the +rin. oI rnertiaot thetorging the coordinate axes, knowingthat "l 'l" Tt]r 1"^lp:,"l"to the speciffc weightof sieelis 490 lbfC.
I A l
sotuT:oFl
omputolionof Mosses Pri*m
2.5 in.l V = ( 2 i n . ) ( 2i n . X 6 i n , ) = 2 4 i n s (24 in3)(490 lb/ft3) \l : ----------: 6.81 ]b L728 in3/f{
6,81 tb
ITL _
32.2 ft[s2 Each Cctlirder
= 0.211 . szlft lb
vwm :
n ( t i n . ) 2 ( gn . ) = 9 . 4 2t n e i
(e.42lrf tblfc) )(4so : 2'67lb I?rt"f/ftt32.2 ftJsz
2.67 tb = 0.0829lb . s2lft
&ltomen* of l*ert{s. The moments of inertia of each component are comFig.9.28.,usingthe parallel-axis theorem*herr'n"cessary. Note lur."d,,flo* that all lengtlrsshould be expressed Feet. in Pr{srn I * : t , = + ( 0 . 2 1 1 t U . s ' l f t ; ; 1 $ f t ) ' ( *+ t ; r 1 : 4 , 8 8 x 1 0 - 3 l b . f t . s 2 9 f I , : $ ( o . z t n b . s e z f t ) t ( # f t ) ' + ( # f t ) r l : 0 . s 7 7x 1 0 - 3 t b . f t . s 2 Each Cgliwler
I, : !.ma2 *i, : |1o.oszs . s2lft)(# + lb rt), t= + ( 0 . 0 8 2 9 I b . s , / f [t t))(2 2 . 5 9 1 0 - 3 l b . f t . s 2 x r, : $meaz + L2) : mi2 : #(o.oszs . srlft)[s(# + (* ft)2] lb ft), + (0.0829 . szlft)(ifft)t : +.tz x 10-3lb. ft . s2 lb 7-: Smea2 L\ + m(i2+y'1 : $1o.oszs . srlft)t3($ft)r+ + tu (#ft)rl H ) t + ( 0 . 0 8 2 9 I b . s 2 l f t ) t ( + f(t3 'f ?) ' ?:1 . 4 8 x 1 0 3 t b . f t . s 2 6
Ezztire Bod.g" Adding the values obtained.
1":4.88 x t0-3 + 2Q.Sg I0-3) x Iv: 0.977 1o-s+ 2(4.\7x 1o-3) x 1" : 4.88x 10-3+ 26.49x 10 3)
f., * Il?"li{i x :**" fi] . jt . r: .tii 1,, : *"*2 x ll{}*'r lh " {j: . s2 ":s {,_: }7.&4 x lf}-:r }}: . {i . sr .,n
s20
VI
i;;t
'
*"*,
9.I3 SA'I'IPIEPROBLEM
ffi lffi*90
(^
ry; -p*qx,4
100
Dimensions in mm
,u'>-:=
A thin steelplatewhich is 4 mm thick is cut and bent to form the machine ituowing that the densityof steelis 7850 part shown.
SOLUTIOH
We observe that the machine part consistsof a semicircular plate and a rectangularplate from which a circular plate has been removed.
r=0.08m
Ccmputrofionof Mssses. Semicireulor Plare : v, : lrrft: l z - ( 0 . 0 8m ) 2 ( o . o o a m ) 4 0 . 2 I X 1 0 - 6m 3 kg tr\: pVt: (7.85 x tOskg/*3;(40.2l x 10-6*3) : 0.3156 Rectangulo,r Plate m) m)(0.004 : 128 x 10-6 m3 % : (0.200mX0.160 x mz: pVz: (7.85x 103kglm3)(r28 10-6 m3) : f.005 kg Circular Plste m) vs = na2t = ri(0.050 m)2(o.ooa : 31.42 x 10-6 m3 kg ms: pYs: (7.S5x 103kg/m3)QL42x 10-6 m3) : 0.2466 ?=0'16-Mcments of lnerlis. Using the method presentedin Sec.9.13,we compute the moments of inertia of each component. Se*ficirerilar Ptste. From Fig. 9.28, we observethat for a circular plate of massm and radius r l,: f,mrz Iy : l": lmrz
1.<hh
Becauseof symmetry we note that for a semicircularplate
1,: l1lmrz)
Iu : I" = l(lmrz)
Since the mass of the semicircular plate is m1 : jrzi, we have
x m)2 kg kgX0.08 : 1.010 10-3 . *t t,: f,ms2:](o.stfo x kg)(0.0s : 0.505 10-3 . m2 m)' kg tlt: t.: iG*f): f,ms2:i(o.srso
&eet*tgxlar ?tate . x k 6 t , : $ m 2 c 2 : # ( t . O o Sg ) ( 0 . 1m ) z: 2 , 1 4 4 1 0 - 3 k g m 2 = 13.400 10-3 . *n = !m2b2: |1t.oof x kg tgl(0.2m)2 1: X kg + ty = t, + t": (2.144 13.400)(10-3) I5.5a4 10-3 . *',
{irclg''kxc'?t&te
: x kg m)2 7,: f,msaz I!.z+oo kg)(0.05 : 0.L54 10-3 ' *' Io: lmraz + m3d2 " : jio.z+oo x kg kg)(0.1 : 2.77q 10-3 .-t m)2 m)2 kgX0.05 + (0.2466 : i$z+aa kgX0.05 + (0.2466 m)z kg)(0.1 m)'z + I": f,m3a2msdl : 2.620 10-'ks ' m' x
fufirr P*tl Mal...hine I . : t l . 0 l 0 + 2 . 1 4 4 0 . 1 5 4 ) ( 1 l0 g ' n ' l t + /r:10.505 15.544-2.77410-rlkg'.'+ i'" : (o.SOS 13.400 2.620)(10-3)[g'*' 'Lg'lr,r -:: I , : ; J . i X l\ l t i l r = 1 3 Z l ' i xl { i r k g ' n r - ' j r . I.: 31.** x :*-3 kg' r# .&
521
ffi%k'# 3% p ;&.f# 3a ffi%ffi*'ahffi

g ..".# v.# ' # * e""# ? & {:#&-8g ' n 8 " #a,e V .p *# & &:*. r r t3 " & &
.o.:.'.:.."-t.::-::'"lr..-:.":..4..J...........-....:...-...'.-,:."
inq, ig (9'29)l' We also derived a parallei-axistheo'remfo. ,i" with -ass'nioments of' inertia and discussed computationof the iliassmomentsof inertia the and three-dimensional "ir1,i" fi",", bodies.
i " {,*mpwtinT wres*sm*m*ret* &**rt\x" Tlie massmon-ient ilertia *{ of 1 of a boc\ to a given axiscan be calculatecl directly from the a"nnitiu11gi""r, i,, Yth lespect Eq. (9.28)for sJrnple shapeslsaurpreprob. g.g]. irr most cases, howev?ait is necessary-to diude the bodv irrto thin slabs,cornputethe moment of ilertia of a tlpical slabwith respectto tlc given:rxis-using tfie parallel-aris theorerl if neces, sary-and integratethe expresJion obtained. 2, &pp'ying tbz*pwr*N\*2-ux1s tke*r*ss. In Sec.9.12we clerived parallel-axis the theorernfor massrnotlientsof inertia I:i+nLrJr (9.33) which statesthat the rnoment of inertia 1 of a boclyolmass rn with respect to a given axis_is equtrlto the sum of the rnomentof lneitia 7 of that bodv wit6 resDect to aparallel centroiclal a.t'l,r the product nrd2,where d i, th" .1iri"r.""'t,"#"",, and the two ares.Wllen the rnolrientof inertia of a three-climensional body is calculated with respectto one of the coordinate axes, canbe replacedt y itr" ,r,r, of cl2 the squares distances of measured alongthe other two coordiriate ro"r'tnqr- lg.szl and (9.32')1. 3. Av*idimg sssnit-re'1'wt*& *r{*{$. To avoiclerrors,it is esserrtial that vou be cor,sistentin your use of units. Thus, all lengtlis should be explessed meters or in feet, as appropriate. a1d f9r-problernsusiig U.S. customafunits, rnasses s6ould be given in Ib ' s-/ft. In addiliou, we stron[ly recomnencl iLnt yo., lnchrcler11iis as you performvour calculations lsarnpleprobs.g.12and g.13]. &' e*&{,wf,xtzrrg {&*6s *t&{ye*nt*# in*rti* ** t*z&* g;!r*t*s" tk* We s}rowediri Sec' 9.13 that the rnassluornent of incrtia of'a thin plate with respectto a given axis can be obtairiedlly rnultrylyingthe correspondi^ng moment o?'ilertin o? tl," area of the plate_bf tlt" densityp-and tlie thi^ckness"f the plate of [Eqs. (9.35) through (9.37)1. Note that sincethe axisCC' in Fig. 9.24cis io Truryunrliruinr tl.te pla.te, 1g6,,,,.^,,associated is^ with the Ttolar'o'rent'of i'ertia /c.n*o. Instead of calculatingdirectly the morrient of inertia ti"*'ifri" pJatcr,vitir respectto a specifie'd aris, you rnaysometimes find it convenient firsi contprrte to its motlent of inertia with respect to an a,risparallel to the specified ir-ris und ilr"r, apply the parallel-aris theorern.Further, to dêtermine njrornent inertia of ii the of thin plate with respecttoân:r-xis perpendicular the plate, you maywish to first to detcrmine its tlron'ients inertiatwith respectto two p"tp"r.di",llar'in-plane iuies of and then use Eq- (9.3E).Finally, ."rn"rr6"r that the na'ssof a plate if area A, thickness and density-pis m : ptA. f,
arroii of a three-dimensional withrespect ; g;; body i"
$n
this lesson we introduced the ntossttrotllent of inertia and the racl,ius of sura.-
;i,
jsil*a
522
integrction"\Ve 5. Determining mcment inertiaof c body by direetsingle the of

