Lecture M3B - Tensor of Inertia

Tensor of inertia
Sanjib Dey
1
Angular momentum recap
Definitions of angular momentum:
→
−
L = → −
r ×→−p (Fundamental)
→
− →
− −
L = I→ −
ω (When L k →ω)
2
→
−
L = → −
→
− →
− −
L = I→ −
ω (When L k →ω)
We already know two definitions! Isn’t it enough?
2
→
−
L = → −
→
− →
− −
L = I→ −
ω (When L k →ω)
Examples you have studied so far:

Point-like objects
Large bodies with regular shapes
Fixed axis rotation plus translation
Now, we shall study arbitrary rotations of rigid bodies
2
→
−
L = → −
→
− →
− −
L = I→ −
ω (When L k →ω)
Examples you have studied so far:

Point-like objects
Large bodies with regular shapes
Fixed axis rotation plus translation
Now, we shall study arbitrary rotations of rigid bodies
What is a rigid body?

A body of arbitrary size and shape that
does not get deformed under the
influence of external forces
2
Rotation and translation recap
3
3
3
Total angular momentum

→
− →
− →
− X− →
−
L = R ×MV + → si × mi ṡi
i
− (of C.M. X →
→ − (of mi
= L about O) + L i about C.M.)
i
3

→
− →
− →
− X− →
−
i
→
− (of C.M. X →
− (of mi
i
Total torque
→
− →
− → − X− → −
τ = R×F + → si × fi
i
=→
−
τ about O) + →
(of C.M. X − (of mi
τ i about C.M.)
i
3

→
− →
− →
− X− →
−
i
→
− (of C.M. X →
− (of mi
i
Total torque
→
− →
− → − X− → −
τ = R×F + → si × fi
i
= →
− (of C.M.
τ about O) + →
X − (of mi
τ i about C.M.)
i
1st terms are easy to calculate; we will analyze the 2nd

terms in more detail 3
→
−
L due to rotation of mass segments about C.M.
Consider a rigid body

composed of many small
discrete masses mi
4
→
−

discrete masses mi
4
→
−

discrete masses mi
4
→
−
→
−
Second term: L Sec =
X→ − →
−
si ×mi ṡi = mi →−
si ×→
−
ω ×→
−
X
si
i i
4
→
−
→
−
X→ − →
−
si ×→
−
ω ×→
−
X
si
i i
î ĵ k̂
→
− →
−
ω × si = ωx ωy ωz
xi yi zi
= î(ωy zi − ωz yi ) + ĵ(ωz xi − ωx zi )
+ k̂(ωx yi − ωy xi )
4
→
−
→
−
X→ − →
−
si ×→
−
ω ×→
−
X
si
i i
î ĵ k̂
→
− →
−
xi yi zi
î ĵ k̂
→
−
si ×→
−
ω ×→
−
si = xi yi zi
ωy zi − ωz yi ωz xi − ωx zi ωx yi − ωy xi
4
→
−
→
−
X→ − →
−
si ×→
−
ω ×→
−
X
si
i i
î ĵ k̂
→
− →
−
xi yi zi
î ĵ k̂
→
−
si ×→
−
ω ×→
−
si = xi yi zi
∴ [→
−
si ×→
−
ω ×→
−
si ]x = yi (ωx yi − ωy xi ) − zi (ωz xi − ωx zi )
4
→
−
→
−
X→ − →
−
si ×→
−
ω ×→
−
X
si
i i
î ĵ k̂
→
− →
−
xi yi zi
î ĵ k̂
→
−
si ×→
−
ω ×→
−
si = xi yi zi
∴ [→
−
si ×→
−
ω ×→
−
si ]x = yi (ωx yi − ωy xi ) − zi (ωz xi − ωx zi )
Sec
∴ Lx = i mi (yi2 + zi2 )ωx − i mi xi yi ωy − i mi xi zi ωz
P P P
4
Tensor of inertia
mi (yi2 + zi2 )ωx −

