Lecture 13

A NGULAR M OMENTUM IV
M OMENT OF I NERTIA T ENSOR
 Lecture 13

A NGULAR M OMENTUM IV
M OMENT OF I NERTIA T ENSOR

Rigid Bodies

Moment of Inertia Tensor

Examples
 Rigid Bodies

Angular Momentum IV Rigid Bodies 2/12

 Rigid Bodies

How many degrees of

freedom does a Rigid
Body have?

Angular Momentum IV Rigid Bodies 2/12

 Rigid Bodies

How many degrees of

freedom does a Rigid
Body have?
I 3 for ~
r CM

Angular Momentum IV Rigid Bodies 2/12

 Rigid Bodies

How many degrees of

freedom does a Rigid
Body have?
I 3 for ~
r CM
I 3 more for orientation

Angular Momentum IV Rigid Bodies 2/12

 Rigid Bodies

How many degrees of

freedom does a Rigid
Body have?
I 3 for ~
r CM
I 3 more for orientation
I Fix P1 on body. can
rotate on sphere around
CM → 2 angles

Angular Momentum IV Rigid Bodies 2/12

 Rigid Bodies

How many degrees of

freedom does a Rigid
Body have?
I 3 for ~
r CM
I 3 more for orientation
I Fix P1 on body. can
rotate on sphere around
CM → 2 angles
I Orientation of any other
point P2 fixed by rotating
about CM-P1 axis
→ 1 more angle

Angular Momentum IV Rigid Bodies 2/12

 Rigid Bodies

How many degrees of

freedom does a Rigid
Body have?
I 3 for ~
r CM
I 3 more for orientation
I Fix P1 on body. can
rotate on sphere around
CM → 2 angles
I Orientation of any other
point P2 fixed by rotating
about CM-P1 axis
→ 1 more angle

Angular Momentum IV Rigid Bodies 2/12

 Space and Body Fixed Axes

Angular Momentum IV Rigid Bodies 3/12

 Space and Body Fixed Axes

Space (Lab) Fixed Axes:

(x0 , y 0 , z 0 ); O0

Angular Momentum IV Rigid Bodies 3/12

 Space and Body Fixed Axes

Space (Lab) Fixed Axes:

(x0 , y 0 , z 0 ); O0
Body Fixed Axes:
(x, y, z); O = CM

Angular Momentum IV Rigid Bodies 3/12

 Space and Body Fixed Axes

Space (Lab) Fixed Axes:

(x0 , y 0 , z 0 ); O0
Body Fixed Axes:
(x, y, z); O = CM
I moves/rotates with body

Angular Momentum IV Rigid Bodies 3/12

 Space and Body Fixed Axes

Space (Lab) Fixed Axes:

(x0 , y 0 , z 0 ); O0
Body Fixed Axes:
(x, y, z); O = CM
I moves/rotates with body

I Orientation wrt body

remains fixed

Angular Momentum IV Rigid Bodies 3/12

 Space and Body Fixed Axes

Space (Lab) Fixed Axes:

(x0 , y 0 , z 0 ); O0
Body Fixed Axes:
(x, y, z); O = CM
I moves/rotates with body

I Orientation wrt body

remains fixed
3 CM coords +
3 angles specify (x, y, z) frame
wrt (x0 , y 0 , z 0 ) axes

Angular Momentum IV Rigid Bodies 3/12

 Angular Momentum about CM
Rigid body rotating about axis thru CM

Angular Momentum IV Moment of Inertia Tensor 4/12

 Angular Momentum about CM
Rigid body rotating about axis thru CM

Angular Momentum IV Moment of Inertia Tensor 4/12

 Angular Momentum about CM
Rigid body rotating about axis thru CM

−
→
Z
L = r ×~
dm ~ v

Angular Momentum IV Moment of Inertia Tensor 4/12

 Angular Momentum about CM
Rigid body rotating about axis thru CM

−
→
Z
L = r ×~
dm ~ v
Z
= r × (~
dm ~ ω×~
r)

Angular Momentum IV Moment of Inertia Tensor 4/12

 Angular Momentum about CM
Rigid body rotating about axis thru CM

−
→
Z
L = r ×~
dm ~ v
Z
= r × (~
dm ~ ω×~
r)
Z
= ω r2 − ~
dm [~ ω·~
r (~ r )]

Angular Momentum IV Moment of Inertia Tensor 4/12

 Angular Momentum about CM
Rigid body rotating about axis thru CM

−
→
Z
L = r ×~
dm ~ v
Z
= r × (~
dm ~ ω×~
r)
Z
= ω r2 − ~
dm [~ ω·~
r (~ r )]

−
→
How is L related to ω
~?

