Fiziks: C M & M I

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Institute for NET/JRF, GATE, IIT-JAM, M.Sc. Entrance, JEST, TIFR and GRE in Physics
CHAPTER 5
CENTRE OF MASS & MOMENT OF INERTIA
5.1 Centre of Mass
Consider a system composed of N particles with each particle's mass described by mi , where i
is an index from i  1 to i  N . The total mass of the system is denoted by M ,

M   mi
i
2
where the summation over i runs from i  1 to i  N . CM
1
Such a system is displayed in figure given. R r2
If the vector connecting the origin with the ith particle r1 3
is ri then the vector defining the position of the r3
 1  0
system's center of mass is R C.M 
M
m r
i
i i
The position of the centre of mass is defined by RCM 

m r i i
M
For N number of mass elements, if rj is the position of the j th element, and m j is its mass,
 1 N 
then the center of mass is defined as R   m j rj
M j 1
Example: The position vector of three particles of mass m1  1 kg , m2  2 kg and m3  3 kg are
  
     
r1  iˆ  4 ˆj  kˆ m , r2  iˆ  ˆj  kˆ m and r3  2iˆ  ˆj  2kˆ m respectively. Find the position
vector of their centre of mass.

Solution: The position vector of COM of the three particles will be given by
  
 m1r1  m2 r2  m3 r3
rCOM 
m1  m2  m3
Substituting the values, we get

rCOM 
    


1 iˆ  4 ˆj  kˆ   2 iˆ  ˆj  kˆ  3 2iˆ  ˆj  2kˆ 9iˆ  3 ˆj  3kˆ
1 2  3 6
 1

rCOM  3iˆ  ˆj  kˆ m
2

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Example: Four particles of mass 1 kg , 2kg , 3kg and 4kg are placed at the four vertices A, B, C
and D of a square of side 1m . Find the position of centre of mass of the particles.
Solution: Assuming D as the origin, DC as x - axis and DA as y - axis, we have
m1  1 kg ,  x1 , y1    0,1 m  y
 0,1 m1 m2 1,1
m2  2 kg ,  x2 , y2   1m,1m  A B
m3  3 kg ,  x3 , y3   1 m,0 
 0, 0 
m4  4 kg ,  x4 , y4    0,0  m3 C 1, 0 x
D m4  
and co-ordinates of their COM are
m1 x1  m2 x2  m3 x3  m4 x4
xCM 
m1  m2  m3  m4
1 0  2 1  3 1  4  0  5 1

   m  0.5 m
1 2  3  4 10 2
Similarly,
m1 y1  m2 y 2  m3 y3  m4 y 4 11  2 1  3  0   4  0  3
yCM  xCM    m  0.3 m
m1  m2  m3  m4 1 2  3  4 10
  xCOM yCOM    0.5 m, 0.3 m 
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5.2 Rigid Body Dynamics

A rigid body is defined as system of particles in which the distance between any two particles
remains fixed throughout the motion.
5.2.1 Degree of Freedom of Rigid Body
To define rigid body, there must be minimum 3 non-collinear points.
Let P1 ( x1 , y1 , z1 ) , P2 ( x2 , y2 , z2 ) , P3 ( x3 , y3 , z3 ) are three non-collinear points.
So, equation of constrained is
z
2 2 2
r12   x1  x2    y1  y2    z1  z2   c1
2 2 2
r23   x2  x3    y2  y3    z2  z3   c2
2 2 2 P1 
r13   x1  x3    y1  y3    z1  z3   c3 P
3
Dof  3N  k 
P2
3 3  3  6 y
O
So there is six degree of freedom for rigid body
x
5.2.2 Center of Mass of Continuous System
The result is not rigorous, since the mass elements are not true
particles. However, in the limit where N approaches infinity,
dm   dV
the size of each element approaches zero and the
r
approximation becomes exact.
 1 N 
R  lim  m j rj . This limiting process defines an integral.
N 
M j 1

Formally lim  m j rj   r dm , where dm is a differential mass element. Then,
N  j 1
 1  1 1 1
R  r dm  X CM   xdm, YCM   ydm, Z CM   zdm .
M M M M
To visualize this integral, think of dm as the mass in an element of volume dV located at
 1 
position r . If the mass density at the element is  , then dm   dV and R   r  dV . This
M
integral is called a volume integral.
Example: A rod of length L is placed along the x - axis between x  0 and x  L . The linear
density (mass/length)  of the rod varies with the distance x from the origin as   Rx . Here,
R is a positive constant. Find the position of centre of mass of this rod.
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Solution: Mass of element dx situated at x  x is y

dm   dx  Rx dx
dx
The COM of the element has coordinates  x,0,0  . x
x0 xx xL
Therefore, x -coordinate of COM of the rod will be
L L
 x2 
R x 2 dx
 xdm    x  Rx  dx  
L L
 
0 0 0  3 0 2L
xCOM  L L L
 L

 x2  3
 dm   Rx dx R  xdx
0 0  
0  2 0
The y -coordinate of COM of the rod is yCOM 

 ydm  0 (as y  0 )
 dm
 2L 
Similarly, zCOM  0 Hence, the centre of mass of the rod lies at  , 0, 0 
 3 
Example: Find the center of mass of a thin rectangular plate with sides of length a and b ,
whose mass per unit area  varies in the following fashion:
   0  xy / ab  , where  0 is a constant.
 1
Solution: R 
M

 xiˆ  yjˆ  dx dy , 
y dm  a dx dy
We find M , the mass of the plate, as follows:
a
b a x y
b a
M 
0 0  dx dy  0 0  0 a b dx dy
dy
We first integrate over x , treating y as a constant. b
x a
dx
 x y   y x2 
M    0a  0
b
0 dx  dy  0b   0  dy x
 ab   b 2a 
 x 0 
y b y
b ya  a y2 1
  0
0 dy  0   0 ab a
b2 2 2b y 0
4
The x component of R is
a
b
1 1 b  a xy  1 b   y x3  R
X
M
 x dx dy 
M   
0 0
x 0 dx  dy 
ab  M 0  ab0 3  dy

 0  x
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1  0 b ya 3 1  0 a3 b2 4  0 a 2b 2
 dy    a
M ab 0 3 M ab 3 2  0 ab 6 3
b
1 1 a  b xy  1 a   x y3 
Similarly, Y 
M
 y dx dy 
M 0  0 y 0 ab dy  dx  M 0  ab0 3  dx

 0
1  0 a xb3 1  0 b3 a 2 4  0b 2 a 2
 dx    b
M ab 0 3 M ab 3 2  0 ab 6 3
2  2
Y  b So center of mass is R  ( aiˆ  bjˆ)
3 3
Example: Find the centre of semicircle ring of mass M and radius R .
Solution: The length of semicircular ring is   R
M
Mass per unit length of ring is
R
 x  R cos  , y  R sin  
Length of the small arc subtending an angle d at the centre is  Rd
M M y
Mass of the arc is dm  Rd  d
R 
Thus, the coordinate of the centre of mass
Rd
1 1  M
X C .M   xdm    R cos   d  d  0 d
M M 0  
O x
1 1 M  M R 
YC .M 
M  ydm 
M  
0
 R sin   d 
M 
  cos  0
R cos 
R 2R
  cos   cos 0  
 
 2R 
CM   0, 
  
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Example: Find the centre of mass of semicircular disc of mass M and radius R .
Solution: from the circular symmetry x  r cos  , y  r sin 
2M 2M y
dm  2
dx.dy  rdr.d
R  R2
R
1 2M d dm
X C .M 
M  xdm  M  R2   r cos rdrd  0 R r
00  x
0
R
1 2M
YC.M 
M  ydm   R2   r sin  rdrd z
00
R 
2M 2 2M R3 4R
 
2 
r dr  sin  d   2
 2 
M R 0 0 M R 3 3
Example: Find the centre of mass of a hollow hemisphere of radius R and mass M
Solution: Consider a ring at angle  from the base area of ring z
This problem can be solved in spherical symmetry R sin 
x  R sin  cos  , y  R sin  sin  , z  R cos  dm
M 
dm  2
R 2 sin  d d
4 R y
X C .M   xdm
 
2 2 2 2 2 2
2 MR MR
  R sin  cos  .sin  d d  2 
sin 2  d  cos  d  0
2 R 2 0 0 4 R 0 0
 
2 2 2 2 2 2
MR MR
  ydm   R sin  sin  .sin  d d  sin 2  d  sin  d  0
4 R 2 0
YC.M
2 R 2 0 0 0
 
2 2 2 2 2 2
MR MR 1 R R
Z C.M   zdm   R cos  .sin  d d  R sin 2 d  d  2  2
2 R 2 0 0  R 2 2 0 0
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Example: Find the center of mass of a uniform solid hemisphere of radius R and mass M . From
symmetry it is apparent that the center of mass lies on the z axis, as illustrated. Its height above
the equatorial plane is
1
Z  zdM .
M
Solution: We can solve this problem in spherical symmetry as z
x  R sin  cos  , y  R sin  sin  , z  R cos 
dm
M 6M 2 d
dm  3
dxdydz  r dr sin  d d
4 R 4 R3 
6 y
0
1 1
X C .M 
M  xdm  0 , YC .M 
M  ydm  0
x