discussedin Sec. 9.14 and illustrated in Sample Probs. 9.10 and 9.11 how single i n t e g r a t i o nc a n b e u s e d t o c o m p u t e t h e r r r o r n e n t l i n e r t i a o f a b o d y t h a t c a n b e o divided into a series of thin, parallel slabs. For such cases,you will often need to expressihe massof the body in terms of the bodys density and dimensions.Assurring that the body has been divided, as in the sample problems, into thin slabs perpendicular to the r aris, you will need to express the dimensions of each slab as functions of the variable r.
slab u, In the specislcoseGf c body af revoiu?ion, elemental is a thin the the be to disk, theequations and given Fig.9.27 in should used determine moments of inertia the bodylSample of 9.11]. Prob. b, In the generel{dse, when the body is not of revolutisn, differential the
element is not a disk, but a thin slab of a different shape,and the equationsof Fig. 9.27cannotbe used.See,for example, Prob.9.10,rvherethe element Sample was a thin, rectangularslab. For n-iorecomplexconfigurations, you may want to use one or more of the following equations, rvhich are basedon Eqs. (9.32) and (9.32') Sec.9,12. of d I , : d I , . + r y ) r- : i r ) d n t t t l l , , : r l l , , , - t - = l+ r ; r 6 1 p : di. + tr) * yirt tlnt tlt r,vhere the primes denote the centroidalaxesof each elementalslab, and u'here of ia,i"u and-zrirepresentthe coordinates its centroid.The centroidalmoments of inertia of the slab are determinedin the manner describedearlier for a thin mornentsof the plate: Referringto Fig. 9.12 on page485, calculate corresponding inertia of the area of the slab and multiply the result by the density p and the thickness of the slab.Also,assuminq r that the body hasbeen dividedinto thin slabs r11,by addingtll,, and ihat to perpendicular tlre.r aris.l.e,ne,nb"", you can obtaitr of d1.,insteadof computingit directly.Finall,v, usingthe geometry the body,express the result obtainedin terms of the singlevariabler and integratein r. in 6. eomputing flre moment of inertlc of e compc$;tebady. As stated Sec.9.15, the moment of inertia of a corlpositebody with respectto a specifiedaxisis equal with respectto thnt tr-xis. Sample to the sum ol the momentsof its components Probs.9.12 and 9.13 illustratethe appropriatemethod of solution.You must also rememberthat the rloment of inertia of a componentrvill be negativeonlv if the tas is of cornponent retttttretl in lhe c'ase ii hole). are Althoughthe composite-body problemsin this lesson relativelystraightfonvard, errors.In addition,if sone lvill haveto u'ork carefullyto avoidcomputational you of the momentsof inertia that you need are not given in Fig. 9.28,you will have of to derive your own formulas,using the techniques this lesson.
523
9.lI!
B'
Determine the massmoment of inertia of a ring of massrl?.cut from a thin uniform plate, with respect to (i) the aris AA,, (b) the centroidal axis CC' that is perpendicular to the plane of the ring.
9.112 A thin semicircular plate has a radiusa and a mass???. Determine the mass moment of inertia of the plate with respect to (a) the centroidalaxisBB', (b) the centroidal axisCC' that is perpendicular to the plate.
Fig. P9.lll
Fig. P9.tt2
9.!13
Fig. P9.ll3
The quarter ring shown has a mass nr. and was cut from a thi', uniform plate.Knowing that 11 : ]r2, determinethe massmomenr of inertia of the quarter ring with respect to (a) the axis AA,, (b) the centroidal axis CC' that is perpindicular to tlie plane o{ the quarter ring.
9,t14 The parabolic spandrel shown was cut from a thin, uniform plate. Denoting the mass of the spandrel by m, determine its massmorlent of inertia with respect to (a) the axisBB,, (b) the axis.DD' that is perpendicularto the spandrel.(Hint: SeeSample Prob. 9.3.)
Fig. P9.l14
9.II5
A thin plate of massra was cut in the shapeof a parallelogram as shown. Determine the mass moment of inertia of the plate with respect to (a) the x axis, (b) the axis BB', which is perpendicular to the plate. A thin plate of massm was cut in the shapeof a parallelogram as shown. Determine the mass moment of inertia of the plate with respect to (a) the y axis, (b) the axis AA', which is perpendicular to the plate.
Problems
525
9.tt6
9.117 A thin plate of massm has the trapezoidalshapeshown.Determine the massmomentof inertia of the plate with respectto (a)the r axis, (b) the y axis. E.ll8 Athin plate of massrn has the trapezoidalshapeshown.Determine the mass moment of inertia of the plate with respect to (a) the centroidal axis CC' that is perpendicular to the plate, (b) the axis AA' that is parallel to the r axis and is located at a distance 1.5a from the plate.
B' Fig. P9.l15 ond P9.l16
9.1 19 The areashownis revolvedabout the r axis to form a homogeneous solid of revolution of massrn. Using direct integration, expiessthe mass moment of inertia of the solid with respect to the r axis in terms of m and h.
4,,1 ,:,::i I
..,.'i I . :t,i I
,:,':,i I ',:'..::i
:1,: i
:r.:a:i
,1',.t;,i I
::.ili 2h I ,.:::i I
I
I
Fig. P9.ll7 and E.ll8
,t,r:i I
V
,:ri
Fig. P9.ll9 q.l2g Determine by direct integration the massmoment of inertia with respectto the y axis of the right circular cylinder shown, assuming that it has a uniform density and a massnr.
9.121 The area shownis revolvedabout the r axisto form a homogeneous solid of revolution of massm. Determine by direct integration the massmoment of inertia of the solid with respect to (a) the r axis, (b) the y axis. Expressyour answersin terms of m and the dimensions of the solid.
Fig. P9.l20
ts- a----F--2" Fig.P9.l2l
----)
526
Distribured Forces: Moments Inertio of
9.122 Determine by direct integration the massmoment of inertia witr respect to the r axis of the tetrahedron shown, assumingthat i has a uniform density and a masszr.. 9,123 Determine by direct integration the massmoment of inertia with respect to the y axis of the tetrahedron shown, assumingthat it has a uniform density and a massrn. *9.124 Determine by direct integration the massmoment of inertia with respect to the a axis of the semiellipsoidshown, assumingthat it has a uniform density and a massm..
tig. P9.r22 and P9,123
Llz t2 : r L a a - l "2
6 z ' S z 's z - '
lis. P9.124
*9.125 A thin steel wire is bent into the shapeshown. Denotins the mass per unit length of the wire by m', determineby direct i"ntegration the massmoment of inertia of the wire with respect to each-ofthe coordinate axes.
Fig. P9.125 9.126 A thin triangular plate of massrn is welded along its base AB to a block as shown. Knowing that the plate forms an angle g with the y axis, determine by direct integration the mass moment of inertia of the plate with respect to (a) the x axis, (b) the q axis, (c) the a axis.
tlg.4).126
9,127 Shown is the crosssection of a molded flat-belt oullev. Determine its massmoment of inertia and its radius of gyration'with respect to the axisAA'. (The density of brassis 8650 kglm" and the density of the fiber-reinforced polvcarbonateused is 1250 ks./mr.)
Problems 527
Neoprene
F 9.5mmi
r / . Dm m
tig. P9.r27
'*'' \-o
| -l-
E- ry
. *-*.=__
IJ
, 1 1. f-16t"1
/ /
'/ i'"
i*'
J
/'Aluminum
r-
9.128 Shown is the crosssectionof an idler roller. Determine its mass moment of inertia and its radius of gyration with -respect to the axisAA'. (The specificweight of bronze is 0.310lb/in"; of aluminum, Fig. P9.128 0.100lb/in3;and of r."opt"n", 0.04521b/in3.) 9.12q Knowing that the thin cylindrical shell shown is of massnr.,thicknessf, and height h, determine the massmoment of inertia of the shell with respectto the r axis.(Hint: Considerthe shell as formed by removing a cylinder of radius a and height h from a cylinder of radius a + 7 and height h; then neglect teims containing f2 and f3 and keep those terms containing f.) 9,130 The machinepart shownis formed by machininga conicalsurface into a circular cylinder. For b : jft. determine the massmoment of inertia and the radius of gyration of the machine part with respectto the 17 axis.
z
IO
Fig. P9.129
z"
7
Fis. P9,t3O
528
9.131 After a period of use, one of the blades of a shredder has bee' worn to the shapeshown and is of mass0.rg kg. Knowing that ihe massmoments of inertia of the blade with respect to the"AA, and BB' axes 0.320-9. me and 0-6g0g . *r. respectively. are determine (a) the location of the centroidal axis-GG,,(b) the radius of gyration with respectto axis GG'. 9.132 Determine the massmoment of inertia of the 0.grb machine component shown with respect to the axis AA,.
Fig. P9.l3l
0.4in
9.t33
fI
A square hole is centered in and extends through the aluminum machine componentshown. Determine (a) the va=lue a for which of the massmoment of inertia of the componentwith respect to the axisAA', which bisects the top surface of the hole, is^maximurn, (b) the correspondingvalues of the mass moment of inertia and the radius of gyration with respect to the axis AA,. (The specific weight of aluminum is 0.100 lb7in3.)
2.4in.
tig. P9.132
9"134
Fig. P9.133
The cups and the arms of an anemometer are fabricated from a material of density p. Knowing that the mass moment of inertia of a thin, hemispherical shell of mass ?71 and thickness f with respect to its centroidal axis GG' is 5ma2/I2, determine (a) the mass moment of inertia of the anemometer with respect to the axis AA', (b) the ratio of a to I lor which the centroidal moment of inertia of the cups is equal to 1 percent of the moment of inertia of the cups with respect to the axis AA'.
Fig. P9.134
9.135 End q.lg6 A 2-mm thick oiece of sheet steel is cut and bent into the machine componentlhown. Knowing that the density of steel is 7850 kg/m', determine the massmoment of inertia of the componentwith respect to each of the coordinate axes.
Problems 529
Fig. P9.135
Fig. P9.136
9.137 The cover for an electronic device is formed from sheet aluminum that is 0.05 in. thick. Determine the mass moment of inertia of the coverwith respectto each ofthe coordinateaxes.(The specific weight of aluminum is 0.100 lb/in'.)
/1-M
nf,,,*
Fig. P9.137
Fig. P9.t38
9,t38
A framing anchor is formed of 0.05-in.-thick galvanizedsteel. Determine the massmoment of inertia of the anchor with respect to each of the coordinate axes.(The specific weight of galvanized steel is 470 lb/ft".)
,l
for 9,t39 A subassembly a model airplane is fabricatedfrom three pieces
.<."' ^f I (,--l.^',^^.1 Nlonlo^tiic Neglecting tho *o". ^f +ho o.]hosi.ro used to "- \ the massof the adhesiverr"o,] t. of 1.5-mm_plylvood. / \o ** the three pieces,determine the massmoment of inertia assemble \=r,,-t-\ with respect to each of the coordinate axes' of the subassembly Fig' Pg.r39 (The density of the plywood is 780 kg/m".)
530
Distributed Forces: Moments Inerrio of
"9"t48
toeachthe of coordinate ares, NeIleU 11; I"J,-:rt:;lS;c,

