FOUNDATION

THEORETICAL
DYNAMICS MOMENT OF INERTIA, INERTIA PRODUCT AND STEINER'S THEOREM

Inertia
It is the property that they havethe bodiesof
remain in its state dthe movement,while
no force should be applied to them.

As a consequence, a body maintains its state

of restuniform motion in a straight lineyes
there is not onestrengthacting on him.

In summary, inertia is the resistance that opposesmatterto the

modify its state of rest or [Link] physicsit is said that a
the system has more inertia when it is more difficult to achieve a change in it
physical stateof the same

MOMENT:

The moment of a force with respect to a

point out to what extent there is
capacity in a force or system of forces
to cause the rotation of the body around
of an axis that passes through that point.

The moment tends to provoke a turn in the

body on which it is applied and is a
characteristic magnitude in elements that work under stressto the twist
(like the axes of machinery) orthe bend(like the(beams).

It is defined as:

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DYNAMICS Moment of inertia, inertia product, and Steiner's theorem

Moment of inertia
The moment of inertia is a measure of a body's resistance to
angular accelerations.

DEMONSTRATION OF THE FORMULA:

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DYNAMICS Moment of inertia, product of inertia, and Steiner's theorem

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DYNAMICS MOMENT OF INERTIA, INERTIA PRODUCT AND STEINER'S THEOREM

Definition of the Moment of Inertia

The moment of inertia is defined as the product
from the mass of the element by the square of the
shortest distance from the axis to the element. By
example as indicated in the figure √
therefore the mass moment of inertia of the
element with respect to the x-axis is:

The moment of inertia Ix of the body is calculated by integrating this equation.

about the total mass of the body. Therefore, for each of the axes
we can write,

∫ ∫

∫ ∫

∫ ∫

Where 'r' is the moment arm or perpendicular distance from the axis that
take the arbitrary element dm. As the formulation involves r, the
The value of I is different for each axis with respect to which it is formulated.
The axis that is generally chosen for the analysis goes through the center of mass.
G of the body and is always perpendicular to the plane of motion. The
The moment of inertia calculated with respect to this axis is denoted by IG.

If the body is made of material with variable density

, its elemental mass dm can be expressed in terms of
its density and volume like Substituting dm in the equation
then the moment of inertia of the body is calculated using elements
of volume in the integration, that is:

∫SEE

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DYNAMICS Moment of inertia, inertia product, and Steiner's theorem

Axis of Rotation:
The moment of inertia reflects the mass distribution of a body or of a
system of particles in rotation, with respect to an axis of rotation. The moment
Inertia only depends on the geometry of the body and its position.
of the axis of rotation; but it does not depend on the forces that intervene in the
movement.

Turning radius:
It is the distance from the axis on which the entire mass can be concentrated.
object, without changing its moment of inertia.
It is always measured from the center of gravity (CG).

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DYNAMICS Moment of inertia, inertia product and Steiner's theorem

Moment of Inertia of a continuous distribution of

mass (Rigid Body)
The formula that we have to apply is

say an element of mass located at a distance x from the axis of rotation

Moment of inertia of a rod

We are going to calculate the moment of inertia of a rod.

de masaMy longitudLrespecto de un eje
perpendicular to the rod that passes through the center of
masses.

The mass of the element of length of the rod between x and x + dx is

The moment of inertia of the rod is

Applying Steiner's theorem, we can calculate the

moment of inertia of the rod with respect to an axis
perpendicular to the one that passes through one of its
extremes.

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DYNAMICS Moment of inertia, inertia product, and Steiner's theorem

Moment of inertia of a disk

We are going to calculate the moment of inertia of a disk of mass My radius R with respect to an axis.
perpendicular to the plane of the disk and passing through its center.

We take a mass element that is distanced from the axis of rotation. The element is a ring of radius xy.
of width. If we cut the ring and extend it, it becomes a rectangle of length
2xy anchored, whose mass is

The moment of inertia of the disk is

Moment of inertia of a cylinder

We are going to calculate the moment of inertia of a cylinder with mass M, radius R, and length L with respect to
its axis.