1 6 M R 2 2
Z C .M       r cos  .r 2 dr sin  d d
M 4 R3 0 0 0

R 2
1 6M 2
1 6M R4 1 3
  r 3dr  cos  sin  d d      2  R
M 4 R 3 0 0

0
M 4 R 3
4 2 8
Second method
The integral is over three dimensions, but the symmetry of the situations lets us treat it as a one
dimensional integral. We mentally subdivide the hemisphere into a pile of thin disks. Consider
the circular disk of radius r and thickness dz . Its volume is dV   r 2 dz , and its mass is
2
dM   dV   M / V  dV , where V   R3 .
3
z
r
dz dz
z
1 M 1 R
Hence, Z   zdV  z  0  r 2 z dz
M V V
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To evaluate the integral, we need to find r in terms of z . Since, r 2  R 2  z 2 , we have
r
3
z Z R
R R 8
1 4
  1 4 1 4  4R
R
 R  1 2 2 1 4 3
Z  0 z  R 2  z 2  dz  2z R 4z    R  R  2  R.
V V  0 V 2 4   R3 8
3
Example Find the centre of mass triangular plate of Mass M . Where l and h are given
parameter shown in figure. y
h
x
O l
h
z
xdm M M
Solution: X CM   where dm  dx.dy  dm  dxdy and r 2  x 2  y 2
M 1 hl
2h.l
2
y dm
h
y x
M x l l 1 h x l 2 2l
X CM   xdx  dy  2.  x dx 
Mhl x 0 h hl l x 0 3 h
y  x
l y
x
h O x l
y x
ydm M x l l h
YCM    X CM   dx  ydy  0
M Mhl x 0 y  h x z
l
lf some mass M 1 is removed from a rigid body of mass M , then the position of centre of mass
of the remaining portion is obtained from the following formulae:
  
Mr  M 1r1
RCOM 
M  M1
 
Here, M , r the values mass and center of mass of the whole mass while M 1 , r1 are the values
for the mass which has been removed.
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Example: Find the position of centre of mass of the uniform lamina shown in figure.
Y
a
X
O
Solution: Here, A1  area of complete circle   a 2 the mass of disc is M
 x1 , y1   coordinates of centre of mass of large circle   0, 0

22
 a  a
A2  area of small circle     
2 4
M  a2 M
mass of removed circle is M1  2  
a 4 4
a 
and  x2 , y2   coordinates of centre of mass of large circle   , 0 
2 
a a M
0.M  .M 1  .
2 a 0.M  0 M 1 0
X cm   2 4   , XY   0
M  M1 M 6 M  M M
M 1 M
4 4
 a 
Therefore, coordinates of COM of the lamina shown in figure are   ,0 
 6 
Example: Find the position of centre of mass of the remaining plate when a circle is cut from
l
right half radius of circle is . Centre of circle is in centre of the right part of the plate.
8 y
1  2  2  
3 l
1 2
O x
l l
2 2
Solution: Area x y
l2 l l
A1
4 4 2
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l2 3l l
A2
4 8 2
l2 3l l
A3
64 8 2
Taking origin at corner O
Ax A1 x1  A2 x2  A3 x3
xCOM  
A A1  A2  A3
 l2 l2  l 2 3l  l 2 3l 3 3 3
 7  3 
2             l  3 l  3 l l  
 4 4  4 8 64 8 8 32 512   32 512   0.28 l
 
l2 l2
2     
l2

3  
l 2   
 48   
4 4 64  4 64  64
l2 l l2 l l2 l 1 1  
  2        l   
yCOM  4 2 4 2 64 2   4 8 128   0.5 l
l2 l2 l2 1 1 
 
2     
4 4 64 2 4 64
Centre of mass is  0.28 l , 0.5 l  .
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5.3 Moment of Inertia

  
Newton’s law of motion for linear motion can be written as  Fi  ma where Fi is the external
i

force on particle with mass m the effect of force on mass can be calculated as acceleration a .
The mass m is also identify of measurement of Inertia .
Similarly for the Rotational motion of rigid body about any axis passing through O the equation
  
of motion can be written as torque equation as   i  I o where  i is external torque about axis
i

 d
passing through O and   is angular acceleration of Rigid
dt
body . I O is Identified as Moment of Inertia of rigid body about axis
O dm
r
passing through O
So moment of inertia about axis passing through axis O due to
small elemental mass dm is given by I O   r 2 dm where r is perpendicular distance between

elemental mass dm and axis.
For example if elemental mass dm is confined in x, y plane then moment of inertia about Y axis
is I y   x 2 dm .
To solve moment of inertia effectively we use two basic theorem.

1. Theorem of Parallel Axes
Suppose we have to obtain the moment of inertia of a body Z B
about a given line AB. Let C be the centre of mass of the body C.M . C A
and Axis passing through center of mass is CZ be the line d
parallel to AB through C. Let I and IC be the moment of
inertia of the body about AB and CZ respectively. Then,
I  I C  Md 2 , where d is the perpendicular distance between lines AB and CZ and M is mass

of the body.
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2. Theorem of Perpendicular Axes

y
The perpendicular axis theorem is used only when mass is
distributed in plane . if mass is distributed in x  y plane and
O x
I X , IY and I Z is principle moment of inertia about x, y, z axis
respectively, then according to perpendicular axis theorem
z
I Z  I X  IY
5.3.1 Moment of Inertia of Particular Cases

A. Uniform Rod
(i) Moment of inertia About an axis through its centre and perpendicular to its length.
Let AB be a thin uniform rod, of length l and mass M , free
Y
to rotate about an axis YOY  passing through its centre O and
perpendicular to its length, as shown in figure. Since the rod is dx
O B
uniform, its mass per unit length is clearly M / l . Considering A
dm
a small element of the rod, of length dx at a distance x from l /2 x
the axis through O , we have mass of the element Y
dm   M / l   dx and therefore, its moment of inertia about the axis YOY   through
l l
l/2
' 2 M 2 l/2 M 2M  x3  2M l 3 Ml 2
I CM y
 I   x dm   x
y
2
dx . 2 0 2
x 2 dx      

l

l l l l  3  0
l 24 12
2 2
(ii) Moment of inertia about an axis through one end of the rod and perpendicular to its
length.
Proceeding as in case (i) above, we obtain the moment of Y
inertia of the rod about the axis, now passing through one l/ 2 dx
end A of the rod, by integrating the expression for the A O B
dm
moment of inertia of the element dx of the rod, between the x
limits x  0 at A and x  l at B , i.e. , Y
l M 2 M l 3 Ml 2
I  0 x dx   
l l 3 3
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Alternatively, we could obtain the same result by an application of the principle of parallel axes,
according to which
Moment of inertia of the rod about the axis YAY   Its moment of inertia about a parallel axis
through O + (mass of the rod  square of the distance between the two axes).
ML2 l
So that, I  I CM  Md 2 , I C.M  ,d 
12 2
2
Ml 2 l Ml 2 Ml 2 Ml 2
M     
12 2 12 4 3
B. Rectangular Lamina (or Bar)
(i) Moment of inertia About an axis through its centre and y
parallel to one side: Let A B C D be a rectangular lamina, of
A B
length l , breadth b and mass M and let YOY  be the axis dx
O dy b
through its centre O and parallel to the side AD or BC about x
dm
which its moment of inertia is to be determined.
C
Consider an element, or a small rectangular strip of the lamina, D l/2 l/2
parallel to, and at a distance x from the axis. The area of this y
M
strip or element dA  dx  b . And, since the mass per unit area of the lamina  , we have
l  b 
M M
mass of the strip or element dm   dx  b  dx .
l b l
l l
' 2 2 M
And therefore, M.I. of the element about the axis YOY   IYY   x 2 dm   x2 dx

l

l l
2 2
The moment of inertia  I  of the whole rectangular lamina is then given by twice the integral of
l
the above expression between the limits x  0 and x  .
2
' M l 2 2 M l 3 Ml 2
i.e., IYY  I CM  2  x dm   
l 0 l 24 12
(ii) Moment of Inertia about side BC: From principle of parallel axes, I  I C .M  md 2
Ml 2 l
I C .M  d
12 , 2
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2
Ml 2 l Ml 2
So, moment of inertia about axis which is passing through BC I  M    .
12 2 3
This is again the same case as that of the M.I. of a rod about an axis passing through one of its
ends and perpendicular to its length [case I (ii)], for, as pointed out above, if b be small, the
rectangular lamina too reduces to a thin rod of length l .
(iii) Moment of inertia about an axis passing through its centre and perpendicular to its
plane: This may be easily obtained by an application of the principle of perpendicular axes
theorem to
Ml 2
I Z  I X  IY IY 
12
Mb 2
Similarly, IX 
12
Moment of inertia about axis passing through O and perpendicular to plane is
I CM  I Z 
2
Ml 2 Mb 2 M l  b
 
2
 
12 12 12
(iv) Moment of inertia of Lamina about an axis passing through the mid-point of one side
BC and perpendicular to its plane: In this case the axis passes through the mid-point of side
AB or BC , say, and perpendicular to the plane of the lamina, so that it is parallel to the axis
through O (the c.m. of the lamina) in case (iii).
In accordance with the principle of parallel axes, therefore, the M. I. of the lamina about this axis
is given by I  I C .M  Md 2
I CM 

