Experiment #4

Determination of Center of Mass and Moment of Inertia

4.1 Introduction
For convenience, in the dynamic analysis of a mechanical system, a simplified model of
the corresponding system is frequently generated. For a dynamic model of rigid bodies, it
is necessary to know the dynamic properties of the components of the system. The
dynamic properties of a rigid body include the mass of the body, the location of the
center of mass, and the moment of inertia. In this experiment, both experimental and
analytical methods for determining the center of mass and the moment of inertia will be
introduced.
4.2 Newtons Second Law of Motion
As shown in Figure 1, Newtons second law can be applied to a rigid body and it can be
expressed in the form linear motion
F = MA
G
(1)
or in the form of rotational motion
T
G
= I
G
(2)
where F is the resultant external force, M the mass of the body, A
G
the linear acceleration
of the center of mass G, T
G
the resultant external moment on the body, I
G
the mass
moment of inertia of the body about an axis which passes through G and is perpendicular
to the plane of rotation, and the angular acceleration.

Figure 1: A rigid body accelerating under the influence of external force and torque.
G
MA F =
o
G G
I T =
G
To perform dynamic analysis of a rigid body, the mass of the body, the location of the
center of mass, and the moment of inertia should be determined.
4.3 Determination of Center of Mass
The center of mass of a rigid body is that point through which the force of gravity on the
body acts regardless of the position of the body. There are a number of analytical and
experimental methods for determining the location of rigid bodies.
4.3.1 Analytical Methods
For the rigid body shown in Figure 2, the location of the center of mass can be identified
by taking moments about a-a axis.
}
=

M
a a
rdM T (3)
Assuming that all the mass is concentrated at point G, the distance r
G
can be determined
as
M
rdM
r
M
G
}
= (4)
By taking moments about another axis, the location of G can be determined.

Figure 2: Taking moments about axis a-a.
For a number of rigid bodies as shown in Figure 3, by taking moments about b-b axis, the
distance of total mass r
G
can be calculated by

=
+ +
+ +
=
i
Gi i
G G G
G
M
r M
M M M
r M r M r M
r
3 2 1
3 3 2 2 1 1
(5)

Figure 3: Taking moments about axis b-b.
For a rigid body with homogeneous mass distribution and a symmetrical plane, the center
of mass lies on the plane. Symmetry about two unique planes isolates G to a line (the
intersection of the two planes of symmetry). Symmetry about three unique planes isolates
G to a point (the intersection of the three planes of symmetry). In addition to the above
analytical methods, the following experimental methods can also be used for determining
the local of rigid bodies.

Figure 4: A rigid body suspended with two cables.
4.3.2 Experimental Methods
As shown in Figure 4, a rigid body is suspended by two cables. The gravity force of the
body acts at the center of mass G. With the static force equilibrium requirement, the line
on which point G lies can be determined. Further suspending the rigid body from another
set of points can identify the location of point G.

1
M
3
M
2
M
M
3 G
r
1 G
r
2 G
r
G
r
b
b
G
The location of point G can also be determined by means of weighing. As shown in
Figure 5, a rigid link is supported on two scales. Based on the torque equilibrium
requirement, the location of the center of mass can be identified.

Figure 5: A link supported on two scales.
4.4 Determination of Mass Moment of Inertia
A number of approaches can be used for determining the mass moment of inertia of a
rigid body. If the rigid body is in the process of being designed, then analytical methods
or CAD solids modeling packages may be used. On the other, if the rigid body exists,
then either an analytical or experimental method can be employed.
4.4.1 Analytical Methods
Mass moment of inertia is referred to some axis of rotation, usually one through the
center of mass. Refer to Figure 6 that shows a rigid body of general shape and an
arbitrary axis a-a. With respect to axis a-a, the mass moment of inertia is
}
=

M
a a
dM r I
2
(6)
The moment of inertia of a rigid body with respect to any axis (n-n) can be expressed as
the sum of its moment of inertia about an axis (GG) parallel to n-n through its center of
mass G, and the product of the mass and the square of the perpendicular distance between
those parallel axes:
M d I I
G n n
2
+ =

(7)
This property is known as the parallel-axis theorem. This theorem can be used to find the
mass moment of inertia of some composite body about desired axis, if we know the mass
moment of inertia of each segment of the body about an axis through the center of mass
of the segment.

Figure 6: Mass moment of inertia about axis a-a.

Figure 7: Mass moment of inertia and radius of gyration of a hammer [2].
Figure 7 shows a simple model of a hammer broken into two cylindrical parts, the handle
and the head, which have masses m
h
and m
d
, and radii r
h
and r
d
, respectively. The
individual centers of mass of the two parts are at l
h
/2 and l
d
, respectively, with respect to
the axis ZZ. The mass moments of inertia of a cylinder with respect to axes through its
center of mass G can be found in reference [2] and are for the handle about its G axis
HH:
12
) 3 (
2 2
h h h
HH
l r m
I
+
= (8)
and for the head about its G axis DD:
12
) 3 (
2 2
d d d
HH
l r m
I
+
= (9)
Using the parallel axis theorem to transfer the moment of inertia to the axis ZZ at the end
of the handle:
| | | |
2 2
) / (
d d DD h h HH ZZ
l m I s l m I I + + + = (10)
The mass moment of inertia of rigid bodies is sometimes expressed in terms of its radius
of gyration. The radius of gyration of a rigid body is defined as the radius at which the
entire mass of the body could be concentrated such that the resulting model will have the
same moment of inertia as the original body. The mass of this model must be the same as
that of the original body. Let I
ZZ
denote the mass moment of inertia about ZZ from
equation (10) and m the total mass of the original system, i.e. m
h
+m
d
. From the parallel
axis theorem, the concentrated mass m at a radius k will have a moment of inertia:
2
mk I
ZZ
= (11)
Considering equation (7), it can be seen that the corresponding radius of gyration k will
always be larger than the distance between the parallel axes n-n and G-G, since based on
the definition of radius of gyration, the following equation holds
2 2
Mk M d I I
G n n
= + =