?'l;ll The machine element shown is fabricated from steel. Determine the mass moment of inertia of the assembly*ith ,espe"i to (a)the x axis.(b) rhe y axis,(c) the z axis.(ThJ a*rrity"i'rt"a i, 7850 kglm3.)
A farmer constructs a trough by welding a rectanqular piece of z-mm-thick sheet steel to half of a steell.,rrn. Kri"ine ihat the density_ofsteel is 7850 kg/ms and that the thickness oftt" ."urr, of the drum is 1.8 mm, ditermine the massmoment of inertia of
Fig. P9.I4O
Fig. P9.t4l 9.1*2 Determine the mass moment of inertia of the steel machine element shownwith respectto the y axis.(The specificweight of steel is 490lb/ft3.)
0.9in. 0.9in. 0.9in.
t \x l
J. / 1n.
--{.
tig. P9.142 ond P9.t43 9.143 Determine the mass moment of inertia of the steer machine element shownwith respectto the z axis. (The specificweight of steel is 4901b4t3.)
9.lltl*
Determine the massmoment of inertia and the radius of gyration of the steel machine element shown with respect to the r axis. (The densityof steelis 7850 kg/m3.)
Problems 531
Fig. P9.144 9.145 Determine the massmoment of inertia of the steel fixture shown with respect to (a) the r axis, (b) the y axis, (c) the a axis. (The density of steel is 7850 kg/m',)
80 mm
Fig. P9.145 9,146 Aluminum wire with a weight per unit length of 0,033 lb/ft is used to form the circle and the straisht members of the figure shown. Determine the mass moment"of inertia of the assemblywith respect to each of the coordinate axes.
532
Diskibured Forces: Momenrs Inerrio of
9.147 The figure shown is formed of $-in.-diametersteerwire. Knowins thar the specific weight of the steel is 490 lb/fts, deter*irre ih3 mass moment of inertia of the wire with respect to each of the coordinate axes.
Fig. P9.148
9.148 A homogeneous wire with a massper unit length of 0.056 ke/m is used to form the figure shown. Determine tiie massmomEntof inertia of the wire with respect to each of the coordinate axes.
*9.16 MOMENT INERTIA OF OFA BODY WITH RESPECTAN ARBITRARY THROUGH TO NflS O. MASS PRODUCTS INERTIA OF
In this section_you-will how the moment of inertia of a body can see be determined with respect to an arbitrary axisoL through th6 origin (Fig. 9.29) if its moments of inertia with respect to"the three coordinate axes, as well as certain other quantitfos to be defined below havealreadybeen determined. The moment of inertia lo7 of the body with respect to OL is equal to I p'd*, where p denoies the perpbndicular histance from the element of massdm to the axis Of. If we denote by ,\ the unit vector alongOL and by r the position vector of the element d.m,we obs.erve that th-epelpendiculai distancep is equal to r sin d, which is the magnitude of the vector product i x r.twe therefore write
,o,:
x rl2 dm lp'd^: I ,^
(e.43)
Expressing-l), x rl2 in terms of the rectangular components of the vector product, we have
lo, :
- ).rx)2+ (\vz - l^y)2 + (i"x - ),,2)21 clm I l(t,y
where the compone^nt_s )tr, )." of the unit vector ,,\ represent the L, direction cosines of the axis OL and the componentsi, y, z of r representthe coordinatesof the element of masi drn. nxpatrdingthe squaresand rearrangingthe terms, we write - l ^ t I
Io r: tf, | e' * J "
+ 'J zz) dtn i?,I k2 + x2) dm i:l J G, + ar ) d ^ + '

J
l - 2A"A,, xu dm - zi,i" r yz dm - ZA?i, rzx I ^ t J J Y ' I r J I dm (9.44)
integrals we Befeffing Eqs,(9.30), notethatthefirstthree to I,' of p.aa)represent, the iespectively, moments inertia lr,,and in
/" of the bddy with reqpectto the coordinateaxes.The last three are of iirtegral, in (0,++),whicir involve,products coordinates, called
rJiieirucluocs of inertia clf tL- body with respect to the :c and y axes, the y and z axes, and the z and r axes, respectively. We write
Principol of 9.17 Ellipsoid Inertiq. ' Axesof lnertio
533
, . , : I x y d m 'r": vz dm 1",: zxdm I I
(e.45)
in Rewriting (9.aa) termsof the integrals Eq. in defined Eqs.(9.30) we and (9.45), have lsa: l,)\f;+ Iai? + Iîz - zl,,ti*Iu - zl,tî,tL^ zloi"I, (9.46)
We note that the definition of the products of inertia of a mass
givenin Eqs,(9.a5) an extension the definition the product is of of

of inertia of an area (Sec.9.8). Mass products of inertia reduce to zero under the sameconditions symmetryasdo productsof inertia of of areas,and the parallel-axis theorem for massproductsof inertia is expressed reLtions similar to the formula derived for the prodby for uct of inertia of an area. Substituting the expressions x, y, and z given in Eqs. (9.31)into Eqs. (9.45),we find that
r r
rf,t
--
ry
+ miy + myV \,, -l

I",r,
(s.47)
mzi
where i,iri a1ethe coordinates the center of gravity G of the of 1,,v,,1,,^,,1.,", body and denote the products of inertia of the body with respectto the centroidalaxesr', y', z' (Fig.9.22).
*9.17 ETLIPSOID INERTIA. OF PRINCIPAT AXES OF INERTIA