M l 2  b2  d
l
12 2
I M
l 2
 b2  M  l  
2
 l 2  b2 l 2 
 
 l 2 b2 
  M   M   
12  2  12 4  3 12 
And, if the axis passes through the mid-point of AB or DC , we, similarly have
I  I C .M  Md 2
I CM 

M l 2  b2  d
b
12 2
2
 l 2  b2  b  l 2  b2 b2   l 2 b2 
I M   M 2  M     M   
 12     12 4  12 3 
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(v) About an axis passing through one of its corners D and perpendicular to its plane: Let
the axis passes through the corner D of the lamina. Since it is perpendicular to the plane of the
lamina, it is parallel to the axis through its centre of mass O in case (iii). Again, therefore, by the
principle of parallel axes, we have moment of inertia of the rectangular lamina about this axis
through D given by
 l 2  b2 
I  I CM  Md 2 , I CM  M  
 12 
2 2
where d is the distance between the two axes. Clearly, d 2   l / 2    b / 2   l 2  b 2 / 4 .  
 l 2  b2   l 2  b2   l 2  b 2  3l 2  3b 2   l 2  b2 
So that, I  M    M    M    M  
 12   4   12   3 
C. Circular Ring
(i) Moment of inertia about an axis through its centre and perpendicular to its plane. Let
the radius of the hoop or the thin circular ring be R and its mass M .
y
R dm
d
O  x
z
Consider a particle of mass m of the hoop or the ring. Clearly, its M.I. about an axis through the
centre O of the hoop or the ring and perpendicular to its plane I Z   dmR 2 where
M
dm  Rd
2 R
M 2 2
I Z   dmR 2  R  Rd  MR 2
2 R 0
(ii) Moment of inertia about axis, which is passing through its diameter: Obviously, due to
symmetry, the M.I. of the hoop or the ring will be the same about one diameter as about another.
Thus, if I be its M.I. about the diameter XOX  (Figure), it will also be I about the diameter
YOY  perpendicular to XOX  .
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By the principle of perpendicular axes theorem, I Z  I X  IY From symmetry I X  IY and
MR 2
I Z  MR 2 I X  I X  MR 2 or 2 I X  MR 2 hence, I X  .
2
D. Circular lamina or disc
(i) Moment of inertia about an axis through its centre and perpendicular to its plane:
M
Let M be the mass of the disc and R , its radius, so that its mass per unit area is equal to .
 R2
Considering elemental mass of the disc dm , distance r from the axis passing through O and
perpendicular to the plane of the disc, we have y
 M 
dm   2 
 rdrd d dm
R 
O r x
2 M R 3 2 MR 2
I Z   r dm   r dr  d 
 R2 0 0 2
z
.
(ii) Moment of inertia about axis, which is passing through its diameter: Here, again, due to
symmetry, the M.I. of the disc, about one diameter is the same as about another. So that, if I be
the M.I. of the disc about each of the perpendicular diameters XOX  and YOY  , (Figure), By the
principle of perpendicular axes theorem, I Z  I X  IY From symmetry I X  IY and I Z  MR 2
MR 2
IX  IX  or.
2
MR 2 MR 2
i.e. 2 I X  I
, hence, X  .
2 4
E. Solid Cylinder
(i) Moment of inertia of cylinder of radius R and uniform mass M about its own axis of
cylindrical symmetry: z
Using cylindrical symmetry, x  r cos  , y  r sin  and z  z .
r dm
l
l O y
M M R 3 2 2 MR 2
I Z   r 2 dm dm  rdrd  dz  I Z   r dr  d   dz  x
 R 2l  R 2l 0 0 
l 2
2
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Other method:
A solid cylinder is just a thick circular disc or a number of thin circular disc (all of the same
radius) piled up one over the other, so that its axis of cylindrical symmetry is the same as the axis
passing through the centre of the thick disc (or the pile of thin discs) and perpendicular to its
plane.
 M.I. of the thick disc (or the pile of thin discs) of the same mass and radius about the axis
through its centre and perpendicular to its plane.
MR 2
or I
2
(ii) Moment of inertia About the axis through its centre and perpendicular to its axis of
cylindrical symmetry: If R be the radius, l the length and M the mass of the solid cylinder,
supposed to be uniform and of a homogeneous composition, we have its mass per unit length
M
equal to .
l
Now, imagining the cylinder to be made up of a number of discs each of radius R , placed
adjacent to each other, and considering one such disc of thickness dx and at a distance x from
the centre O of the cylinder, (figure), we have
M 
Mass of the disc =   dx and radius = R
 l 
M R2
And  M.I. of the disc about its diameter AB  dx  and its M.I. about the parallel axis
l 4
YOY  , passing through the centre O of the cylinder and perpendicular to its axis of cylindrical
symmetry (or its length), in accordance with the principle of parallel axes,
M R2 M
 dx  dx  x 2
l 4 l
y
l /2
A
R x
z z
O
dx
x B
l
y
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Hence, M.I. of the whole cylinder about this axis, i.e. I  twice the integral of the above
l
expression between the limits x  0 and x  ,
2
l/2
 M R2
l/2 M 2  2M l / 2  R 2 2  2M  R 2 x x3 
i.e., I  2 0   dx  x dx     dx  x dx   
 l 4 l  l 0  4  l  4 3 0
2M  R 2 l l 3  2 M  R 2l l 3   R2 l 2 
or I          M   
l  4 2 8 3 l  8 24   4 12 
F. Solid cone of mass M and its vertical height h and its base radius R (figure below).
(i) Moment of Inertia about its vertical axis.
1 z
Clearly, volume of the cone   R 2 h and if  be the density of its
3
1 3M A y
material its mass M   R 2 h  , whence,   .
3  R2h 
Now, the cone may be imagined to consist of a number of discs of x
x r h
progressively decreasing radii, from R to 0 piled up one over the
dx
other.
Considering one such disc of thickness dx and at a distance x from O R
the vertex A of the cone, we have,

Radius of the disc, r  x tan  , where  is the semi-vertical angle of the cone, and therefore its
volume   r 2 dx   x 2 tan 2  dx and its mass   x 2 tan 2  dx .
Hence, M.I. of the disc about the vertical axis AO of the cone (i.e. an axis passing through its
2

 radius 
centre and perpendicular to its plane) = mass
2
2
r  x  tan  dx  x 2 tan 2    tan 4   4
2 2
  x 2  tan 2 dx     x dx
2 2  2 
And since, M.I. of the entire cone about its vertical axis AO is given by
h
 tan 4  4
h  tan 4  h 4  tan 4   x5   tan 4  h5  R 4 h5
I  0 x dx  0 x dx  5     ,
2 2 2  0 2 5 2h 4 5
substituting R / h for tan  or, substituting the value of  obtained above, we have
  3M R 4 h5 3MR 2
I   
 R 2 h 2h 4 5 10
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(ii) Moment of inertia about an axis passing through the vertex and parallel to its base:
Again, considering the disc at a distance x from the vertex of the cone, we have its M.I. about its
2
mass   radius  r 2  x 2 tan 2  dx  x 2 tan 2    tan 4   4
diameter =   x 2  tan 2  dx     x dx
4 4 4  4 
 Its M.I. about the parallel axis XX  , parallel to its base is given by
  tan 4   4 2 2 2   tan 4   4 2 4
  x dx   x tan  x dx    x dx   tan  x dx
 4   4 
Hence M.I. of the entire cone about the axis XX  , parallel to the base is given by
4
h   tan  4   tan 4  h 4 h
I  0  x dx   tan 2  x 4  dx  0
x dx   tan 2  0 x 4 dx
 4  4
h h
 R 4  x5  R 2  x5   R 4 h5  R 2 h5  R
  4      2   
4 h  5 0 h  5 0
  2 
4h 4 5 h 5  tan   h 
or, substituting the value of  , we have M.I. of the cone about the axis XX  , i.e.
  3M R 4 h5   3M R 2 h5 3MR 2 3Mh 2
I       
4 R 2 h h 4 5 4 R 2 h h 2 5 20 5
G. Moment of inertia of a uniform hollow sphere about a diameter
Let M and R be the mass and the radius of the sphere, O its centre z
R sin 
and OX the given axis. The mass is spread over the surface of the A
dm
sphere and the inside is hollow.
 R
M d y
I Z   r 2 dm where dm  2
R 2 sin  d d is elemental mass and O
4 R
r  R sin  , which is perpendicular distance from axis x
M  2 2 2
2 MR 4 4 2 MR 2
IZ   R sin  . R sin  d  d   . .2 
4 R 2 0 0 4 R 2 3 3
z
H. Moment of inertia of a uniform solid sphere about a
diameter r sin dm
Let M and R be the mass and the radius of the sphere, O its centre  r
d y
and OX the given axis. The mass is spread over the surface of the O
sphere and the inside is hollow.
x
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M
I Z   r 2 dm where dm  r 2 dr sin  d d  is elemental mass and r  R sin  which is
4 3
R
3
perpendicular distance from axis
3M R 4  2 2 3MR5 4 2 MR 2
IZ   r dr  sin  .sin  d  d   . .2 
4 R3 0 0 0 4 R5 3 5
Radius of Gyration: The radius of Gyration K of body about axis is the effective distance from
this axis where the whole mass can be assumed to be concentrated so that moment of inertia
remain the same.
I
I  MK 2 so K 
M
For example radius of gyration of disc about an axis perpendicular to its plane and passing
I 1MR 2 R
through its center of mass is K   
M 2M 2
 x
Example : If linear mass density of Rod is   0 where l is length of
l
dx
Rod and x is distance measured from origin as shown in figure find the O x
dm
moment of inertia about axis passing through origin .
dm x
Solution:    dm   dx  dm  0 dx
dx l
l  l  l  l3
I Z   x 2 dm  0  x 2 .xdx  0  x3dx  0
0 l 0 l 0 4
Example: Find the moment of inertia of rod AB of mass M and length l about an axis YY ' are
shown in figure Y B
 l
A
Y
M B
Solution: Elemental mass of the rod dm  dx Y r
l
 dx
Perpendicular distance of this elemental mass about YY ' is r  x sin  x
' M
Moment of Inertia of this small element of the rod IYY   r 2 dm  sin 2  x 2 dx A
l
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' M x l M l 3 Ml 2
IYY 2 2 2
 sin   x dx  sin    sin 2 
l x 0 l 3 3
Example: Seven uniform rings, each of mass M and radius R , are
inscribed inside a regular hexagon as shown.
Find the moment of inertia of this system of seven rings, about an axis
passing through the central ring and perpendicular to the plane of the disks
Solution: MI of central ring about axis + 6  MI of surrounding Ring
about axis