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DYNAMIC Moment of inertia, product of inertia, and Steiner's theorem

We take an element of mass that is distant from the axis of rotation. The element is a cylindrical layer.
whose interior radius is x, exterior radius x+dx, and length L, as shown in the figure.
what this layer contains is

The moment of inertia of the cylinder is

Moment of inertia of a rectangular plate

Let's calculate the moment of inertia of a rectangular plate

thin plate of mass M with sides a and b with respect to the axis that passes through the plate.

We take an element of mass that is distanced from the axis of rotation.

an element is a rectangle of length and width x. The mass of
this rectangle is

The moment of inertia of the rectangular plate is

Moment of inertia of a disk

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DYNAMIC Moment of inertia, inertia product, and Steiner's theorem

Let's calculate the moment of inertia of a disk of

My radio, regarding one of its diameters.

We take a mass element that is distanced from the axis of

rotation. The element is a rectangle of length 2yde
anchored. The mass of this rectangle is

The moment of inertia of the disk is

Making the variable change

x = R · cos(θ)
y = R · sin(θ)

We arrive at the integral

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DYNAMICS Moment of inertia, inertia product, and Steiner's theorem

Moment of inertia of a sphere

We are going to calculate the moment of inertia of a sphere of mass M and radius R with respect to one of its
diameters

We divide the sphere into disks of radius x and thickness dz. The moment of inertia of each one of the
elementary discs are

The mass of each of the discs is

The moment of inertia of the sphere is the sum of the moments of inertia of all the disks.
elementary.

To solve the integral we need to relate the variable x with z. As we see in the
figurax2+z2=R2

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DYNAMICS Moment of inertia, product of inertia, and Steiner's theorem

Moment of inertia of a cylinder

We are going to calculate the moment of inertia of a cylinder with mass M, radius R, and length L, with respect to
a perpendicular axis to its generator that passes through its center.

We divide the cylinder into discs of radius R and thickness dx. The moment of inertia of each one of the
discs concerning one of their diameters is

Applying Steiner's theorem, we calculate the moment of inertia of this disk with respect to a
parallel axis located at a distance x.

The moment of inertia of the cylinder is

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DYNAMIC Moment of inertia, inertia product, and Steiner's theorem

Moment of inertia of a parallelepiped

We are going to calculate the moment of inertia of a parallelepiped of mass My with sides a, b, and c.
from an axis perpendicular to one of its faces.

We divide the parallelepiped into rectangular plates of sides ay by of thickness dx.

The moment of inertia of each of the plates with respect to its axis of symmetry is

Applying Steiner's theorem, we calculate the moment of inertia of this plate with respect to a
parallel axis located at a distance x

The moment of inertia of the solid in the shape of a parallelepiped is

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DYNAMICS INERTIA MOMENT, INERTIA PRODUCT AND STEINER'S THEOREM

SUMMARY TABLE OF MOMENT OF INERTIA OF BODY

RIGID

SPHERE

Hemisphere

Cylinder

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DYNAMICS MOMENT OF INERTIA, INERTIA PRODUCT AND STEINER'S THEOREM

Rectangular block

Thin rectangular plate

Thin bar

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DYNAMICS Moment of inertia, product of inertia, and Steiners theorem

Thin circular disc

Thin ring

Cone

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DYNAMICS MOMENT OF INERTIA, INERTIA PRODUCT, AND STEINER'S THEOREM

INERTIA PRODUCT
Concept:
In the study of the motion of rigid bodies, one sometimes encounters expressions in which
the product of the mass of a small element by the distances to a pair of planes intervenes
orthogonal coordinates. This product is called the Inertia Product of the element. By
example the inertia product of the element represented in the figure with respect to the xz and yz planes,
is by definition:

The sum of the products of inertia of all mass elements of the body with respect to the
The mentioned orthogonal planes are, by definition, the inertia product of the body. The three
inertia products represented in the figure are:

∫ ∫ ∫

Inertia Products, like Moments of Inertia, have mass dimensions.

multiplied by the square of a length The unit of measurement for inertia products
in the S.I. system it is the In the U.S. Customary System it is the

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DYNAMICS Moment of inertia, inertia product, and Steiner's theorem

The moment of inertia of a body can be positive, negative, or zero, as the two distances
coordinates have independent signs.