X X X
Lx = mi xi yi ωy − mi xi zi ωz
i i i
= Ixx ωx + Ixy ωy + Ixz ωz
5
Tensor of inertia

X X X
i i i
Calculate other components similarly
Lx = Ixx ωx + Ixy ωy + Ixz ωz

Ly = Iyx ωx + Iyy ωy + Iyz ωz
Lz = Izx ωx + Izy ωy + Izz ωz
5
Tensor of inertia
X X X
i i i
mi (yi2 + zi2 ), Ixy = −

X X X
Ixx = mi xi yi , Ixz = − mi xi zi
i i i
mi (x2i zi2 ), Iyz
X X X
Iyx = − mi yi xi , Iyy = + =− mi yi zi
i i i
mi (x2i + yi2 )
X X X
Izx = − mi zi xi , Izy = − mi zi yi , Izz =
i i i
5
Tensor of inertia
X X X
i i i
mi (yi2 + zi2 ), Ixy = −
X X X
Ixx = mi xi yi , Ixz = − mi xi zi
i i i
mi (x2i zi2 ), Iyz
X X X
Iyx = − mi yi xi , Iyy = + =− mi yi zi
i i i
mi (x2i + yi2 )
X X X
Izx = − mi zi xi , Izy = − mi zi yi , Izz =
i i i
For a continuous body, all sums are replaced by integrals 5
Tensor of inertia
In the matrix form

    
L
 x
I
 xx
Ixy Ixz  ωx 
→
−
Ly  = Iyx Iyy Iyz  ωy  ;






 
 
L = I˜→
−
ω
Lz Izx Izy Izz ωz
˜
Tensor of inertia (I)
6
Tensor of inertia
In the matrix form

    
L
 x
I
 xx
→
−






 
 
L = I˜→
−
ω
Lz Izx Izy Izz ωz
˜
Diagonal elements, Ixx , Iyy , Izz : Moment of inertia

Off-diagonal elements, Ixy , Iyx , Ixz , Izx , Iyz , Izy :
Products of inertia
6
Tensor of inertia
In the matrix form

    
L
 x
I
 xx
→
−






 
 
L = I˜→
−
ω
Lz Izx Izy Izz ωz
˜
Diagonal elements, Ixx , Iyy , Izz : Moment of inertia
Products of inertia have symmetries:
Ixy = Iyx , Ixz = Izx , Iyz = Izy
Only 6 independent elements in the inertia tensor:
Ixy , Iyy , Izz , Ixy , Ixz , Iyz
6
Example: Rotating dumbbell
Rotating arbitrarily about

the C.M. (midpoint of rod)
at the origin
7

at the origin
At a certain instant (t1 ): Rod
coincides with z axis & ω lies
on the y axis
7

at the origin
on the y axis
→
−
L = Iyy ω ĵ
7

at the origin
on the y axis, →
−
ω = (0, ω, 0)
→
−
L = Iyy ω ĵ
Iyy : Sum of M.I. for M1 and M2 about y axis
2
!
2 2
Iyy = 2 M b + M l
5
→
− →
L k−ω 7
Rotating arbitrarily; C.M. is

not at the origin
At another instant (t2 ): Rod
is parallel to the z axis & ω
lies in the yz plane
7