MR 2  6  MR 2  M  2 R 
2
  MR 2
 6  5MR 2  31MR 2
Example: Consider a uniform thin circular disk of radius 2R and mass M . A concentric square
of side R is cut out from the disk (see figure). What is the moment of inertia of the resultant disk
about an axis passing through the centre of the disk and perpendicular to it?
M 2
Solution: Moment of Inertia of about center is  2 R   2MR 2
2
M
Moment of inertia of square of length a about center is I square  1 a 2  a 2
12
 
R
M1 2 M
put a  R I square 
12

R  R2  1 R2
6

R/2
M M M M 2
where M 1  2
aa  put a  R , M1  so I sqare  R
  2R  4 4 24
MR 2  1 
I  I disc  I square  2 MR 2   MR 2  2 
24  24 
Example: Find the Moment of inertia of Annular Disc of mass M about axis passing through
center and perpendicular to plane the inner radius of disc is a and outer radius is b
y
b
a O x
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Solution: If b and a be the outer and inner radii of the disc having mass M , we have mass per
M y
unit area of the disc . dm

 b2  a 2  d
b r
M .rdrd
The elemental mass dm  a 
 b2  a2   O
x
2 M b
4
2 
M a 2  b2 
I Z   r dm   r dr  d  I Z  z

 b2  a 2  a 0 2
Example Consider a uniform thin circular disk of radius R and mass M . A

R R
hole of radius is cut out from the disk (see figure). What is the moment of
2 O R /2
inertia of the resultant disk about an axis passing through the centre of the disk
O and perpendicular to it?
MR 2
Solution: Moment of inertia of disc I OD 
2
M1R12 R R
Moment of inertia of hole I OH   M 1d 2 where R1  , d 
2 2 2
2
M1 M R  M
And 2
 2
 M1  M   1  
 R1  R R 4
2 2
1 M R M R 3
I OH        MR 2
2 4 2 4 2 32
MR 2 3 13
I O  I OD  I OH   MR 2  MR 2
2 32 32
Example Four spheres of diameter 2a and mass M each are a b a
A
placed with their centres on the four corners of a square of side b . D
(a) Find the moment of inertia about axis passing through center of
b b
square and perpendicular to plane of square
(b) Find the moment of inertia of the system about one side of the a a
B b C
square taken as the axis
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2
MR 2
Solution: (a) Moment of inertia of each sphere about its diameter is I CM 
5
Moment of inertia of sphere about axis passing through center of square and perpendicular to
b2 b2 b
plane of square I Z  I CM  Md 2 , where d   
4 4 2
2 Mb 2
IZ  Ma 2 
5 2
8 4 8
The moment of Inertia of whole system is I ZS  4  I Z  Ma 2  Mb 2  Ma 2  2 Mb 2
5 2 5
(b) The moment of inertia of the system about any side (say CD )
I  M .I of A about CD  moment of inertia of B about CD  MI of C about CD  MI of
D about CD
2  2  2 2 2
  Ma 2  Mb 2    Ma 2  Mb 2   Ma 2  Ma 2  M 4a 2  5b 2
5  5  5 5 5
 
Example: Find the moment of Inertia about the axis passing y
through O and perpendicular to triangular plate of Mass M .
Where l and h are given parameter shown in figure. h
x
O l
h
z
M M
Solution: I Z   r 2 dm where dm  dx.dy  dm  dxdy and r 2  x 2  y 2
1 hl
2h.l
2
h h
y x y x
M x l l M l l
Iz  2 2
  x  y dxdy  2
hl x 0 y  h x
  
hl x 0 0
x 2

 y 2 dxdy
l
y dm
 h  h
y x y x
M l l l 2M  h l 3
l l h3 
2    x dxdy    y dxdy  
2 2 3
  x dx   3 x dx  h
hl  x 0 0 x 0 0  hl  l 0 0 3l  y
  x
O x l
2 M  hl 4 h3 l 4   Ml 2 Mh 2  h
    
hl  4 3l 3 4   2 6  z
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5.4 Moment of Inertia Tensor

5.4.1 Angular Momentum and Inertia Tensor
Let us consider the motion of a rigid body rotating about a z
fixed point o in the body as shown in figure.

At any instant of time, the body will rotate with velocity  
vj
P
about that instant through point O . mj   mi
x ri vi
A particle P of the body, having the position vector r1 with O y
respect to O has instantaneous velocity vi relative to O ,

given by x
   
vi    ri , where    x iˆ   y ˆj   z kˆ

r  xiˆ  yjˆ  zkˆ
Angular momentum of Point P about the point O is given by
      
J P  ri  mi vi  J P  ri  mi   ri 
 N   N
   
J   ri  mi vi   mi ri    ri   J   mi  ri 2   ri   ri 
i 1 i i
 J x   I xx I xy I xz    x 
    
 J y    I yx I yy I yz    y 
 J   I I zy

I zz    z 
 z   zx
I   I  , where I is inertia tensor


and I XX   mi ( yi  zi 2 ) , IYY   mi ( xi 2  zi 2 ) , I ZZ   mi ( xi 2  yi 2 ) are known as moment of

2
i i i
inertia and I XY  IYX    mi xi yi , I XZ  I ZX    mi xi zi , IYZ  I ZY    mi yi zi are known as

i i i
product of inertia.
N
I  I    mi  ri 2  xi xi 
i 1
where   1, 2, 3 and   1, 2, 3 , so one can denote x, y , z by x1 , x2 , x3 respectively.
For continuous system I is reduce to
 dm   xi2  xi xi  where dm is elemental mass.
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5.4.2 Principal Moment of Inertia

If one can diagonalized Inertia tensor into diagonal matrix then the diagonal element is known as
principal moment of inertia
And x, y, z component of angular momentum reduces to
J x  I xx x  I xy y  I xz  z
J y  I yx x  I yy y  I yz z

J z  I zx x  I zy y  I zz z
The secular equation of characteristic equationby given by  I  U   0
 I xx   I xy I xz 
 
 I xy I yy   I yz   0
 
 I zx I zy I zz   
The solution of characteristic equation   I1 , I 2 , I 3 are three principal moment of inertia.
Rotational kinetic energy of a rigid body
  
vi    ri
Kinetic energy of particle mi (which is explained in previous topic).
1 1  
Ti  mi vi2  mi vi  vi
2 2
Kinetic energy for entire body
1 1   1   
T   mi vi2   mi vi  vi     ri   mi vi
2 i 2 2
1    1   
     ri  mi vi       ri  mvi 
2 i 2 i
  1  
Since, J    ri  mi vi  , so T    J
i 2
Kinetic energy in a co-ordinate system of principle axis is given by
1 1 1
T I xx2  I y y2  I zz2
2 2 2
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Example Find the moment of Inertia of system

y
  a, 0   a, a 
4m 3m
x
  a, 0   a, 0 
m 2m
Solution: m1  m, m2  2m, m3  3m, m4  4m
 x1, y1, z1    a, 0,0  ,  x2 , y2 , z2   a, 0, 0  ,  x3 , y3 , z3   a, a,0  ,  x4 , y4 , z4    a, a,0 

2
 
I XX   mi yi2  zi2  m  02  2m  02  3m  a 2  4m    a   7ma 2
i
2 2
 
IYY   mi xi2  zi2  m   a   2m  a 2  3m  a 2  4m   a   10ma 2
i
   2
    
I ZZ   mi xi2  yi2  m   a   02  2 m  a 2  02  3m  a 2  a 2  4m    a   a 2  17 ma 2
i
 2

