Parallel axis theorem

Parallel axis theorem

In physics, the parallel axis theorem or Huygens-Steiner theorem can be used to determine the second moment of area or the mass moment of inertia of a rigid body about any axis, given the body's moment of inertia about a parallel axis through the object's centre of mass and the perpendicular distance (r) between the axes. The moment of inertia about the new axis z is given by:

where: is the moment of inertia of the object about an axis passing through its centre of mass; is the object's mass; is the perpendicular distance between the two axes. This rule can be applied with the stretch rule and perpendicular axis theorem to find moments of inertia for a variety of shapes. The parallel axes rule also applies to the second moment of area (area moment of inertia) for a plane region D:

Parallel axes rule for area moment of inertia

where: is the area moment of inertia of D relative to the parallel axis; is the area moment of inertia of D relative to its centroid; is the area of the plane region D; is the distance from the new axis z to the centroid of the plane region D. Note: The centroid of D coincides with the centre of gravity (CG) of a physical plate with the same shape that has uniform density.

Proof
We may assume, without loss of generality, that in a Cartesian coordinate system the perpendicular distance between the axes lies along the x-axis and that the centre of mass lies at the origin. The moment of inertia relative to the z-axis, passing through the centre of mass, is:

The moment of inertia relative to the new axis, perpendicular distance r along the x-axis from the centre of mass, is:

If we expand the brackets, we get:

Parallel axis theorem The first term is Icm, the second term becomes mr2, and the final term is zero since the origin is at the centre of mass. So, this expression becomes:

In classical mechanics
In classical mechanics, the Parallel axis theorem (also known as Huygens-Steiner theorem) can be generalized to calculate a new inertia tensor Jij from an inertia tensor about a centre of mass Iij when the pivot point is a displacement a from the centre of mass:

where

is the displacement vector from the centre of mass to the new axis, and

is the Kronecker delta. We can see that, for diagonal elements (when i = j), displacements perpendicular to the axis of rotation results in the above simplified version of the parallel axis theorem.

References
Parallel axis theorem [1]

References
[1] http:/ / scienceworld. wolfram. com/ physics/ ParallelAxisTheorem. html

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