Let us assume that the moment of inertia of the body considered the in precedingsectionhasbeen determinedwith respectto a large number of axes throughthe flred point O and t}at a point Q hasbeenplotted OL on eachaxisOL at a distanceOQ : I/{I; from O. The locusof the (Fig. 9.30).The equationof that points Q thus obtainedforms a sur{ace suface can be obtainedby substituting7/(OQ)' lor -lsy in (9.46)and then multiplying both sidesof the equationby (OQ)'. Observingthat
(oQ),\.: r
(oQ)ro:y
(oQ)t,: z
where x,rJ,z denote the rectangular coordinates Q, we write of (9.48) I , x 2+ I r y n + I r z 2 - 2 l , r x y - 2 1 * y z - 2 1 = , z x : 1 The equation obtained is the equation of a quadric surface. Since the moment of inertia 161 is different frorn zero for every a'tis OL, no noint O can be at an infinite distancefrom O. Thus, the quadric 'fhis ellipsoid, which defines the ofitaitt"d rs an ellipsoid. ;;i;
Fig. 9.3O
534
Distribured Forces: Momenrs Inertio of
remnins unfficted, since its shapedependsonly upon the distribution of massin the givenbody.Suppor"th"t *" ascoordinate "hoir" axesthe principal z' ,*"r.I', y' , of the ellipsoidof inertia (Fig. g.3l ). Ine equatronot the eltipsoidwith respectto these coordinate axes is known to be of the form
-
wrth +v through !o anyaxisLruvu6' 0. is knor.vn a: the ellipsoid, of inlertia of^relpe$ thl noay ai b. we observe that if the a,xes Fig, g,B0 in are rotated, the coefficients of the equation defining the ell"ipsoid ,ir,". ;;;"rr. "h"r,g.. equal to the moments and products of ine.tia If rl,. r,odr'**h respect to the rotated coordinate axes. However, the ellipsoila *ery
moment inerria the bgdy of of
l x ' x - + l q , A ' '+ l " , z ' ' :
t9
,O
.o
(e.4e)
Fig. 9.31
which does not contain any-productsof the coordinates.Comparirrg Eqs (9 48) and (9.49),we o6serve that the productsof inertia'of the body with respectto the x', A',2,o", -,rit be zero.The x,,-u,'. z, axesare known as the princi,pal axesof inertia of the body at Ol, ^nd the coefficientsJ,,,.Ir,, e are referred to as the prtncl,pit marrcnts oJ inertia the bodyat O. Note.that, Syet a body of artitrary shape .o[ and.a point O, it is alyays possiblettfind axeswhich are the prin_ cipal-axgsof inertia of the body.at_o,_that axeswith respeit to is, yhi"! the products of inertia of'the body are zero. Indeed, wiatever the-shape of the body, the moments and products of inertia of the bg{y *!h respectto x, y, and z axesthrough O will deline an elhp_ soid,.and this ellipsoid will have p,nlcipal a*es*hich, by definition, are the principal axesof inertia oTthe body at O. I{ the principal axesof inertia x', A', z, are used as coordinate axes, expression the obtainedin Eq. (g.46)for the moment of inertia of a body with respect to an arbitrary axis through O reducesto
I6y : \trf,, + tv,i2s,+r",i?
(e.50)
Fis. 9.33
The determination of the principal axesof inertia of a body of arbitrary shape is somewhat involved and will be discussedin the next section. There are many cases,however,where these axescan be spotted immediately,Consider,for instance,the homogeneous cone of elliptical-base shown in Fig. g.B2;this pos"ires two "otr" mutually perpendicular planes of symmetry OAA, an[ OBB,. From the deftnition (9.a5), we observethat if the x'y' and y'2, planes are chosento coincide with the two planesof symmetry all of the products of inertia are zero. The r', q', and i' a"es ihus selectei are therefore the principal axesof ineitia of the cone at O. In the case of the homogeneous regular tetrahedronOABC shownin Fig. g,33, the line joining the corner o to the center D of the oppositJface is a pr:incipal_axis inertia at O, and any line through O p-erpendicular of Io OD is also a principal axis of inertia at O. Thii propetty is apparent if we observethat rotating the tetrahedron thiough iZ0' a6out OD leavesits shapeand massdistribution unchanged.lt follows that the ellipsoidof inertia at o alsoremainsunchanged under this rotation. The ellipsoid, therefore, is a body of revolution whose a:risof revolution is oD, and the line oD, as well as any perpendicular line ' through O, must be a pnncipal axrsof the ellipsoid.
*9.I8 DETERMINATION PRINCIPAT AXES OFTHE AND PRINCIPAT MOMENT$ INERTIA OF OFA BODY ARBITRARY OF SHAPE
The method of analysisdescribedin this section should be used when the body under considerationhas no obvious property of symmetry. Consider the ellipsoid of inertia of the body at a given point O (Fig. 9.34);let r be the radiusvector of a point P on the surfaceof the ellipsoid and let n be the unit vector along the normal to that surfaceat P. We observethat the only points where r and n are collinear are the points Pr, Pz,and Pr, where the principal axesintersect the visible portion of the surfaceof the ellipsoid. and the corresponding points bn the other side of the ellipsoid.
9.lB Determinotion the Princiool Axes ond of Principol Momentsof lneriioof o Body of ArbitroryShope
535
We now recall from calculus that the direction of the normal to a surface equation/(r,y,^): 0 at apoint P(x,y, z) is defined of by the gradient V/of the function/at that point. To obtain the points where the principal axesintersect the surfaceof the ellipsoid of inertia, we must therefore write that r and Yf are collinear, Yf : (2K)r where K is a constant,r : xi + Aj + zk, and Vf:ai+-1i+'k " Ex 6!/" 0x
(e.51)
af
ar
af
RecallingEq. (9.48),we note that the functionflr, y, e) corresponding to the ellipsoid of inertia is : I,xz * lry' + l,z2 - 2l,oxy - 2l*yz - 2l,,zx - L f(*, y, z) for Substituting r and V/into Eq. (9.51)and equatingthe coefficients of the unit vectors,we write
l,x -Iryll -I"rz:Kr. -I*rx * Ioy - Io"z : Ky

-lrrx -Io^ylIrz:Kz
(9.52)
536
Dividing each term by the distancer from O to P, we obtain similar equationsinvolving the direction cosinesI", Iy, and ),.: -l*lo-I^,).":K).* \tr, -l*ul, + Iuiy - ly^l^: Kl, -I^,tr, - Iy"iy + I"i" : Ki" (9.58)
Transposing right-hand members leadsto the following homogethe neouslinear eouations:
(1,- K)i, - l,vtrv I^,).":0 -l"vtr, + (Iy K)ty - Ir"l" : 0 -I.*tr* - l,^tru (I" - K)1,: g +
1 - I
(e.54)
For this system equations havea solutiondifferentfrom ,[" : of to lv : l" : 0, its discriminant mustbe zero: 11"-K -1",, -t." t ' , l-r* rr-K-tr^
l_1", _lr^
x'-
l:0 I" _ Kl
(9.55)
Expanding this determinant and changing signs, we write
(r"+ lv+ l^)K'lQJ, \lyl,+^lÎ,- I'* I'v^- I'",)K - qi,lrl" - LI?^ - irl\."- LI'*v- zI,aI;J,"): 0 (9.b6)
This is a cubicequation K, whichyieldsthree real,positiveroots in K1 Kz,and K3.

To obtain the direction cosinesof the principal axiscorresponding to the root K1 we substituteK1 for K in Eqs. (9.54).Sincethese equationsare now linearly dependent,only two of them may be used to determine).,, ).r, and tr". An additionalequationmay be obtained, however,by recalling from Sec.2.I2 that thê direction cosinesmust satisfzthe relation
tl+tl+^2:L
(e.57)
Repeating this procedure with K2 and K3, we obtain the direction cosines the other two principal axes. of We will now show that the roots Ky, K2, and ft of Eq. (9.56) are the principal momentsof inertia of the giaen body. Let us substitute for K in Eqs. (9.53) the root K1, and for .tr",trr, and ,\" the corresponding values(),")r, (,\,i)r,and (i.)1 of the direction cosines; will be satisfied. now multiply by (,\,)r, (,\,/)r, We the three equations eachterm in the first, second, and (),,)1, respectively, and third eqirain this way, We write tion and add the equationsobtained
+ + r?(i")? n(1,)? C(Dl- 21,,(I")r(I,)1
-"zt;,(Iu)r(i^)r- 2I*(i,)r(tr.)r": Kr[(n,X+ (IyX + (i"X]
RecallingEq. (9.a6),we observethat the left-hand member of this equation representsthe moment of inertia of the body with respect to the principal axis correspondingto K1; it is thus the principal moment of inertia corresponding that root. On the other hand, to (9.57),we note that the right-handmember reducesto recallingEq. K1. Thus K1 itself is the principal moment of inertia. We can show in the same fashion that tri2 and K3 are the other two principal moments of inertia of the body.
,rl
C
pRsBffifinq.74 sA#tpt"E
-T
I
D --7
..1
l
Consider rectangular a prismof mass andsides m (a) a,b, c, Determine the moments products inertiaof the prismwiih respect the coor&nate and of to (b) axes shown, its momentof inertiawith respect the diaeonal to OB.
x
S*f.UTlSf-X
2 F
c. I**rnents nnd Prcd*cfs af Inertia with Respe*fio the Ccerdincfe Axes. &ta,tnentraf lrrerti*. Introducingthe centroidalaxesx', y', z', with respect which the moments inertia are givenin Fig. 9.28,we to of applythe parallel-axis theorem: I, : I,, + *(it + z2): #*(tt' + c2S m1|b2 lc2) + + = itt,1l/ + c:, ::: 1,.
Similarly, "1lu * ::;vs1{a:1a12's I- * l{rttuz + !tz} .,#4 ?roductx *f fr*erti*. Becauseo{ symmetry tle products of inertia with respectto the centroidalaxesx', U',2' arezero, and thesea,{es principal are axesof inertia. Using the parallel-axistheorem, we have
+ I"v : 1,,v, mTy : o + m(tra)(ib) {,, : lr*ab