I XY  IYX   mi xi yi  0  0   3ma.a    4m.a.  a    ma 2
i
I XZ  I ZX    mi xi zi  0
i
IYZ  I ZY    mi yi zi  0
i
7 ma 2 ma 2 0 
 
The moment of Inertia Tensor for given system is I   ma 2 10ma 2 0 
 
 0 0 17 ma 2 
Example: A rigid body consists of three point masses of 2 kg , 1kg and 4kg , connected by
massless rods. These masses are located at coordinates 1, 1,1 ,  2, 0, 2  and  1,1,0  in meters,
respectively. Compute the inertia tensor of this system. What is the angular momentum vector of
this body, if it is rotating with an angular velocity   3iˆ  2 ˆj  4kˆ ?
Solution: We have
I XX   mi  yi2  zi2   2 1  1  1  0  4   4 1  0   12
i
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I XY   mi xi yi  2  1  1 0   4  1  6  IYX

i
I XZ   mi xi zi  2 1  1 4   4  0   6  I ZX
i
IYY   mi  xi2  zi2   2  2   1 8   4 1  16

i
IYZ   mi yi zi  2  1  1 0   4  0   2  I ZY
i
I ZZ   mi  xi2  yi2   2  2   1 4   4  2   16
i
Therefore,
 12 6 6 
 
I   6 16 2 
 6 2 16 
 
Given angular velocity can be expressed as
3 
   2 
4 
 
We know that, in the matrix form, one can write
 Lx   I xx I xy I xz    x 
    
 Ly    I yx I yy I yz    y 
 L   I zx I zy I zz    z 
 z 
Thus, for this case
 Lx   12 6 6   3   0 
      
 Ly    6 16 2   2    6 
 L   6 2 16   4   42 
 z
or L  6 ˆj  42kˆ
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Example: (a) Find the moment of inertia of system where square of mass M y
and area a 2 the origin is at one corner as shown in figure.

(b) Find principle moment of inertia x
0
3 2
Ma 2 a M a Ma

Solution: I XX   dm y 2  z 2   2 
a 0
y dy  dx  2   a 
0 a 3 3
Ma 2 a M a3 Ma 2

IYY   dm x 2  z 2   
a2 0
x dx 
0
dy  
a2 3
 a 
3
Ma 2 Ma 2 2
 
I ZZ   dm x 2  y 2 dxdy   x 2 dm   y 2 dm 
3

3
 Ma 2
3
Ma a M a2 a 2 Ma 2
I XY  I XY   dmxy    xdx  ydy      
a2 0 0 a2 2 2 4
I XZ  I ZX    dmxz  0
IYZ  I ZY    dmyz  0
 Ma 2 Ma 2 
  0 
 3 4 
 Ma 2 Ma 2 
I   0 
 4 3 
 2 Ma 2 
 0 0 
 3 
 Ma 2 Ma 2 
   0 
 3 4 
 Ma 2 Ma 2 
 I  U   0 , I     0 0
 4 3 
 2Ma 2 
 0 0  
 3 
2 2
 2 Ma 2    Ma 2   Ma 2  
 
     0
 3 
 3   4  
7 Ma 2 Ma 2 2 Ma 2
1  , 2  3 
12 12 3
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Example: Find the moment of inertia tensor of semi circular disc of mass M and radius R
where origin is at the center of disc. y
R
x
0
z
Solution: We can solve the problem in circular polar coordinate x  r cos  , y  r sin  , z  0
M y
dm  rdrd
 R2
2 rd
d dm
dr
 x
0
z
2 M R 2M R 3  2 2 M R 4  MR 2
I XX  
  y 2  z 2 dm  
 R2 0 0
r 2
sin 2
 rdrd  
 R2 0
r dr 
0
sin  d     
 R2 4 2 4
2M R  2 2M R 3  2 M R 4  MR 2
 
IYY   x 2  z 2 dm 
 R2 0 0
r cos 2
 rdrd   
 R2 0
r dr 
0
cos 2
 d    
 R2 4 2 4
MR 2 MR 2 MR 2
 
I ZZ   x 2  y 2 dm   x 2 dm   y 2 dm IYY  I XX 
4

4

2
2M R  2M R 3 
I XY  IYX    xydm   2  
r cos  .r sin  rdrd    r dr  sin  cos   0
R 0 0  R2 0 0
I XZ  I ZX    xzdm  0 IYZ  I ZY    yzdm  0
 MR 2 
 0 0 
 4 
 MR 2 
The moment of inertia tensor I   0 0 
 4 
 MR 2 
 0 0 
 2 
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Example: Consider a cube of volume a3 and mass M , which is situated such the origin O is at
one of the corner, consider cube has uniform density  . Then, z
(a) Find the moment of inertia tensor.

(b) Find the principal moment of inertia tensor.
y
(c) Find the angular momentum and kinetic energy when the axis of (0,0,0)
rotation is parallel to x̂ [that is,    ,0,0  ] x
(d) Find the angular momentum when the axis of rotation is parallel to is along the body diagonal
in the direction 1,1,1 .
a a a
M M 2 a 5
Solution: (a) I xx     y 2  z 2  dV where       y  z  dx dy dz 
2 2

a 3 a3 0 0 0
3
5
2 Ma 2M 2
 I xx  3
 a ,
a 3 3
Similarly,
a a a a a a
2 2
  
I yy      x  z dV  Ma 2 and I zz      x 2  y 2 dV  Ma 2
2
3
2
3

0 0 0 0 0 0
a a a a a a
Ma 2 1
I xy       xy dx dy dz  I yx  and I xz  I zx       xz dV   Ma 2
0 0 0
4 0 0 0
4
a a a
1
I yz  I yz       yz dV   Ma 2
0 0 0 4
 8 3 3 
Ma 2  
Hence, I   3 8 3  .
12 
 3 3 8 
(b) Principle M.I. is given by characteristic equation
 8Ma 2 3Ma 2 3Ma 2 

 I   
 12 12 12 
 3Ma 2 8Ma 2 3Ma 2 
  12 12
I 
12 0
 2

 3Ma 3Ma 2 8Ma 2 

 12  I
 12 12 
11 1
 I1  I 2  Ma 2 and I 3  Ma 2
12 6
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 8 3 3 
Ma 2 
(c) I 3 8 3 
12 
 3 3 8 
The angular momentum is given by
 8 3 3    8 
Ma 2     Ma 2  2
  Ma 8iˆ  3 ˆj  3 kˆ
L  I 
12 
3 8 3 0
   12   3  12  
3 3 8   0   3 
 
1   1 Ma 2   1 Ma 2 2 Ma 2 2
T  L.  8 3 3   0    8 
2 2 12 2 12 3
 0 
(d) If the cube is rotating about its main diagonal, then the unit vector in the direction of rotation
  
in u  1/ 3 1,1,1 and the angular velocity vector is   u   / 3 1,1,1 . Thus according 
to (10.42), the angular momentum for this case is
 8 3 3 1  2
Ma 2      Ma 2    Ma 2 
L  I  3 8 3 1  2  
12 3  12 3   6
 3 3 8  1  2 
In this case, rotation about the main diagonal of the cube, we see that the angular momentum is
in the same direction as the angular velocity.
Example: The solid hemisphere has mass M and radius R . Find the component I ZZ and I XY of
inertia tensor
Solution: x  r sin  cos  y  r sin  sin  z  r cos  z
dm
6M 2 d
dm  r dr sin  d d
4 R3 
y
0
x
M R  / 2 2 2

I ZZ   dm x  y 2 2
  3   
4 R 0 0 0

r dr sin  d d r sin 2  cos 2   r 2 sin 2  sin 2 
2

3
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6M R 4  / 2 3 2 6M R5 2 2
2 
r dr  sin  d  d  3
   2  MR 2
4 R 0 0 0 4 R 5 3 5
6 M R  2 2
I XY    dm  xy       r dr sin  d d .r sin  cos  .r sin  sin  
4 R3 0 0 0
6M R 4  / 2 3 2 6M 2
 3  r dr  sin  d   cos  sin  d    0  0
4 R 0 0 0 4 R3 3
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Questions
MCQ (Multiple Choice Question)
 x2 
Q1. A cylindrical rod of length L has a mass density distribution given by   x   0 1   , where
 L
x is measured from one end of the rod and 0 is a constant of appropriate dimensions. The
centre of mass of the rod is  L , at a distance of from that end then value of  is
(a) 0.5 (b) 0.46 (c) 0.56 (d) 0.66
 x2 
Q2. The linear mass density of a rod of length L varies from one end to the other as 0 1  2  ,
 L 
where x is the distance from one end with tensions T1 and T2 in them (see figure), and 0 is a
constant. The rod is suspended from a ceiling by two massless strings. Then, which of the
following statement(s) is NOT correct?
40 L
(a) The mass of the rod is
3
T1 T2
9L
(b) The centre of gravity of the rod is located at x 
16
0 L x
70 Lg
(c) The tension T1 in the left string is
12
30 Lg
(d) The tension T2 in the right string is
2
Q3. The centre of semicircle ring of mass M and radius R is
 R  R   2R   3R 
(a)  0,  (b)  0,  (c)  0,  (d)  0, 
   2      2 
Q4. Find the centre of mass of semicircular disc of mass M and radius R .
4R 2R R 2R
(a) (b) (c) (d)
3  2 3
Q5. The centre of mass of a hollow hemisphere of radius R and mass M is
3R R R R
(a) (b) (c) (d)
2 3 4 2
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a
Q6. A portion of circular shape of radius has been cut from disk of mass M and radius a as
2
shown in figure. Find the centre of mass of the remaining lamina.
Y
a
X
O
a   a  a   a 
(a)  ,0  (b)   ,0  (c)  ,0  (d)   ,0 
4   6  3   2 
Q7. EFGH is a thin square plate of uniform density σ and side 4a. Four point masses, each of mass m,
are placed on the plate as shown in the figure. In the moment of intertia matrix I of the composite
y
system,
 F
(a) only I xy is zero
m m
(b) only I xz and I yz are zero ( a, a,0) (a, a,0)
x
(c) all the product of inertia terms are zero ( a,  a,0)
m
(d) none of the product of inertia terms is zero ( a,a,0) m
H G
Q8. The moment of Inertia tensor of a shaft is given by
 6ma 2 0 2ma 2 
 