not at the origin
→
−
ω = ωy ĵ + ωz k̂
7

not at the origin
→
−
→
−
Find L !
2
˜ Ixx =
L = Iω,
X
mi (yi2 + zi2 )
i=1
7

not at the origin
→
−
→
−
Find L !
2
˜ Ixx =
L = Iω,
X
mi (yi2 + zi2 )
2 i=1 2
X X
Ixy = − mi xi yi , Ixz = − mi xi zi
i=1 i=1 7
At t = t2 :
M1 (x, 0, z) & M2 (x, 0, −z)
8
At t = t2 :
M1 (x, 0, z) & M2 (x, 0, −z)
Lx = 0 (as
ωx = Ixy = Ixz = 0)
8
At t = t2 :
M1 (x, 0, z) & M2 (x, 0, −z)
Lx = 0 (as
Ly = Iyy ωy , Lz = Izz ωz
8
At t = t2 :
M1 (x, 0, z) & M2 (x, 0, −z)
Lx = 0 (as
→
−
L = Iyy ωy ĵ + Izz ωz k̂
8
At t = t2 :
M1 (x, 0, z) & M2 (x, 0, −z)
Lx = 0 (as
→
−
Izz : Sum of M.I. for M1
and M2 about z axis
= 2 × 25 M b2 = 45 M b2
8
At t = t2 :
M1 (x, 0, z) & M2 (x, 0, −z)
Lx = 0 (as
→
−
and M2 about z axis
= 2 × 25 M b2 = 45 M b2
Iyy : Sum of M.I. for M 1
and M2 about y axis
2 2 2
= 2 5 M b + M l (Parallel axis theorem)
8
At t = t2 :
M1 (x, 0, z) & M2 (x, 0, −z)
Lx = 0 (as
→
−
and M2 about z axis
= 2 × 25 M b2 = 45 M b2
Iyy : Sum of M.I. for M 1
and M2 about y axis
2 2 2
= 2 5 M b + M l (Parallel axis theorem)
→
− −
I 6= I ⇒ Ly 6= ωy ⇒ L ∦ →
yy zz Lz ωz ω 8
Example: Rotating skew rod
At t = t1 , the rod lies

in the xz plane
aligned with x axis
9

in the xz plane
aligned with x axis
Draw perpendiculars
from the tips of the
rod on the xy plane
9

in the xz plane
aligned with x axis
Draw perpendiculars
rod on the xy plane
ρ lies on the xy plane,
ρ = l cos α
9

in the xz plane
aligned with x axis
Draw perpendiculars
rod on the xy plane
ρ = l cos α
h is perpendicular to
the xy plane,
h = l sin α
9
in the xz plane
aligned with x axis
Draw perpendiculars
rod on the xy plane
ρ = l cos α
the xy plane,
h = l sin α
At time, t = t1 = 0
Particle 1 Particle 2
x1 = ρ x2 = −ρ
y1 = 0 y2 = 0
z1 = −h z2 = h
9
in the xz plane
aligned with x axis
Draw perpendiculars
rod on the xy plane
ρ = l cos α
the xy plane,
h = l sin α
At time, t = t1 = 0 At time, t = t2 = t
Particle 1 Particle 2 Particle 1 Particle 2
x1 = ρ x2 = −ρ x1 = ρ cos ωt x2 = −ρ cos ωt
y1 = 0 y2 = 0 y1 = ρ sin ωt y2 = −ρ sin ωt
z1 = −h z2 = h z1 = −h z2 = h
9
Tensor of inertia: Rotating skew rod
Ixx = m1 (y12 + z12 ) + m2 (y22 + z22 ) = 2m(h2 + ρ2 sin2 ωt)

Ixy = −m1 (x1 y1 + x2 y2 ) = 2m(ρ2 sin ωt/2) = Iyx
10

 
h2 + ρ2 sin2 ωt −ρ2 sin 2ωt/2 hρ cos ωt
I˜ = 2m 

 −ρ2 sin 2ωt/2 h2 + ρ2 cos2 ωt hρ sin ωt 

 
hρ cos ωt hρ sin ωt ρ2
10

 
I˜ = 2m 


 

Ly = Iyx ωx + Iyy ωy + Iyz ωz →
−
ω = (0, 0, ω)
10

 
I˜ = 2m 


 
Lx = Ixz ω
Ly = Iyz ω →
−
ω = (0, 0, ω)
Lz = Izz ω
10

 
I˜ = 2m 


 
Lx = 2mωhρ cos ωt
Ly = 2mωhρ sin ωt →
−
ω = (0, 0, ω)
Lz = 2mωρ2
10
 
I˜ = 2m 


 
2
hρ cos ωt hρ sin ωt ρ
Lx = 2mωhρ cos ωt τx = −2mhρω 2 sin ωt

Ly = 2mωhρ sin ωt τy = 2mhρω 2 cos ωt
Lz = 2mωρ2 τz = 0
Go back to the previous class and check the consistency of these

results with the other two approaches used.
All the three give identical results for ρ = l cos α and h = l sin α
10
Principal axes
If the symmetry axes of a uniform symmetric body
coincide with the coordinate axes, the products of
inertia vanish
11
Principal axes
inertia vanish
Then, I˜ becomes diagonal, as we encountered in the

case of rotating dumbbell:
 