Similarly,
2uF
L,,-
'r.:ii
: lmbc
!.,. = tint{'tl ",'tti.
,rl
I
, u_-----7 /
b
H --7 {
h" i{sme:rt af Inerticr wifFrR*specl Q&. We recall Eq. (9.46): E* + 16 = l,\f, + tvi?y t"Iz - zI,yI,Iv- z l , - ) . , i , - 2 1 . " 1 - 1 "
l' ! '
where the direction cosinesof OB are OH a r:cosUr: oB (a2+b2+c2)r/2 b C
trv:
(a2+b2+c2)r/2
(a2+b2+c2)r/2
- Substituting the values obtained for

IoB:-;,-:
I
the moments and products of inertia and for tle direction cosinesinto the equation for l6e, we har.e a-+D-+c-
-ltm(b2
+ c 2 ) a 2t r m ( c 2 a 2 ) b+ ! m ( a 2+ b 2 ) c 2 + + 2
-lrnazb2 tit {z-t
t tta
t 1t ] - ;
!mb2c2 .|mcza2l
- + l j, - ) t :: '- + a r ii
{t
tf +b2+r;:
Nta:re**it:* S**,tirsx. The rnoment of inertia Iep canbe obtained directly from the principal momentsof inertia 1,,.1u .1., since the line OB passes through the centroid O'. Since the x' , y' , z' axesare principal aresof inertia, we use Eq. (9.50)to write
;=
+ Ion:1,11 + i,,I?, 1.i:

I lrn ., ____- _i_ib-ot + b' - c-ll2 ttr c - ) a -+ _ ( c l2
+ a2)b2 + 3&'+ b')"'f
537
..... :
iita..
1:l
"::,
:l.r',. :.at,
g.I5 s*ffiplr pRsnlxJ?t

If a : 3c and b : 2c for the rectangular prism of Sample Prob.9.14, determine (a) the principal moments of lnertia at the origin O, (b) the principal axesof inertia at O.
'i:l'
!;' aa":.:
:l;',
.a::aa':. :al,:'
.::::. a::at :::at::,ta:;: :a:: : : : ::::a,.::::::::.' ;: a:
*grlrYr*ht
*. Srin*ipal idam**ls af l***!i* a? ** &rigin *" Substituting : 3c a andb : 2c into the solution Sample to Prob.g.14,we have
7, : ]mcn ly : *mcn
l":
1,, : |mc2
Ir" : tr-.'
r-, : |mc2
!mc2
S^rrbstituting values of the, moments and products of inertia into Eq. the (9.56) and collecting terms yields x3 - (ffmc2)K2+ (ffimzca)K - ffm3c6 : o We then solvelor the rootsolthis equation:from t]re discussion Sec.9.1g, in it {bllows that these roots are the principal moments of inertia of the body at the origin. Kt: 0.568867mc2 tit * tl.5#.*gstz:' Kz: 4.20885mc2 K,' * 4"2izzzt:2 Ks: 4.55562mc2 ;,t K3 * -tr.$*tez<}
b" Pri*eipe* *xec *f ***rti* ** *, To determine the direction of a principal axis of inertia, we first substitute the correspondingvalue of K-into (9.54);the resultingequations two of the equations togetherwith Eq. (9.57) constitute a systemof three equationsfrom which the direction coiines of the correspondingprincipal axis can be determined. Thus, we have for the first principal moment of inertia K1:
- t*.n(xr),(3 - o.soaaoT)mc2(4), o |mcn1t_Sr: -]*"'1tr,y,+ (+ - 0.s68867)mc'(L), - !*cr1x,1r: g (L)?+ (,\,)? (i.)?: 1 +

Solving yields (\)r : 0.836600 (Ir)r : 0.49600r
ares are then
(I")r : 0.232557
The angles that the first principalaris of inertiaformswith the coordinate