I  0 8ma 2 0 
 2 2 
 2ma 0 2ma 
If shaft is rotated about z -axis, then the torque about O (origin) is given by
(a) 2ma 2 2 iˆ (b) 2 ma 2 2 ˆj
(c) 2ma 2 2 iˆ  8ma 2 2 ˆj (d) 2ma 2 2 ˆj  8ma 2 2 iˆ
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Q9. Four masses all of mass m lie in x, y plane at positions

 x , y    a , 0  ,   a , 0  ,  0, 2 a  ,  0,  2 a 
Which of the following is correct for the moment of inertia tensor?
(1) The I xx  8 m a 2 and I yy  8 m a 2
(2) The moment of inertia is diagonal matrix.

(3) The principle moment of inertia is 8 ma 2 , 2 ma 2 ,10 ma 2
(a) 1,2,3 are correct (b) Only 1 , 2 are correct
(c) Only 2,3 are correct (d) Only 1,3 are correct .
Q10. Four masses all of mass m lie in x, y plane at positions  x, y    a, 0  ,   a, 0  ,  0, 2 a  ,  0, 2 a 
principle moment of inertia is given by

(a) 2 ma 2 ,8ma 2 ,10ma 2 (b) ma 2 , 4ma 2 ,5ma 2
(c) 8ma 2 ,8ma 2 ,16 ma 2 (d) 2ma 2 , 6ma 2 ,8ma 2

All other terms will zero so moment of inertia tensor are zero.
Q11. A uniform solid cube, of mass M and side a , rotating about a corner as
z
shown in figure. With angular velocity parallel to x̂ [that is,
   , 0, 0  ] then magnitude of Angular momentum is given by
y
41Ma 2 3Ma 2
(a) (b)
6 2 12 x
O a
5Ma 2 Ma 2
(c) (d)
6 6
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MSQ (Multiple Select Questions)

 x
Q12. A cylindrical rod of length L has a mass density distribution given by   x    0  1   , where
 L
x is measured from one end of the rod and 0 is a constant of appropriate dimensions.
Which of the following is correct?

3
(a) The mass of rod is 0 L
2
5
(b) The center of mass is L
6
5
(c) The center of mass is L
9
7
(d) If mass of rod is M then moment of inertia about end of rod is ML2
18
Q13. A square plate lies in the xy plane with its centre at the origin and its edges parallel to the x and
y -axes. Its moments of inertia about the x, y and z axes are I x , I y and I z respectively, and about
a diagonal it is I D .
1
(a) I x  I y  Iz (b) I x  I y  2 I z
2
(c) I D  I x (d) I D  I z
Q14. The moment of inertia of a thin square plate ABCD of uniform thickness about an axis passing
through the centre O and perpendicular to the plate is/are
4 1
A
B
3
O
2
D C
(a) I1  I 2 (b) I3  I4 (c) I1  I3 (d) I1  I 2  I3  I 4
(where I1 , I2 I3 & I 4 are respectively the moment of inertia about axes 1, 2,3 & 4 )
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Q15. Consider a disk of mass M and radius R and the axes shown in
C A
the figure. D
(a) The moment of inertia of the disc about an axis passing O

MR 2 R R /2
through the centre and perpendicular to the disc is .
2
(b) The moment of inertia of the disc about the line AB lying in
B
MR 2
the plane of the disc is .
2
5
(c) The moment of inertia of the disc about the line CD is MR 2 .
4
3
(d) The moment of inertia of the disc about the line CD is MR 2
2
Q16. Consider a spherical ball of mass m and radius r . A thin rod of mass m and length l has one of
its ends attached to the centre of the sphere and the other end touches the axis of rotation as
shown in the figure.
ml 2
(a) The M.I. of the rod alone about the axis of rotation is
3
2 2
(b) The M.I. of the sphere alone about the axis of rotation is mr  ml 2
5
ml 2  2 2 
(c) The M.I. of the system about the axis of rotation is   mr  ml 2 
3 5 
ml 2  2 2 
(d) The M.I. of the system about the axis of rotation is   mr  2ml 2 
5 7 
Q17. Consider a solid sphere and hollow sphere of same mass M and same radius R . Their centres
are at a distance d from each other.
A
C D
R M
O R M
O
B
Line AB bisects OO and line CD is tangent to both sphere, then
5
(a) The moment of inertia of the system about the axis AB is MR 2  Md 2
7
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8
(b) The moment of inertia of the system about the axis CD is MR 2  3MR 2
16
16 Md 2
(c) The moment of inertia of the system about the axis AB is MR 2 
15 2
16
(d) The moment of inertia of the system about the axis CD is MR 2  2MR 2
15
Q18. Pick out the correct alternative(s)
R
(a) The radius of gyration of a thin disc about any diameter is , where R is the radius of the
2
disc.
5
(b) The radius of gyration of a circular disc about a tangent in its plane is R , where R is the
2
radius of the disc.
(c) The radius of gyration of a thin rod about an axis through its one end and perpendicular to the
L
rod is , where L is the length of the rod.
3
(d) The radius of gyration of a rectangular lamina of sides l and b about an axis through its
1 l 2  b2
centre and perpendicular to its plane is .
2 3
NAT (Numerical Answer Type)

x
Q19. A cylindrical rod of length L has a mass density distribution given by   x   0  1   , where
 L
x is measured from one end of the rod and 0 is a constant of appropriate dimensions. The
centre of mass of the rod is  L , then the value of  is __________

Q20. A rod of length L and mass M is placed along the x -axis with one end at the origin. The rod
2M
has linear mass density   x , where x is the distance from the origin. Center of mass
L2
measured from origin is given by  L then value of  is given by___________.
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 x2 
Q21. A cylindrical rod of length L has a mass density distribution given by   x   0 1  2  , where
 L 
x is measured from one end of the rod and 0 is a constant of appropriate dimensions. If the
centre of mass of the rod is at a distance  L from that end then value of  is_________
Q22. A homogeneous solid hemisphere of radius R  8m is shown in the figure.
The distance of the center of mass of the p1ate (in meter) from the point O
is___________ 
O 8m
Q23. A solid hemisphere of radius R and mass M kept in xy z
plane such that it is symmetric about z - axis. The centre of

mass along z - axis is  R . The value of  is _________
y
0
x
Q24. Find the centre of mass of a triangular plate of Mass M , y
where l and h are given parameter shown in figure. The value
h
of X CM is  l , then the value of  is_______
x
O l
h
z
Q25. Three rings each of mass 10 kg and radius 2m are placed such
that they touch each other. The moment of inertia of the system about the axis shown
is_____________ kg  m 2 .
Q26. The moment of inertia of a solid cylinder of mass 10 kg and radius 3m about a line parallel to
axis of the cylinder and on the surface of the disc is ________ kg  m2 .
Q27. Three point masses m1  4 kg , m2  3 kg and m3  5 kg are located at the vertices of an
equilateral triangle of side length 5m . The M.I. of the system about the median passing through
mass m1 is _________ kg  m2 .
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Q28. The M.I. of a uniform square plate of side 4 m and mass 6 kg about an axis perpendicular to its
plane and passing through one of its corners is _________ kg  m2 .