Angular Momentum IV Moment of Inertia Tensor 4/12

 Moment of Inertia tensor
Z
dm r2 ωx − x(xωx + yωy + zωz )
 
Lx =

Angular Momentum IV Moment of Inertia Tensor 5/12

 Moment of Inertia tensor
Z
dm r2 ωx − x(xωx + yωy + zωz )
 
Lx =
Z
dm ωx (y 2 + z 2 ) + ωy (−xy) + ωz (−xz)
 
=

Angular Momentum IV Moment of Inertia Tensor 5/12

 Moment of Inertia tensor
Z
dm r2 ωx − x(xωx + yωy + zωz )
 
Lx =
Z
dm ωx (y 2 + z 2 ) + ωy (−xy) + ωz (−xz)
 
=
Z
dm ωx (−yx) + ωy (x2 + z 2 ) + ωz (−yz)
 
Ly =

Angular Momentum IV Moment of Inertia Tensor 5/12

 Moment of Inertia tensor
Z
dm r2 ωx − x(xωx + yωy + zωz )
 
Lx =
Z
dm ωx (y 2 + z 2 ) + ωy (−xy) + ωz (−xz)
 
=
Z
dm ωx (−yx) + ωy (x2 + z 2 ) + ωz (−yz)
 
Ly =
Z
dm ωx (−zx) + ωy (−zy) + ωz (x2 + y 2 )
 
Lz =

Angular Momentum IV Moment of Inertia Tensor 5/12

 Moment of Inertia tensor
Z
dm r2 ωx − x(xωx + yωy + zωz )
 
Lx =
Z
dm ωx (y 2 + z 2 ) + ωy (−xy) + ωz (−xz)
 
=
Z
dm ωx (−yx) + ωy (x2 + z 2 ) + ωz (−yz)
 
Ly =
Z
dm ωx (−zx) + ωy (−zy) + ωz (x2 + y 2 )
 
Lz =

Lx = Ixx ωx + Ixy ωy + Ixz ωz

Ly = Iyx ωx + Iyy ωy + Iyz ωz
Lz = Izx ωx + Izy ωy + Izz ωz

Angular Momentum IV Moment of Inertia Tensor 5/12

 Moment of Inertia tensor
    
Lx Ixx Ixy Ixz ωx
 Ly  =  Iyx Iyy Iyz   ωy 
Lz Izx Izy Izz ωz

Angular Momentum IV Moment of Inertia Tensor 6/12

 Moment of Inertia tensor
    
Lx Ixx Ixy Ixz ωx
 Ly  =  Iyx Iyy Iyz   ωy 
Lz Izx Izy Izz ωz

 
Ixx Ixy Ixz
I¯ = [I] =  Iyx Iyy Iyz 
Izx Izy Izz
 R 2
R R 
dm(y
R + z2) −
R dmxy − R dmxz
2
=  − R dmyx dm(x
R + z2) −
R dmyz

2 2
− dmzx − dmzy dm(x + y )

I¯ = [I]3×3 : 3X3 Moment of Inertia Matrix

Angular Momentum IV Moment of Inertia Tensor 6/12

 Moment of Inertia tensor
    
Lx Ixx Ixy Ixz ωx
 Ly  =  Iyx Iyy Iyz   ωy 
Lz Izx Izy Izz ωz

 
Ixx Ixy Ixz
I¯ = [I] =  Iyx Iyy Iyz 
Izx Izy Izz
 R 2
R R 
dm(y
R + z2) −
R dmxy − R dmxz
2
=  − R dmyx dm(x
R + z2) −
R dmyz