0 0 0
I˜ = 
 
2 2 2
0 2M b + l 0 
5

 
4 2
0 0 5 M b
11
Principal axes
inertia vanish
Then, I˜ becomes diagonal, as we encountered in the

case of rotating dumbbell:
 
0 0 0
I˜ = 
 
2 2 2
0 2M b + l 0 
5

 
4 2
0 0 5 M b
These symmetry axes are called principal axes 11
Principal axes
For a body of arbitrary shape and size, it is always

possible to find the principal axes
12
Principal axes

For this, one needs to diagonalize I˜ by finding
eigenvalues and eigenvectors of I˜
12
Principal axes

Eigenvalues of A from |A − λI| = 0, I: Identity
matrix, λ: Eigenvalues
12
Principal axes

Eigenvalues of A from |A − λI| = 0, I: Identity
matrix, λ: Eigenvalues
Find the eigenvectors
12

Lecture M3B - Tensor of Inertia

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Lecture M3B - Tensor of Inertia

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Tensor of inertia

We already know two definitions! Isn’t it enough?

We already know two definitions! Isn’t it enough?

Examples you have studied so far:

We already know two definitions! Isn’t it enough?

Examples you have studied so far:

What is a rigid body?

Total angular momentum

Total angular momentum

Total angular momentum

1st terms are easy to calculate; we will analyze the 2nd

Consider a rigid body

Consider a rigid body

Consider a rigid body

mi (yi2 + zi2 )ωx −

mi (yi2 + zi2 )ωx −

Calculate other components similarly

Lx = Ixx ωx + Ixy ωy + Ixz ωz

mi (yi2 + zi2 ), Ixy = −

In the matrix form

In the matrix form

Diagonal elements, Ixx , Iyy , Izz : Moment of inertia

In the matrix form

Rotating arbitrarily about

Rotating arbitrarily about

Rotating arbitrarily about

Rotating arbitrarily about

Rotating arbitrarily; C.M. is

Rotating arbitrarily; C.M. is

Rotating arbitrarily; C.M. is

Rotating arbitrarily; C.M. is

At t = t1 , the rod lies

At t = t1 , the rod lies

At t = t1 , the rod lies

At t = t1 , the rod lies

Ixx = m1 (y12 + z12 ) + m2 (y22 + z22 ) = 2m(h2 + ρ2 sin2 ωt)

Ixx = m1 (y12 + z12 ) + m2 (y22 + z22 ) = 2m(h2 + ρ2 sin2 ωt)

Ixx = m1 (y12 + z12 ) + m2 (y22 + z22 ) = 2m(h2 + ρ2 sin2 ωt)

Lx = Ixx ωx + Ixy ωy + Ixz ωz

Ixx = m1 (y12 + z12 ) + m2 (y22 + z22 ) = 2m(h2 + ρ2 sin2 ωt)

Ixx = m1 (y12 + z12 ) + m2 (y22 + z22 ) = 2m(h2 + ρ2 sin2 ωt)

Lx = 2mωhρ cos ωt τx = −2mhρω 2 sin ωt

Go back to the previous class and check the consistency of these

Then, I˜ becomes diagonal, as we encountered in the

Then, I˜ becomes diagonal, as we encountered in the

For a body of arbitrary shape and size, it is always

For a body of arbitrary shape and size, it is always

For a body of arbitrary shape and size, it is always

For a body of arbitrary shape and size, it is always

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