Q29. Symmetric lamina of mass M consists of a square shape with a
semicircular section over the edge of the square as shown in figure. The A B
side of the square is 2a . The moment of inertia of the lamina about an
2a
axis through its centre of mass and perpendicular to the plane is 1.6 Ma 2 .
O
The moment of inertia of the lamina about the tangent A B in the plane
of the lamina is  Ma 2 , then value of  is_________
Q30. If length of solid cylinder is twelve time the radius and mass is uniformly distributed then Ratio
of The moment of inertia of solid cylinder about axis passing through Y  Y ' to X  X ' as shown
in figure is given by__________ Y
R
X X
O
l
Y
R
Q31. From a circular disc of radius R and mass 9 M , a small disc of radius is removed. The
3
moment of inertia of the remaining disc about an axis perpendicular to the plane of the disc and
2
passing through O (as shown in figure) is__________ MR
2R / 3
R O
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Solutions
MCQ (Multiple Choice Question)
Ans. 1: (c)
L
L L L  x2  x2 x4 L2 L4 21 1
 xdm  x  dx  x   1   dx   L 
0 2 2  
Solution: xcm  0L  0L 
0  L   2 4 L 0  2 4 L2   2 4 
L  x2  L x2  L3  1
 dm   dx 
 0 1   dx  1   dx L  2
L 1  
0 0 0  L 
2
0
2
L  3L  3
3
L
9
 xcm  4  L
4 16
3
Ans. 2: (d)
L
 x2  4 L
Solution: The mass of rod is m   0 1  2  dx  0
0  L  3
L
 x2 

0 0 1  L2  dx 9L
x
The centre of gravity of the rod is located at xcm  L 
 x2  16
0 0 1  L2 dx
40 Lg
Force equation T1  T2  and torque equation
3
9L  9L  9L 7L 9
T1   T2   L    T1   T2   T2  T1 
16  16  16 16 7
9 4 Lg
put value of T2  T1 in equation T1  T2  0
7 3
16 4 Lg 7 Lg
T1  0  T1  0
7 3 12
9 9 7 Lg 90 Lg
T2   T1   0 
7 7 12 12
Ans. 3: (c)
Solution: The length of semicircular ring is   R
M
Mass per unit length of ring is  x  R cos  , y  R sin  
R
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Length of the small arc subtending an angle d at the centre is  Rd

M M y
Mass of the arc is dm  Rd  d
R 
Thus, the coordinate of the centre of mass
Rd
1 1  M
X C .M   xdm    R cos   d  d  0 d
M M 0  
O x
1 1 M  M R 
YC .M   ydm    R sin   d    cos  0 R cos 
M M  0 M 
R 2R
  cos   cos 0  
 
 2R 
CM   0, 
  
Ans. 4: (a)
Solution: from the circular symmetry x  r cos  , y  r sin 
2M 2M y
dm  2
dx.dy  rdr.d
R  R2
R
1 2M d dm
X C .M 
M  xdm  M  R 2   r cos  rdrd  0 R r
00  x
0
R
1 2M
YC.M 
M  ydm   R2   r sin  rdrd z
00
R 
2M 2 2M R3 4R
  r dr  sin  d 
2  2
 2 
M R 0 0 M R 3 3
Ans. 5: (d)
Solution: Consider a ring at angle  from the base area of ring z
This problem can be solved in spherical symmetry R sin 

dm

M
dm  R 2 sin  d d y
4 R 2
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 
2 2 2 2 2 2
2 MR MR
X C .M   xdm   R sin  cos  .sin  d d  2 
sin 2  d  cos  d  0
2 R 2 0 0 4 R 0 0
 
2 2 2 2 2 2
MR MR
YC.M   ydm   R sin  sin  .sin  d d  2 
sin 2  d  sin  d  0
2 R 2 0 0 4 R 0 0
 
2 2 2 2 2 2
MR MR 1 R R
Z C.M   zdm   R cos  .sin  d d  R sin 2 d  d  2  2
2 R 2 0 0  R 2 2 0 0
Ans. 6: (b)
Solution: Here, A1  area of complete circle   a 2 the mass of disc is M
 x1 , y1   coordinates of centre of mass of large circle   0, 0

2 2
 a  a
A2  area of small circle     
2 4
M  a2 M
mass of removed circle is M1   
 a2 4 4
a 
and  x2 , y2   coordinates of centre of mass of large circle   , 0 
2 
a a M
0.M  .M1  . a
2 0.M  0 M 1 0
X cm   2 4   , XY   0
M  M1 M 6 M  M1 M
M M
4 4
 a 
Therefore, coordinates of COM of the lamina shown in figure are   , 0 
 6 
Ans. 7: (c)
Solution: I xy    mi xi yi  0, I xz    mi xi zi  0, I yz    mi yi zi  0
i i i
Ans. 8: (b)
  
Solution: We know that Torque     J
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 J x   6ma 2 0 2ma 2  0 
    
 J y   0 8ma 2 0  0 
   2 
2
 J z   2ma 0 2ma   
  
J  2m a 2 iˆ  kˆ        J  2ma 2 j
Ans. 9: (c)
 
Solution: I xx   mi yi2  zi2  8ma 2 , I yy   mi xi2  zi2  2ma 2
i i
 
 
I xx   mi yi2  zi2  8ma 2 I yy   mi xi2  zi2  2ma 2
i i
 

I zz   mi xi2  yi2  10ma 2
i

Ans. 10: (a)
 
Solution: I xx   mi yi2  zi2  8ma 2 I yy   mi xi2  zi2  2ma 2
i i
  i
 
I zz   mi xi2  yi2  10ma 2
All other terms will zero so moment of inertia tensor are zero.
Ans. 11: (c)
 8 3 3  z
Ma 2 
Solution:
  3 8 3 
12
  3 3 8 
 8  3 3     8  y
Ma 2     Ma 2 
L  I   3 8 3   0    3 
12 12 O x
  3  3 8   0   3  a
2 1 1
or, reverting to more standard vector notation L  Ma 2  ,  ,  
3 4 4
2 2 2
2 1 1
2 10Ma 2 5Ma 2
L  Ma           
3 4 4 12 6
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MSQ (Multiple Select Questions)

Ans. 12: (a), (c) and (d)
L L x L 3

Solution: M    dx   0  1  dx  0 L  0  0 L
0 0  L 2 2
L L L
 x  L x 2 x 3  L2 L3 1 1
 xdm  x  dx x
 0  1   dx     L2   
 L 0 2 3L  2 3 5
xcm  0L  0L  0L  L
 2 32L    L
 x  L x 2
 L  1 9
 dm   dx   0  1   dx x  L L 1  
0 0 0  L    2L  2
0 2L 0
L L L
 x  L3 L3  7
I   x 2 dm   x 2  dx  0  x 2  1   dx   0      0 L3
0 0 0  L  3 4  12
7 2M 7
   L3  ML2
12 3 L 18
Ans. 13: (a), (c)
1
Solution: I X  IY  I Z
2 y
(By perpendicular axis theorem and symmetry between x and y axes) z
ID  ID  IZ (By  axis theorem)
1 1 x
ID  IZ  I D  I X  I Z
2 2
Ans. 14: (a), (b) and (c)
ML2
Solution: From symmetry consideration and perpendicular axes theorem, I1  I 2  I 3  I 4 
12
Ans. 15: (a), (b) and (c)
A
MR 2 C A
Solution: The moment of inertia of the disc about point O is . D
2
Moment of inertia about AB is O
C D
R R /2
2
R MR 2 MR 2 MR 2
I AB  I AB  M     
2 4 4 2 B
B
MR 2 5
I CD  I C D  MR 2   MR 2  MR 2
4 4
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Ans. 16: (a), (b) and (c)

Solution: From parallel axis theorem, M.I. of the rod about XY is
2 2 X A C
 l  ml ml 2 ml 2
I rod  I AB  m     
2 12 4 3
O
O
The moment of inertia of the sphere (using parallel axis theorem)
2
about X Y is I sphere  I CD  ml 2  mr 2  ml 2 Y B D
5
The moment of inertia of the system about X Y is
ml 2 2 2 ml 2  2 2 
I system   mr  ml 2    mr  ml 2 
3 5 3 5 
Ans. 17: (c) and (d)
Solution: Moment of inertia of the system about AB = Moment of inertia of the hollow sphere about
AB + Moment of inertia of solid sphere about AB
2 2
2  d   2  d   16 Md 2
I AB   MR 2  M      MR 2  M     MR 2 
 3  2    5  2   15 2
Moment of inertia of the system about CD = Moment of inertia of the hollow sphere about
CD + Moment of inertia of the solid sphere about CD .
2  2  16 2 2
 I CD   MR 2  MR 2    MR 2  MR 2   MR  2MR
3  5  15
Ans. 18: (a), (b), (c) and (d)
MR 2 R
Solution: For the disc about its diameter Mk 2  k 
4 2
MR 2 5 5
For the disc about the tangent in its plane Mk 2   MR 2  MR 2  k  R
4 4 2
ML2 L
For the thin rod about an axis through one end MK 2  K
3 3
For a rectangular lamina about an axis through the centre and perpendicular to the rod
M 2 2 1 l 2  b2
Mk 2 
12
 
l b  k 
2 3
.
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NAT (Numerical Answer Type)

