UNIT –III-B

Objective:

Mass moment of inertia is the rotational analogue of mass in linear motion and must be specified
with respect to a chosen axis of rotation.
Method of virtual work is an alternative approach to analyze the equilibrium of any loaded system
and the unknown forces can be determined. For an equilibrium force system, the algebraic summation of
work done by all effective force components is equals to zero. Virtual work principle can mainly applicable
to simple beams, trusses, connected systems and ladder problems.
Syllabus:
Mass Moment of Inertia: Centre of mass definition, moment of inertia-definition, transfer formulae for
mass moment of inertia, mass moment of inertia for standard bodies.
Learning Outcomes:

Student will be able to

 Derive the expressions for mass moment of inertia of standard bodies like rectangular and triangular
laminas, cone, cylinder, sphere etc.. from first principles
 Understand the application of parallel axis theorem for obtaining mass moment of inertia values
about any axis parallel to its centroidal axis
 Calculate the mass moment of inertia of composite bodies.
 Apply for obtaining the efficiency of screw jack and other systems acting on horizontal or inclined
planes and lifting machines

A. RADHA KRISHNA, HOD, Dept. of Mech., MIET Page 1

 Learning material
Mass moment of inertia: The second moment of mass about any axis is known as mass moment of inertia.

I xx =∫ y 2 dm ; I yy =∫ x2 dm

I zz =∫ r 2 dm=2 ∫ x 2 dm=2 I xx =2 I yy
Units of mass moment of inertia (I):
N−sec 2
Unit of mass : ( kg)
m
2 N −sec 2 2 2
mass × distance = × m =N−sec −m
m
Unit of mass moment of inertia is N – sec2 – m
Mass = density × volume = ρ. Area × thickness
For uniform thick laminas,
Mass = ρ t A = ρ t (Area) where ‘ρ t’ is constant.
Mass moment of inertia of a rectangular lamina:
Mass, M = ρ t b d y
We know that I xx =∫ y 2 dA z
For a rectangular lamina
I xx = ρt ∫ y 2 dA x
x d
Similarly I yy =ρ t ∫ x 2 dA∧I zz =ρ t ∫ r 2 dA

bd 3 d2 z
I xx = ρt ∫ y 2 dA=ρ t [ ]
12
=ρ t b d( )
12
z b
y
d2 2
b
∴ I xx =m
12 ( )
similarly I yy =m ( )
12
m 2 2
I zz = (b +d )
12
Mass moment of inertia of a circular disc: y
z
Ixx = Iyy
π r4
For ,̊ I xx =
4 r
Mass of disc = ρ t. π r2 x x
r
Mass moment of inertia
πr 4 r2
I xx = ρt ∫ y 2 dA=ρ t [ ]
4 ( )
=ρt πr 2
4 z
mr 2 m r2
∴ I xx = ; I yy = y
4 4
mr 2
Mass moment of inertia about polar axis J=I zz =I xx + I yy =
2

A. RADHA KRISHNA, HOD, Dept. of Mech., MIET Page 2

 Mass ‘m’
Use of parallel axis theorem
IXX = Ixx + m ȳ2
x x
Where IXX = Mass moment of inertia about parallel axis XX G

Ixx - Mass moment of inertia of disc about its C.G

ȳ - distance between two parallel axis X
X

Mass moment of inertia of a right circular cylinder:

Plane axis are xx and yy, polar axis is z – z. z
x0
To calculate the mass M.I about x – axis, take an element disc
y0 y0
of radius ‘r’ and thickness ‘dz’ at a distance ‘z’ from x – x axis.
Mass of disc = π r2 ρ. dz x0
dz
Mass moment of inertia of the disc about x – x axis is x
z
Applying parallel axis theorem, y y
G
2
2 r 2 2 x
For element , I xx =( π r . ρ dz ) + π r . ρ dz ( z )
4
For the entire cylinder,
+l +l
2
r2 2 r2 z3
I xx =π r 2 ρ ∫
–
l
2
( 4 )
+ z dz=π r 2 ρ
4 [( ) ( )]
z +
3
¿–
l
2
2
r
z
r