(12)
Therefore, d k > .
Most CAD packages will calculate the mass moments of inertia of a solid 3-D part about
any set of selected axes to good accuracy. The preferred method may be to use a solids
modeling CAD package for determining this dynamic property.
4.4.2 Experimental Methods
An experimental method for determining the mass moment of inertia of a connecting rod
is illustrated in Figure 8 (a). The connecting rod is supported on a knife-edge pivot at axis
ZZ. If the rod is displaced a small angle
max
as shown in figure 8 (b) and released, it
oscillates about axis ZZ. Measuring the time required for a given number of oscillations,
we can ultimately determine the mass moment of inertia about the center of mass G. The
rods weight (W=Mg) acts at its center of mass and has a component Wsin perpendicular
to the radius r from the pivot to the center of mass. The governing equation of the rod
rotating about axis ZZ is:

Figure 8: Measuring mass moment of inertia [2].
o
ZZ ZZ
I T = (13)
or
t d
d
I Mgr
ZZ 2
2
sin
u
u = (14)
For small values of , sin=, approximately, equation (14) can be rewritten as
0
2
2
= + u
u
ZZ
I
Mgr
dt
d
(15)
This is a linear differential equation of the second order, and the general solution is
|
|
.
|

\
|
+
|
|
.
|

\
|
= t
I
Mgr
D t
I
Mgr
C
ZZ ZZ
cos sin u (16)
The constants of integration C and D can be determined from the boundary conditions.
The period of oscillation of the rod is:
Mgr
I
ZZ
t t 2 = (17)
With the measured period of oscillationt , the mass moment of inertia can be determined
as
2
2
|
.
|

\
|
=
t
t
Mgr I
ZZ
(18)
and the mass moment of inertia I
G
about the mass center G can be determined using the
parallel axis theorem as
2
2
2
2
Mr Mgr Mr I I
ZZ G
|
.
|

\
|
= =
t
t
(19)
4.4.3 Approximate Models [1]
If high accuracy of the mass moment of a rigid body is not required and an exact
mathematical model of the body can not be generated easily, an approximate model is
recommended. In the case of determining the mass moment of inertia of the connecting
rod described previously, a slender rod may be used as a first approximation. By
combining the approximate models of additional parts (e.g. a hollow cylinder at each end
of the rod) to the slender rod model, an improved approximate model can be obtained.
Figure 9 shows an example of the connecting rod with three different approximate
models. Among the three models, the right one would provide the best accuracy.

Figure 9: Connecting rod with three approximate models [1].
4.5 Experiment Tasks
4.5.1 Determining Moment of Inertia Using Experimental Methods
Determine the mass moment of inertia I
G
of the three links using the previously described
experimental method. Plot the function in terms of the experimentally determined
moments of inertia versus the link lengths. Discuss the experimental method in terms of:
- Assumptions made in the derivation of the governing equation for determining the
moments of inertia.
- For which link the method would be the most accurate and the reasons behind this
observation.
- Possible improvements (if any) which could be made to improve the accuracy
and/or to ensure the consistency of the experimental measurements.
- Any other considerations that you feel important.
Determine the radius of gyration for the shortest link.
4.5.2 Determining Moment of Inertia Using Approximate Models
Propose two different approximate models for determining the dynamic properties of the
links. The first model should be a simple model using only a slender rod and a point mass
or masses. The second model should be more detailed using any of the basic elements
you feel necessary. Plot the function in terms of the moments of inertia derived from your
approximate models versus the link lengths. Discuss your models in terms of:
- Assumptions made when you choose your models.
- When the models are going to be the most and least accurate and the reasons
behind your observations.
- Improvements that could be made to improve the accuracy of your second model.
- Any other considerations that you feel important.
4.5.3 Determining Moment of Inertia Using CAD Packages
Create CAD models of each of the links and use the CAD package to determine the
moments of inertia of the links. Plot the function in terms of the moments of inertia
determined using the CAD package versus the link lengths. Discuss your models in terms
of:
- Assumptions made during the creation of your models.
- Any other considerations that you feel important.
4.5.4 Comparing Results Obtained from Different Methods
Compare the results derived from your approximate models and CAD models with those
obtained using the experimental method. Based on your comparisons, address your
conclusions in terms of advantages and disadvantages of using different methods for
determining mass moments of inertia of rigid bodies.
4.5.5 Facilities
The equipment available for the experiment includes:
- Frames with knife edges.
- Links of three different lengths.
- Assorted components of the links.
- Digital scales.
- Tape measures.
- Calipers.
- Stop watches.
- Laptop equipped with Unigraphics NX3, Matlab, Microsoft Office, etc.

4.5.6 Report Requirements
One report is required from each group. The report should address your models and the
results obtained. The detailed information about the report format requirements can be
found from the course outline.

References
1. Scott Nokleby, Centre of Mass and Moment of Inertia Determination, ENGR 3270U
Course Lab Project Manual, University of Ontario Institute of Technology, 2005.
2. Robert L. Norton, Design of Machinery (An Introduction to the Synthesis and Analysis of
Mechanisms and Machines), Third Edition, McGraw-Hill Higher Education, 2004.