i{},}i * 33.2" {#",': = G{}":i' i{}r3,* 76.Xi" ,,t
Using the same set of equations successively with & and K3, we find that the anglesassociated with the secondand third principal moments of inertia at the origin are, respectively,
i*,j2 e* 37.3t: i.8,,)2 * 74*.*n
and
i{},}. * 59.6''
i{},,h * 7*"!"
* t.{*,}:: }{ii.,}"
GA
538
s f n this lessonwe defined the massproducf of inertia l,,t, I,t^.and I* of a body -Land showedyou how to determine the moments of inertia of that body with respect to an arbitrary axispassingthrough the origin O. You also learrredhow to determine at the origin O the pri,ncipal axesof i.nefiia of a body and the correspondingprincipal mamentsof inertia. s* in**i* of * to*npri*e body. The mass l" D*t***ri*i*g ** r{tt$E p#ut*s products of inertia of a compositebody with respect to the coordinateaxescan be expressed the sumsof the products of inertia of its componentparts with respect as to those a.res. For each component part, we can use the parallel-axistheorem and write Eqs. (9.47)
It, : lt'o' I
lr, : Ir,r, +
T rzx -
where the primes denote the centroidal axesof each component part and where i,y, and -represent the coordinatesof its center of gravity. Keep in mind that the massproducts of inertia can be positive, negative,or zero, and be sure to take into account the signs of i, y, and Z. p*, you can deduce c- from ** prcpexies at tytyttn*{ry cf *r tatllpil*nl that two or all three of its centroidal massproducts of inertia arezero. For instance, you can verify that for a thin plate parallel to the xy plane; a wire lying in a plane parallel to the xy plane; a body with a plane of symmetry parallel to the xy plane; and a body with an axis of symmetry parallel to the z axis,the products of i'nertia lr,r, and 1r,,,are zero. " For rectangular,circular,or semicircularplateswith axesof symmetryparallel to the coordinate axes; straight wires parallel to a coordinate axis; circular and parallel to the coordinate axes;and rectsemicircularwires with axesof s1'rnmetry the angularprisms with axesof symmetry parallel to the coordinate axes, products of inertia 1,,v,,1y,.,, I^,,, are all zero. and fo" *{ass p#u*s **f i*ert*s wfuith sre *if*araxt fr**zr :*r* can be computed (9.45).Although, in general,a triple integration is required to determine from Eqs. a massproduct of inertia, a single integration can be used if the given body can be divided into a seriesof thin, parallel slabs.The computationsare then similar in to those discussed the previous lessonfor moments of inertia.
(continued)
539
2..canputins fhe nomentof inertioof c^hody wifh rerpeef an srhifrcry to axi! sl. An expression the moment inertia was'derived Sec. for g.16 of 161 in
ii i :rli:::.:: .:.:.::::I .. j:i,'r';irfl.rl
and is given in Eq' (9.46)' Before computing rs,, you must first determine the massmoments and products of inertia of the body with respect to the given coordinate axesas well as the direction cosinesof the unit vectbr r along br.
t,:i,:,'i
, t'.It.ii.:
3. colculctlng the p.rincipal moments of inerfio of o body ond determining its principcl qxes of inertis. \bu sar,r'inSec. g.l7 that it is alwayspossibletE find an orientation of the coordinate axesfor whlch the massproducti of inertia are zeto. Theseaxesare referred to as the principal axesof ininia and the corremoments of inertia are known as'theprincipal momentsof inertia of the ;no.ndlng body. In many cases,^ principal axesof inertia of a body the t" determined ""r. from its propertiesof symmetry.The procedurerequired to determinethe principal moments and principal axesof inêrtia a body with no obviousproperty of of symmetry^was discussed sec. g,lB and was illustratedin Sampl" priu,'g.ts. It in consists the following steps. of c..Fxpond the determinant in Eq. {e.is} snd sclve the resulring cubic equcficn. The solution can be obtahed by trial and error or, preferablv.Ivith an advanced scientific calculator or with the appropriate compriter sofhnrare. The roots K1, K2, and tri3of this equation are the princlpal mom6nts of inertia of the body. substitute this value fo1.Kîn po of the equationrig.sa) and solveiheseeluations togethe_r with Eq. (9.57)for the directioncosines the principal axiscorrispondof ing to K1. c. Repeat this pr*cedure with i{2 and iQ to determine the directions of the other,two principal axes.Âs checkof your computations, a you may wish to verify that thescalar productof any two of the unit uecforsalong the threb axesyou havL obtainedis zero and, thus, that theseaxesare pelpendicularto each other.
b. so determine directianof *e principolexis correspanding !(r, tFre te
540
\{ il
,-1.
of products inertial,y, ly,, u*9 I,- of the steel 9.149 Determinethe mass kg/m'.) (Thedensity steelis 785'0 of fixture shown.
f:
/t"m
Fig. P9.I49 9.I5O Determine the massproducts of inertia I,y, ly". and I* of the steel machineelementshown. (The densitv of sieei is 7850 kg/m'.)
16 mm
60 mm 24mm
Fig. P9.l5O 9.t51 nnd 9.152 Determine the massproductsof inertia l,r, Ir,, and 1., of the cast aluminum machinecomponent shown. (The specific weight of aluminum is 0.100lb/in.")
r = ( , . J D1 n
0.6in.
D.4 rn.
1 . 4i n . 4in
1.8in,
r = 0.8in.
)osi"
.t.o tn.
.)
lin. 1.2in x
X
Fig. P9.r5r
Fig. P9.r52
542
Distributed Forces: Momenrs Inerrio of
*.1*$
fhre$sh .tsa A sectionof sheetsteel2 mm thick is cut and bent into the machine componentshown.Knowing that the density of steel is 7850 kg/m3, determine the massprodu"cts- inertia 1. of -.--- -.- -'y' r Ir., and I".- of the component.
)'2001--
r-Fig. P9.154
Fig. P9.153
H
w w
w.
w
W,
w
r= 135mm
Fig. P9.I55
Fig. p9.t56 9.t5r and 9.158 Brasswire with a weight per unit length rz,is used to form the figure shown. Deterrnine the massproducis of inertia 1.r, Iu., and 1"" of the wire figure.
Y T"
F,
g:
f,
T ?:
r
r;
i
*:. r.
?,
?
t.
v,
:a
{ i:.
Fig. P9.r57
Fig. P9.158
t a
9.ls*
The figure shown is formed of 1.5-mm-diameter aluminum wire. Knowing that the density of aluminum is 2g00 kg,/m3, determine the massproducts of inertia I,r, Io., and 1", of the"wire fiqure.
Problems 543
250mm
Fig. P9.159
9.160 Thin aluminum wire of uniform diameter is used to form the lgure shown.Denoting by m' the massper unit length of the wire, determine the massproducts of inertia|,, lu,, an{l^, of the wire figure. 9.161 Complete the derivation of Eqs. (9.47),whtch expressthe parallelaxis theorem for massproducts of inertia. 9.162 For the homogeneous tetrahedron of massrzrshown, (a) determine Uy integration the mass product of inertia I"*, (b) dedtce I* -arl*l and 1,, from the result obtained in part a.
z Fig. P9.l6O
,l
Fis. P9.162
*"16*
The homogeneous circular cylinder shown has a mass m. Determine the mass moment of inertia of the cylinder with respect to the line joining the origin O and point A that is located on the perimeter of the top surface of the cylinder.
Fig. P9.163
544
Diskibuted Forces: Moments Inertio of
9.164 The homogeneous circular cone shown has a mass,. Determine the mass moment of inertia of the cone with respect to the line joining the origin O and point A.
Flg. P9.t64 9.165 shown is the machine element of prob. g.l4l. Determine its mass moment of inertia with respectto the line joining the origin O and point A.
Fig. P9.165 9,166 Determine the mass moment of inertia of the steel fixture of Probs. 9.145 and 9.149with respect to the axis through the origin that forms equal angleswith the x, y, and z axes. 9.167 The thin bent plate shown is of uniform density and weight W. Determine its mass moment of inertia with respect to th1 hne joining the origin O and point A.
r"--o
Fig. P9.167
9.t68
A piece of sheet steel of thickness f and specific weight is cut 7 and bent into the machine componentshown. Determiie the mass moment of inertia of the componentwith respect to the line join_ ing the origin O and point A.
,l
Problems 545
9.169 Determine the massmoment of inertia of the machine componenr ofProbs.9.136and 9.155with respect the axisthroughthe origin to characterizedby the unit vector i : (-+i + gj + kyd. 9.170 rhrough 9,172 For the wire figure of the problem indicated, determine the mass moment of inertia of the figure with respect to the axis through_the origin characterized b! the unit ve-ctor ,i':(-3i-6j+2k)/7. 9.170 Prob. 9.148 9,171 Prob. 9.147 9,172 Prob. 9.146 9.173 For the rectangular prism shown, determine the values of the ntios b/a and c/a so that the ellipsoid of inertia of the prism is a spherewhen computed (a) at point A, (b) at point B.
cX2,
<2
b
2--
; Z
a'z
; z
Fig. P9.173 9-174 For the right circular cone of Sample prob. g.11, determine the -ellipsoid value of the ratio a/h for which the of inertia of the cone is a sphere when computed (a) at the apex of the cone, (b) at the center of the base of the cone. 9.175 For the homogeneouscircular cylinder shown, of radius a and length L, determine the value of the ratio a/L for which the ellipsoid of inertia of the cylinder is a spherewhen computed (a) at the centroid of the cylinder, (b) at point A. 9.176 Given an arbitrary body and three rectangular axesx, y, and z, prove that the massmoment of inertia of the bodv with respect to any one of the three axes cannot be larger than the sumôf the massmomentsof inertia of the body withlespect to the other two axes.That is, prove that the inequality 1,3 lo * I" and the two simjlar ine-qualities satisfied.Further.'prouti that = +I- if the are t body is a homogeneous solid of revolution, where r is the axis of revolution and u is a transverseaxis,
Fig. P9.175
546
Diskibuted Forces: Moments Inerrio of
q.tff
Consider a cube of massm and side a. (a) Show that the ellipsoid of inertia at the center of the cube is a sphere,and use this property to determine the moment of inertia of the cube with reipect to one ofits diagonals.(b) Show that the ellipsoid ofinertia afone of the corners of the cube is an ellipsoid of revolution, and determine the principal moments of inertia of the cube at that point. Given a homogeneous body of massnr and of arbitrary shapeand three rectangular axesx, y, and z with origin at O, prove that the sum 1r + Ilt + 1" of the massmoments of inertia of the body cannot be smaller than the similar sum computed for a sphereof the same mass and the same material centered at O. Further, usirrg the result of Prob. 9.176,prove that if the body is a solid of revolution, where r is the axis of revolution, its massmoment of inertia 1oabout a transverseaxis y cannot be smaller than 3ma2/10,where a is the radius of the sphere of the same mass and the sarne material. The homogeneous circular cy'inder shown has a massm, and the diameter OB of its top surface forms 45o angleswith the r and e axes.(a) Determine the principal mass moments of inertia of the cylinder at the origin O. (b) Compute the anglesthat the principal axesof inertia at O form with the coordinate axes.(c) Sketch the cylinder, and show the orientation of the principal axesof inertia relative to the r, 17, and z axes.
?.[ff8
.S.lF*
Fig. P9.179
9"18S fhraugh 9,164 For the component described in the problem indicated, determine (a) the principal massmoments of inertia at the origin, (b) the principal axesofinertia at the origin. Sketchthe body and show the orientation ofthe principal axesofinertia relative to the x, y, and z axes. *9.18C Prob.9.165 *g.l&I Probs.9.145and 9.149 *g"l&* Prob.9.167 *q.I33 Prob.9.168 *q.f &4 Probs.9.148and 9.170
In the first half of this chapter, we discussedthe determination of the resultant R of forces Art' distributed over a plane area A when th-emagnitudesof theseforces are proportional to both the areasAA of the elements on which they aci and the distancesy from these elements to a given r axis; we thus had AF : kq M. We found that the magnitude of the resultant R is proportional to the first moment Q, = IA dA of the area A, while thJ-o*errt of R about the r axisis proportional to the secondmnm,ent, mnm,ent- inertia, or of I,: IA'dA of A with respect the sameaxislSec.g.2]. to The rectangular momentsof inertia I, and Io of an area lSec. g.3l were obtained by evaluatingthe integrals
ftectongular moment$ inerfia of
L : I w ' a er,: ! *'ae
(e.1)
These computationscan be reduced to single integrationsby choosrngdA to be a thin strip parallelto one olthe co6rdinateaxes. We also recall that it is possible to compute I, and I, from the same elementalstrip (Fig. 9.35)usingthe formula for the moment of inertia of a rectangular area fsample Prob. g.3].
dr.= ]f dx dI, = *2, 4*
Fis. 9.35 Fis. 9.36
The polar moment of inertia of an area A with respect to the pole O [Sec.9.4] was defined as
Polgr mornont of innrtia
l":[,"ae
(e.3)
where r is the distance from O to the elementof areadA (Fig. g.36). Observingthatr2 : x2 + tlz,we established relation the Io:I,l-1,
(e.4)
547
548
Dishibuted Forces; Momenrs Inerrio of
Rodius gyration of
rldjys of gyration of an area A with respect to the r axis !!e [Sec. 9.5] was defined as the distancek", wherl I, : K2,A. Wjth similar definitions for the radii of gyration of A with respectto the y axis and with respect to O, we had
"'- VA
Fcrqlfef-uxis theorem
. r "
, - -
L ^ o -_
(e.5-e.7)
Theparallel-axis theoremwas presented sec. 9.6. It states in that the moment of inertia 1 of an area with respect to any given axis AA, (Fig. 9.37) is equal to the moment of lnertia l ot"tt" area with respect to the centroidal u,is BB' that is parallel to AA, plus the product of the areaA and the squareof the &stance d between the tvvo axes:
t:I
+ edz
(e.e)
Fig.9.37
This formula can also be used to determine the moment of inertia 1 of an area with respect to a centroidal axis BB' when its moment of inertia l with respect toâ parallel axis AA' is known. In this case, howevet the product Ad" should be subtracted from the knowrr moment of inertia 1. A similar relation holds between the polar moment of ineftia /_o of an area about a point O and the polar^moment of inertia /s of the same area about its centroid c. Lettlnq d be the distance b"t*L.r, O and C, we have
Jo:j"+Ad2
(e.11)
eornp*site ores$ The parallel-axistheorem can be used very effectively to compute