¿ π r2 ρ
[( ) (
r 2l
4
+
l3
24
−
−l 3
24 ( ))] = π r2 ρ [ r 2 l l3
4 12
+ ] [ r2 l2
=π r 2 ρ . l +
4 12 ]
But π r2 l. ρ is the mass of the cylinder = m
r2 l2 r 2 l2
I xx =m [ ]
+
4 12
∧ I yy =m +
4 12 [ ]
r 2 l2
I zz =m [ ]
2 6
+

Mass moment of inertia of a disc from first principles whose radius is ‘R’ and thickness‘t’ about its
centroidal axis: y
Consider element area (r. dθ) dr and thickness‘t’
r sinθ
Let ρ be the mass density r dθ
dm = ρ. r dθ. dr. t = (ρ t) r dθ. dr x θ x
r cosθ
Distance of dm from x – x axis = r sinθ
∴ I xx =∫ ¿ ¿
R 2π y
1−cos 2 θ
¿ ρ t ∫∫ r 3
0 0
( 2 )
. dθ . dr

A. RADHA KRISHNA, HOD, Dept. of Mech., MIET Page 3

 R R R
r3 sin 2 θ 2 π r3
¿ ρ t ∫ θ−
0 2
[2 ¿0 ]
. dr=ρ t ∫ [ 2 π ] . dr=π ρ t ∫ r 3 dr
0 2 0

r4 R π R4
¿ π ρt [ ]
4 ¿0
=ρ t .
4
But total mass M = π R2. ρ t
M R2 M R2
∴ I xx =I yy = ; I zz =
4 2
Mass moment of inertia of a right circular cone about its axis of rotation:
Take an element plate of radius ‘x’ and thickness ‘dz’ at a distance ‘z’ from ‘O’.
O
dm = ρ π x2. dz
Moment of inertia of plate about z –z axis
m x2 ρ π x2 2 ρ 4 z
I zz = = . dz . x = . π x . dz
2 2 2
From similar triangles
h
x z R
= ; x= . z dz
R h h
ρ R 4 4
I zz of element plate= . π
2 h
. z . dz ( ) x h-z
Moment of inertia of cone about z – z axis,
h
R 4 4 4
ρ ρ R z5 h
I zz =∫ . π
0 2 h ( )
. z . dz= . π
2 h ( )[ ] 5 ¿0

ρ R 4 h5 ρ π R 4 h
¿ .π
2 h
. =
5 ( ) 10
R R

h h h
R2 2 R2 z3 h 1
Mass of cone=∫ dm=∫ ρ π x 2 dz=ρ π ∫
0 0 0 h 2
z dz=ρ π
h [ ]
2
3 ¿ 0
= ρ π R2 h
3

∴ I zz = ( 13 ρ π R h) R . 103 = 103 M R
2 2 2

Mass moment of inertia of a homogeneous triangle plate of weight ‘W’ with respect to its base:

h-y
h
dy
x
t y
b
x
A B
A. RADHA KRISHNA, HOD, Dept. of Mech., MIET b Page 4
 1
Mass of triangle = ρ bh .t
2
b
Element mass dm = x. dy. ρ. t (from similar triangles x= (h− y) ¿
h
Mass moment if inertia of dm about base = y2. (x. dy. ρ.t)
Mass moment of inertia of triangular plate about its base
h h
b b
I AB=∫ . ( h− y ) . y 2 . ρt . dy= ρt ∫ [hy ¿ ¿ 2− y 3 ]dy ¿
0 h h 0

b hy 3 y 4 h b h4 h4
¿ ρt
h 3 [− = ρt
4 ¿0 h
−
3 4] [ ]
b 1 ρt .b h3
¿
h
4
ρt . h .[ ]
12
=
12
1
But total mass of triangular plate = m = ρt . bh
2
1 h 2 mh 2 W
I AB= ( 2 )
ρt .bh =
6 6
but m=
g
Wh 2
∴ I AB=
6g

A. RADHA KRISHNA, HOD, Dept. of Mech., MIET Page 5