2 2
− dmzx − dmzy dm(x + y )

I¯ = [I]3×3 : 3X3 Moment of Inertia Matrix or

Angular Momentum IV Moment of Inertia Tensor 6/12

 Moment of Inertia tensor
    
Lx Ixx Ixy Ixz ωx
 Ly  =  Iyx Iyy Iyz   ωy 
Lz Izx Izy Izz ωz

 
Ixx Ixy Ixz
I¯ = [I] =  Iyx Iyy Iyz 
Izx Izy Izz
 R 2
R R 
dm(y
R + z2) −
R dmxy − R dmxz
2
=  − R dmyx dm(x
R + z2) −
R dmyz

2 2
− dmzx − dmzy dm(x + y )

I¯ = [I]3×3 : 3X3 Moment of Inertia Matrix or

(3X3 Moment of Inertia Tensor)
Angular Momentum IV Moment of Inertia Tensor 6/12
 Moment of Inertia tensor
I I¯ is a 3×3 symmetric matrix

Angular Momentum IV Moment of Inertia Tensor 7/12

 Moment of Inertia tensor
I I¯ is a 3×3 symmetric matrix
6 independent components
I
R 
Ixx = R dm(y 2 + z 2 ) 
Iyy = R dm(x2 + z 2 )
Izz = dm(x2 + y 2 )


Moments of inertia abt x, y & z

I
R 
Ixy (= Iyx ) = − R dmxy 
Iyz (= Izy ) = − R dmzy
Ixz (= Izx ) = − dmxz


Products of Inertia
Angular Momentum IV Moment of Inertia Tensor 7/12
 Moment of Inertia tensor
I I¯ is a 3×3 symmetric matrix
6 independent components
I
R 
Ixx = R dm(y 2 + z 2 ) 
Iyy = R dm(x2 + z 2 )
Izz = dm(x2 + y 2 )


Moments of inertia abt x, y & z

I
R 
Ixy (= Iyx ) = − R dmxy 
Iyz (= Izy ) = − R dmzy
Ixz (= Izx ) = − dmxz


Products of Inertia Not + ve definite!

Angular Momentum IV Moment of Inertia Tensor 7/12
 What is a tensor?
Scalar: a number (eg. distance)
Vector: direction & magnitude, 3 numbers
2nd rank tensor: a 3×3 matrix: Nine numbers!
formed by a ”product” (NOT scalar, NOT cross) of two
vectors
~B
T =A ~
 
Ax Bx Ax By Ax Bz
[T ] =  Ay Bx Ay By Ay Bz 
Az Bx Az By Az Bz
~ · T or T · D
C ~ are vectors. C
~ ·T ·D
~ is a scalar!
scalars, vectors, tensors: quantities with well defined
transformation under rotation
Angular Momentum IV Moment of Inertia Tensor 8/12
 Example I: MI tensor for sphere

2
 
5
M R2 0 0
I¯ =  0 2
5
M R2 0 
2 2
0 0 5
MR

Angular Momentum IV Moment of Inertia Tensor Examples 9/12

 Example II: Conical Pendulum
r = (l sin θ cos ωt, l sin θ sin ωt, −l cos θ).
~

Ixx = ml2 (cos2 θ + sin2 θ sin2 ωt)

Iyy = ml2 (cos2 θ + sin2 θ cos2 ωt)
Izz = ml2 sin2 θ
Ixy = Iyx = −ml2 sin2 θ cos ωt sin ωt
Iyz = Izy = ml2 cos θ sin θ sin ωt
Ixz = Izx = ml2 sin2 θ cos θ cos ωt

Angular Momentum IV Moment of Inertia Tensor Examples 10/12

 −
→
L = I~
ω =⇒

−
→
L = (mωl2 sin θ cos θ cos ωt)î + (mωl2 sin θ cos θ sin ωt)ĵ
+(mωl2 sin2 θ)k̂
−
→
= L (t)
−
→
Calculate the torque ~
τ = d L /dt

Angular Momentum IV Moment of Inertia Tensor Examples 11/12

Angular Momentum IV Moment of Inertia Tensor Examples 12/12