the mament of inertia of a compositearea with respect to a given axis [Sec. 9.7]. Consideringeach cnmponent area sep-arately, we"first compute the moment of inertia of each area with respect [o its ce'troidal axis,usingthe dataprovidedin Figs. g.12 and^g.13 whenever possible.The parallel-axistheorem is then applied to determine the momentof ineftia of eachcomponent areawith respect the desired to axis,and the variousvaluesobtainedare added lsample probs. g.4 and 9.51.
Product inertiq Sections through 9.10were devotedto the transformation the of 9.8 of
rnomentsof inertia of an areaunder a rotation of the coordinateaxes. First, we defined the product of inertia of an area A as
,,,:
dA Ixy
(e.r2)
and showedthat 1,, : 0 if the areaA is s).'mmetrical with respectto either or both of the coordinate &xes. we also derived the pirallelaxis theoremfor products of inertia. We had Iry:Ir'!t'+iiA
(e.13)
where 1*,0, the product of inertia of the areawith respectto the cenis troidal_axes y' which are parallel to the r and y axisand i and "' Td y are the coordinates the centroid of the area lSec. 9.8]. of
Review Summory ond
549
Fig.9.38 In Sec. 9.9 we determined the moments and product of inerLia1,,, Rototion of oxes lr', and l*,r' of an area with respect to r' arrdy' axes obtained by rotating the original r and y coordinate axes through an angle g (Fig. 9.38).We expressed Ia,, urd l,o, in terms of counterclockwise 1,,, the moments and product of inertia 1", l,t, a;d I"o computed with respect to the original x and y axes.We had t*: l,+ lu --Z'* l,- lu -;cos20 - l*rsin%4 , (9.I8)
I"+ lv
\':
cos r t,rsin 2o (9.r9) 2o

(e.20) Principoloxes
,,, :'*sin
29-r r,rcos o 2
The principal axesof the area abant O were defined as the two axes pelpendicular to each other, with respect to which the moments of inertia of the area are maximum and minimum. The corresponding values of 0, denotedby 0-, were obtained from the formula
2lxa
tan20*:
t- - t^,
(e.25) Principolmoments inertio of
The corresponding maximum and minimum values of 1 are called the pri,ncipal mam,ents of inertia of the area about O; we had
l,+ lu
f _ rmu.min -
(r:1\' . p_
(s.27)
We also noted that the correspondingvalue of the product of inerLia is zero. The transformationof the moments and product of inertia of an area Mohr's circle under a rotation of axescan be representedgraphicallyby drawing Mohr's ci,rcle[9ec.9.10]. Given the momentsand product of inertta1,, Io, and l* of the area with respect to the r and y coordinate axes,we
550
Dishibured Forces: Momenrs lnertio of
Fis. 9.39
p:ii" X I,y)j11, v_!lr. t,) and draw the line ioining -f,l:: ,Q*,, the,se points(Flg.9.39). Thisrineis a diameter Mohri circre of lwo and through0, the diameterrgluj": through thit;fr: *j..,f," _twice coordinates X' andy' yieldthe new"valu l*,, Iu,,urrE of of es I,,,,, the moments,.and productof inertiaof the area. Also, ih" and tnl "ngi"'g, of pointsA and B definethe principaraies a'indb and l3ordilates the
principal moments of inertia of the area [Sampleprob. g.g],
thus detines this circle. As the coordinate xes are rotated
It{omentsof inerfic af mssses The secondhalf of the chapter was devoted to the determination of
of inerti.a of m.asses, which are encountered in dlmamics T**?t: in problems involving the rotation of a rigid body about'un *rr. Ihe massmoment ol inertia of a body with respectto an axis AA, (Fig. 9.a0) was defined as
r:l;a,,
(e.28)
where r is the distancefrom AA' to the elementof mass [sec. 9.r1] The radius of gyration of the body was defined as
(e.2e)
The moments of inertia of a body with respect to the coordinates axeswere erpressedas I,
: t , ,+ lry-
z') dm
L,
Fig. 9.40
I,
: t a +, y2) dm
J
J G+' x2)dm
(e.30)
to alsoappkes mass th'eorem We sawthat the parallel-nris I the of 9,f2].Thus, moment inertia ol abody olinerilafDec. m0mOnis
--{tr- -^^r^-+ +^ o- aJ.i+rary eris A:( (.F{-O 41) can be exprressed as
Reviewond Summary 551
Porsflef-sxis theorem
I_ttmd"
(9.33)
whore I is the momentof inertia of the body with respectto the

centroidal axis BB' which is parallel to the alris AA', rn is the mass of the body, and d is the distance between the two axes.
Fig. 9.41
l'--=''
(e.3e)
(e.40) (e.41) (e.42)
Fig. 9.43
The moments of inertia of thtn plates can be readily obtained from t}e moments of inertia of their areas[Sec. 9.I3]. We found that for a rectangular plate the moments of inertia with respect to the axes shown (Fig. 9.42) are I*' : $mnz Iss, : #*b' : lee, t lsn, : #m(a2 + bz) Icc, while for a ciranlar plate (Fig.9.43) they are lae': las':Irrlr' lcc,:Iee,*1"",:f,mr2
Moments inertio of thin ploles of
trao When a body possesses planesof symnetry, it is usuallypossible to use a single integration to determine its moment of inertia with respect to a given axisby selectingthe element of massdrn to be a thin plate fsample Probs.9.10 and 9.11]. On the other hand, when geomntricshapes,its moment of a body consistsof seaeralcom.mon inertia with respect to a given axis can be obtained by using the formulas given in Fig. 9.28 together with the parallel-axis theorem isample Probs.9.12 and 9.131. In the last portion of the chapter, we learned to determine the moment of inertia of a body with respect to an arbitrary axis OL which is drawn through the origin O [Sec.9.16]. Denoting by ix, ^!,
bodies Composife
Momentof inerfia with respsci lo En orbi*ory oxis
552
Diatributed torces: MonenK tnerria of
.,1" components the unit vector A along the of OL (Fig. g.44) And
introducing the products o1finertia
,,, :
lxy
dm ,r": yzdm
I
I^:
^, a-
@.4s)
we foundthat the momentof inertiaof the bodywith respect to oL couldbe expressed as Ior: I,E+ Iyi? + LZ - zt,yL,\ _ zIwIaA._ 21",IÎ, (9.46)
F19.9.45
Ellipsoid inerrio pl Plotting p:it of Oe : lth, I alongeachaxisOL ar a distance " irom O [Sec. 9.17], we obtained the surface of an ellipilid, kriown Principol oxesof inerfio Principol mornenfs inerfio of
a; th.eeLlr,psoi.d ofjnertia ft" body at point O. The principJ *", 9j r';.!'.1'of this ellipsoid(Fig.9.45).are principali*n, oj inertia the ot the body; thatis, the products of inertia 1,,r,,1y,",, I^,,, ofthe body with respect to these axes are all zero. There are many situations when the principal axesof inertia of a body can be a"6"""J rruproperties of sy''rnmetry the body. choosing these axesto be the of coordinate axes,we can then expresslel as
I6a: I*,tr1, Ia,^?,+t^,i|, +
(e.50)
where I, , 1y,,1", the pri,ncipalmontents inertia of the body at O. are of W.!en the principal axesof inertia cannot be obtained by obser_ vation lSec. 9.17], it is necessary solvethe cubic equation to ft - (r, + lv+ t)xz + (I,Iy^+IvI"+ l"I*- Ir,a_ I?,_ Iz^)K Q,Ivl" - I*12y. Irl'^, - I,I\v - 2l*t*i^7 :" g (9.56) We found [Sec. 9.18] that the roots K1, K2, and K: of this eouation are the principal momentsof inertia of the given bodv. rhe diiection (r\-)r,(,\y)r,and (r\.)r of the principalaxiscorresponding cosines to the principalmomentof inertiaK1are then determined substilutbv ing K1 into Eqs. (9.54) and solving two of these equations and Eq. (9.57) simultaneously. The same procedureis then repeated using K2 and ll3 to determine the direction cosinesof the otGr two principal axesfSampleProb. 9.15].
9.185 Determine by direct integration the moments of inertia of the shadedarea with respect to the r and y axes. 9.185 Determine the momentsof inertia and the radii of gyration of the shadedarea shown with respect to the r and y axei.
a)
I I
T-,'' li'r.
_l
,=;lr_t[)',]l I
I
_ r
-]_l _--_-,_,:iEI"-*
[ Fig. P9.186 9.187 Determine the moment of inertia and the radius of gyration of the shadedarea shown with respect to the y axis. 9.188 Determine the moments of inertia of the shadedarea shown with respect to the r and y axes. 9.189 Determine the polar moment of inertia of the area shown with respect to (a) point O, (b) the centroid of the area. 9.190 To form an unsymmetricalgirder, two L76 x 76 x 6.4-mm angles and two Ll52 X I02 x 12.7-mmanslesare welded to a l6-mm steel plate as shown.Determine the momentsof inertia of the combined sectionwith respectto its centroidalr and rj axes.
!l i l ' \ J - \ -
Fis. P9.187
L76x76x6.4
Fig. P9.188
Semiellipse
_I
Fig. P9.189
36 mm
Ll52x 1,02 I2.7 x
Fig. P9.190
Distributed Forces: Momentsof Inertio
9.191 u^sing parallel-axistheorem, determine the prod.uctof inertia lhe of the Lb x g X j-in. angle cross section shouin with ,"rp""i ,o the centroidal r and y atei. 9,1912 For the L5 x s x j-in. angre crosssectionshown,use Mohrs circre to determine (a) the momentsof inertia and the prod,r"t oilr,".tiu with respectto new centroidal axesobtained by iotating ,rr"" y_ axes 30" clockwise, (b) the orientation of'the prlicipal ures "ra through the centroid and the correspondingvaluesoi tt ,iro*"rrt, of inertia. " 9.193 A piece of thin, uniform sheet metar is cut to form the machine component shown. Denoting the mass of the component bv m. determine its massmoment o=f inertia with respectt"'tol trr" *'".ir, (b) the y axis.
L5x3xj
Fig. P9.l9f o,nd p9,t92
Fig. p9.193 ond p9.r94 9.194 A piece of thin, uniform sheet metar is cut to form the machine component shown. Denoting the mass of the component by rn, determine its mass moment of inertia with respect io qa;the'axis AA', (b) the axis BB', where the AA, and BB, axesare parallel to the r axis and lie in a plane parallel to and at dirtun"l" a above " the rz plane. 9.195 A 2-mm thick piece of sheet steel is cut and bent into the machine gomponent$own. Knowing that the density of steelis 7g50 kg/m3, determine the mass moment of inertia of th" ?ith "o-ponent respect to each of the coordinate axes. 9,196 Determine the massmoments of inertia and the radii of gyration of the steelmachineelementshownwith respectto the r y (The density of steel is 7850 kglm3.) ""3 "*"r.
Fig. P9.195
T
t
:,
r
i F
9.Cl Write a computer program that, for an areawith known momentsand product of inertia I*, I, and I,r, can be used to calculate the moments and product of inertia 1,,,\', arrd1",0, the areawith respectto axesr' and of "axes y' obtained by rotating the original counterclockwise through an angle 0, Use this program to compute I*,, lr,, and I,r, for the section of Sample Prob. 9.7 for valuesof g from 0 to 906 using 5d increments. 9.C2 Write a computer program that, for an area with known moments and product of inertia 1,, lu, andl,r, carrbe used to calculatethe orientation ofthe principalaxes ofthe areaand the corresponding values ofthe principal momentsof inertia.Use this programto solve(a) Prob.9.89,(b) Sample Prob.9.7. 9.C3 Many crosssectionscan be approximatedby a seriesof rectanglesas shown.Write a computer program that can be used to calculatethe moments of inertia and the radii of g;ration of crosssectionsof this type with respect to horizontal and vertical centroidal axes.Apply this program to the cross sectionsshown in (a) Figs. P9.3I and P9.33, (b) Figs. P9.32 and P9.34, (c) Fig. P9.43,(d) Fig. P9.44. 9.C4 Many crosssectionscan be approximatedby a seriesof rectanglesas !_u. shown.Write a computer program that can be used to calculatethe products of inertia of crosssectionsof this type with respectto horizontal and vertical Fig. P9.C3 ond P9.C4 centroidala,xes. this program to solve(a) Prob. PS.7I, (b) Prob. P9.75, Use (c) Prob.9.77. 9.C5 The area showr is revolved about the r axisto form a homogeneous solid of mass?11.. Approximate the area using a series of 400 rectanglesof the form bcc'b', each of width Al, and then write a computer program that can be used to determine the mass moment of inertia of the solid with respectto the r axis.Use this programto solvepart a of (a) SampleProb. 9.11, (b) Prob. 9.121,assuming that in theseproblemsm : 2kg,o : 100 mm, andh :400 mm. 9.C6 A homogeneous wire with a weight per unit length of 0.04 lblft is used to form the figure shown.Approximatethe figure using 10 straight line segments, and then write a computer program that can be used to determine the massmoment of inertia 1" of the wire with respectto the r axis.Use this Fig. P9.5 program to determine 1" when (a) a : I in., L : 11 in., h : 4 in., (b) a : 2 ir., L : 17 in.,h : 10 in., (c) a : 5 in., L : 25in., h : 6 in. *9.C7 Write a computer program that, for a body with known mass moments and products of inertia Io ly, I^, l,y, l!1",and 1.,, can be used to calculate the principal mass moments of inertia Kr, Kz, and K3 of the body at the origin. Use this program to solve part a of (a) Prob. 9.180, (b)Prob.9.181,(c) Prob.9.184. *9.C8 Extend the computer program of Prob. 9.C7 to include the computation of the anglesthat the principal axesof inertia at the origin form with the coordinateaxes.Use this program to solve (a) Prob. 9.180, (b) Prob. 9.181,(c) Prob.9.184.
-l
I
dn
d2
_l
d1
blN)b'
L-a
--1a 10 lFl
Fig. P9.6