Ans. 19: 0.55
L
L L

L
x  x2 x3  2 3
 1 1
 xdm  x  dx  x 0  1  L  dx  2  3 L  L  L L2  2  3 
Solution: xcm  0L  0L  0L  L
0
 2 32L   
 x  2
 L  1
 dm   dx  0  1  L  dx  x  x  L
2L
L 1  
 2
0 0 0  2L 0
5L / 6 5
  L  0.55L
3/ 2 9
Ans. 20: 0.66
dm
Solution:    dm   dx
dx
L L L
L32
 xdm  x dx  x dx
2L
xcm  0L  0L  0L  32   0.66
L 3
 dm   dx  xdx
0 0 0 2
Ans. 21: 0.56
L L L L
 x2  x2 x4 L2 L4 21 1
 xdm  x  dx x 
  L2 
0  1   dx  2  2 L   
2 4 L 2 4
Solution: xcm  0L  0L  0L L 0
 2 43L  
 x  2  x  2
L  1
 dm   dx 
 0  L2 
 1   dx 
  L2 
 1  dx L  2
L 1  
0 0 0 0
3 L  3
3
L 9
 xcm  4  L
4 16
3
Ans. 22: 3
Solution: We can solve this problem in spherical symmetry as z
dm
M 6M 2 d
dm  3
dxdydz  r dr sin  d d
4 R 4 R3 
y
6 0
1 1
X C .M   xdm  0 YC .M   ydm  0
M M x
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
1 6M R 2 2
Z C .M   3
    r cos  .r 2 dr sin  d d 
M 4 R 0 0 0

R 2 2
1 6M 3 1 6M R 4 1 3
 
M 4 R3 0
r dr  cos  sin  d  d  
M 4 R 3
   2  R
4 2 8
0 0
3
R  8m  ZCM   8  3
8
Ans. 23: 0.375
Solution: We can solve this problem in spherical symmetry as
z
M 6M 2 dm
dm  3
dxdydz  r dr sin  d d d
4 R 4 R3

6 y
0
1 1
X C .M   xdm  0 , YC.M   ydm  0
M M
x

1 6M R 2 2
Z C .M       r cos  .r 2 dr sin  d d
M 4 R3 0 0 0

R 2
1 6M 2
1 6M R4 1 3
  r 3dr  cos  sin  d d      2  R
M 4 R 3 0 0

0
M 4 R 3
4 2 8
Ans. 24: 0.66

xdm M M
Solution: X CM   where dm  dx.dy  dm  dxdy and r 2  x 2  y 2
M 1 hl
2h.l
2
h
y x
x l l x l
M 1 h 2l
X CM   xdx  dy  2.  x 2 dx 
Mhl x 0 h hl l x 0 3
y  x
l
Ans. 25: 140

Solution: The M.I. of the system about the axis = sum of moment of inertia of individual rings.
3 3 mr 2 7 7
I mr 2  mr 2   mr 2   10  4  140 kg  m 2 .
2 2 2 2 2
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Ans. 26: 135

MR 2
Solution: The moment of inertia of the cylinder about its axis  X
2
Using parallel axis theorem

MR 2 3 3 2
I  I XY  MR 2   MR 2  MR 2  10  9  135 kg  m
2 2 2
Y
Ans. 27: 50
Solution: The moment of inertia of the system about the altitude
passing through m1 is
m1  4 kg
2 2 2
I mr m r m r
1 1 2 2 3 3
2 2 2
  4 kg  0    3 kg  2.5 m    5 kg  2.5 m 
m2  3kg m3  5 kg
2
  2.5  8  50 kg  m 2 2.5 m 2.5 m
Ans. 28: 64
A a
Solution: The moment of inertia of the plate about an axis perpendicular to the
plate and passing through centre O is a
O a
2
m 2 ma
12
 
a  a2 
6 a
By parallel axis theorem, the moment of inertia of the plate about an axis through one of its
corners.
Ans. 29: 4.8
Solution: Let the symmetric lamina be in x - y plane. The centre of mass lies in x - y plane.
By theorem of perpendicular axes, I x  I y  I z but I x  I y as the lamina is symmetric
y
2 2
 I x  I y  I z or 2 I x  1.6 Ma or I x  0.8 Ma
A B
By theorem of parallel axes, a
2a
2 2 2 2
I AB  I x  M  2a   0.8 Aa  4Ma  4.8 Ma
2a x
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Ans. 30: 24.5

MR 2
Solution: I X  X  
2
M 
Consider the disc of mass    d and radius x  R
 l 
Y l /2
A
R x
X
X
O
dx
B
l
Y
M R2
M.I. of the disc about its diameter AB  dx  and its M.I. about the parallel axis YOY  ,
l 4
passing through the centre O of the cylinder and perpendicular to its axis of cylindrical
symmetry (or its length), in accordance with the principle of parallel axes,
M R2 M
 dx  dx  x 2
l 4 l
Hence, M.I. of the whole cylinder about this axis, i.e. I  twice the integral of the above
l
expression between the limits x  0 and x  ,
2
l/2 l /2 l/2
 M R2 M 2  2M  R2 2  2M  R 2 x x3 
i.e., I 2    dx  x dx     dx  x dx     
0  l 4 l  l 0  4  l  4 3 0
2M  R 2 l l 3  2 M  R 2l l 3   R2 l 2   R 2 144 R 2 
or I       M   M   
l  4 2 8 3 l  8 24   4 12   4 12 
2
1  49 MR
MR 2   12  
4  4
49MR 2 MR 2
IY  Y   , IX X 
4 2
49 MR 2
I Y Y  4 49
 2
  24.5
IX X MR 2
2
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Ans. 31: 4
9M
Solution: Mass per unit area of disc
 R2
2
9M R
 Mass of removed portion  2
    M
R 3
Let moment of inertia of removed portion
2 2
M R  2R 
 I1     M   , by theorem of parallel axis.
2 3  3 
2R / 3
MR 2
I
or 1  O
2 R
Let I 2  Moment of inertia of the whole disc
9 MR 2
I2 
2
 Let I  Moment of inertia of remaining disc
 I  I 2  I1
9 MR 2 MR 2 8MR 2
or I     4 MR 2 or I  4 MR 2
2 2 2
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is an index from i  1 to i  N . The total mass of the system is denoted by M ,

The position of the centre of mass is defined by RCM 

vector of their centre of mass.

1 0  2 1  3 1  4  0  5 1

  xCOM yCOM    0.5 m, 0.3 m 

5.2 Rigid Body Dynamics

Solution: Mass of element dx situated at x  x is y

The y -coordinate of COM of the rod is yCOM 

To evaluate the integral, we need to find r in terms of z . Since, r 2  R 2  z 2 , we have

Solution: Here, A1  area of complete circle   a 2 the mass of disc is M

 x1 , y1   coordinates of centre of mass of large circle   0, 0

5.3 Moment of Inertia

small elemental mass dm is given by I O   r 2 dm where r is perpendicular distance between

To solve moment of inertia effectively we use two basic theorem.

I  I C  Md 2 , where d is the perpendicular distance between lines AB and CZ and M is mass

2. Theorem of Perpendicular Axes

5.3.1 Moment of Inertia of Particular Cases

the axis through O , we have mass of the element Y

By the principle of perpendicular axes theorem, I Z  I X  IY From symmetry I X  IY and

the vertex A of the cone, we have,

Example Consider a uniform thin circular disk of radius R and mass M . A

5.4 Moment of Inertia Tensor

respect to O has instantaneous velocity vi relative to O ,

I   I  , where I is inertia tensor

and I XX   mi ( yi  zi 2 ) , IYY   mi ( xi 2  zi 2 ) , I ZZ   mi ( xi 2  yi 2 ) are known as moment of

inertia and I XY  IYX    mi xi yi , I XZ  I ZX    mi xi zi , IYZ  I ZY    mi yi zi are known as

where   1, 2, 3 and   1, 2, 3 , so one can denote x, y , z by x1 , x2 , x3 respectively.

For continuous system I is reduce to

 dm   xi2  xi xi  where dm is elemental mass.

5.4.2 Principal Moment of Inertia

J y  I yx x  I yy y  I yz z

Kinetic energy of particle mi (which is explained in previous topic).

Example Find the moment of Inertia of system

Solution: m1  m, m2  2m, m3  3m, m4  4m

 x1, y1, z1    a, 0,0  ,  x2 , y2 , z2   a, 0, 0  ,  x3 , y3 , z3   a, a,0  ,  x4 , y4 , z4    a, a,0 

I XY   mi xi yi  2  1  1 0   4  1  6  IYX

IYY   mi  xi2  zi2   2  2   1 8   4 1  16

Given angular velocity can be expressed as

and area a 2 the origin is at one corner as shown in figure.

I XZ  I ZX    xzdm  0 IYZ  I ZY    yzdm  0

(a) Find the moment of inertia tensor.

rotation is parallel to x̂ [that is,    ,0,0  ] x

 8Ma 2 3Ma 2 3Ma 2 

The angular momentum is given by

(c) 2ma 2 2 iˆ  8ma 2 2 ˆj (d) 2ma 2 2 ˆj  8ma 2 2 iˆ

Q9. Four masses all of mass m lie in x, y plane at positions

(2) The moment of inertia is diagonal matrix.

principle moment of inertia is given by

(c) 8ma 2 ,8ma 2 ,16 ma 2 (d) 2ma 2 , 6ma 2 ,8ma 2

MSQ (Multiple Select Questions)

Which of the following is correct?

(a) The moment of inertia of the disc about an axis passing O

NAT (Numerical Answer Type)

centre of mass of the rod is  L , then the value of  is __________

Q23. A solid hemisphere of radius R and mass M kept in xy z

plane such that it is symmetric about z - axis. The centre of

axis of the cylinder and on the surface of the disc is ________ kg  m2 .