CH 9

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t*ree$: ffins?nihe"r?

Chopter 9 DistributedForces: Momentsof Inertio

rotation a rigidbody of about "r;i.

9.2 SecondMomeni,or Momentof lnertio, ot dn Areo

OF MOMENT, MOMENT INERTIA, OR 9,2 SECOND

Dishibufed Forces: Moments Inerrio of

of anelement area and y of AA

9.3 DETERMINATIONTHE OF MOMENT INERTIA OF OFAN AREA INTEGRAflON BY

Momenf Inertio 475 of 9.4 Polor

l" Strips. The Computing ond l, Usingthe SomeElementql

MOMENT INERTIA OF 9.4 POTAR

d: I , : 1 , 2 Af t " '* , 2 ) d A : l r ' a e + l x ' z a a

9.5 RADIUS GYRATION AN OF OT AREA

lr: klA kr:

If we rewrite Eq. (g.4) in terms of the radii of g,tation, we ffnd that

"k - :\_ _ j/j _ s

$&&tBlfi #&*&**,ffi q.1

Using similar triangles, we have

dI, Integrating fromy : 0 to y : h, we obtain : r-. : l u 2 d e ) r a - o J '

b l n l h . , h - a (hq2 - gt)dy nY: tr)o '7'

b l , Y " -qlnf h * 4)o h l , "3

rL: z l . : l a l o : J o 'u ' t z rc u u ) n Ju ' a u

pRogtEM 9"3 sA,l,tFtE

of elementof areais choserr 1!lo1nen! Inertio l*. A verticaldifferentiar tt.r

: - nr dr, iy3 : I(\,,)" a": * 4-. r, J\a' 3a" /

foths ' t | f r' , : I d r . : | * i * u d x: l - - *b 3 x i1 o J Jnoa-

Rsdii of Gyrc*ion k* and k,

We have, by definition, ab3/zt _ b2

#Lffi*'*kffi &e ffi%X'# 3% W'-&% W #y3'g%WS* 'P$83

{&ytb* *%txi**&fu ****u * x ** a" Y** m*wz**tx '***rk* ** rx**?#r&&*

Fig. P9.3 and P9.7

tig. P9.4 snd P9.B

Fig. P9.9 ond P9.12

| > " 'i l |-' I L___-l r l_,___l

Fig. P9.15 ond P9.17

Fig. P9.16 ond P9.18

Fig. P9.19 ond Nl.2O

Dishibuied Forces: Momenrs Ineriio of

Fig. P9.23 ond P9.24

Theorem483 9.6 PorolleLAxis

: r r : J u ' aler ' + d ) 2 d A : J r ' ' a+ zd.la' + a'zIae o ae

Distribured Forces: Moments Inerrio of

of a circulai area about a centroida.l ii, therefore,

9.7 MOMENTS INERTIA COMPOSITE OF OF AREAS

r",=z ^ t lut,z = Tr, |utr',

Areos 485 of 9.7 Momenfs lnertioof Composite

t, =10= ltrra I 6 =f , n ' +

\--tr= firra I o= f,n'+

I, =7rarb ls=!tab(az +bz)

geometric shopes' of of Fig. 9.12 Moments inertio common

wt8 x 76i WI6 X 57 WI4 X 38 W8X31

I8.2 16.4 L4.I 8.00

11.0 7.I2 6.77 8.00

152 43.1 26.7 37.r

2.6L 1.60 1.55 2.02

srs x 54.71 s12 3r,8 x

20.7 9.33 6.73 1.80

l.t4 1.00 0.s50 0.702

C Shapes (American Standard Channels)

c12x 20.71 c10x 15.3 c8 x 11.5 c6 x 8.2

12.0 10.0 8.00 6.00

2.94 2.60 2.26 7.92

Rsdii of Gyrcion k and k,

#Lffi'kffi &e ffi%X'# 3% W'-&% W #y3'g%WS* 'P$83

{&ytb* *%txi&fu **u * x a" Y mwztx 'rk* rx?#r&&*

Marent of Ineia of R*ctcngle. Referring to Fig. 9.12, we obtain

ysJ g%yS %3,"# ;*r s., J

2. {e.Bwtig h* rmr,wzrai' ***

p&r ffisffiig?te ier\E* o{ **ewpxit *#

_t_ f l- ,u -l .-

j:#l1',,:^"T',1"-:j ;';ii'astraight wedefinet,! zsir;tu;;;);';#i'L; line, theLe"t"'oiiftoh'i;;"1;il:':#"il:; c

section correspond points to l^n11;-ll-ares,or.1he : 1'102 Zon, 47.go : \

L#rtaraffi &s ffif#%'# 3{ W;*%