The moment of inertia will be positive when the coordinates are of the same sign.
The moment of inertia will be negative when they are of opposite signs.
The moment of inertia will be zero when one of the two planes is a plane of symmetry, since
that the elements on either side of this can be paired in such a way that their
the respective inertia products are one positive and the other negative, with their sum being zero.

The integration methods used to determine moments of inertia are likewise

applicable to the determination of inertia products. Depending on how the elements have been taken,
It may be necessary to calculate a simple, double, or triple integral.

The moments of inertia of thin plates were related to the second moments of
the plates. Similarly, the inertia products can be related to the moments
mixed seconds of the plates.

If the plate has a uniform density a uniform thickness and an area of the straight section , the
inertia products will be by definition:

∫ ∫ ∫

∫ ∫

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DYNAMICS Moment of inertia, inertia product, and Steiner's theorem

Where the subscript corresponds to mass inertia products and the subscript A corresponds to
mixed surface moment seconds. The inertia products and from a plate
slim are null since it is supposed that the axes e they are located in the mid-plane of the plate (plane
of symmetry)

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DYNAMIC MOMENT OF INERTIA, INERTIA PRODUCT AND STEINER'S THEOREM

THE STEINER THEOREM

Steiner's theorem or the parallel axes theorem:

In physics, Steiner's theorem is a theorem used in the determination of the Moment of Inertia.
of a Rigid Solid about any axis, given the moment of inertia of the object about the parallel axis
what happens through the center of mass and the perpendicular distance (h) between axes.

The Steiner Theorem (named in honor of Jakob Steiner) states that the moment of
inertia with respect to any axis parallel to an axis that passes through the center of mass is equal to the
moment of inertia with respect to the axis that passes through the center of mass plus the product of the mass
by the square of the distance between the two axes:

Where:
It is the moment of inertia with respect to the axis that does not pass through the center of mass.

It is the moment of inertia for an axis parallel to the previous one that passes through the center.

of mass.

Total Mass.

h: Distance between the two considered parallel axes.

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DYNAMIC Moment of inertia, product of inertia, and Steiner's theorem

Demonstration:
The demonstration of this theorem is immediate if the decomposition of
coordinates relative to the center of mass: ̅ immediate

Indeed, let us consider the coordinate axis system. what happens at the center of mass of
a body of mass (we will assume the center of mass is located at O), and let there be another system
coordinated whose axes are parallel to the first as shown in the fig.

⃗⃗⃗⃗⃗⃗⃗

Then it is obtained that the position vector of the mass element regarding the center of mass
es:

⃗ ⃗ ⃗ ⃗⃗

And the position vector of the center of mass of the body with respect to point O is:

⃗⃗⃗⃗⃗⃗⃗ ⃗ ⃗ ⃗⃗

In such a way that the position of the mass element with respect to O is:

⃗⃗ ⃗ ⃗⃗⃗⃗⃗⃗⃗ ⃗ ⃗ ⃗⃗

So:

The moment of inertia about the X axis is:

∫ [ ]

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DYNAMICS Moment of inertia, inertia product, and Steiner's theorem

The one that after developing it we have:

∫ ∫ ∫ ∫

On the other hand, since the center of mass exists and there is only one center of mass for
any body follows that:

∫ ∫

So, we have:
∫ ∫

But we can write now:

It is the square of the distance between the axes X' and X with respect to which the calculation is being made.
moment of inertia.

It is the moment of inertia with respect to the X' axis that goes through the center of mass of the body.

So it is definitely:

The moment of inertia with respect to the Y axis is:

Where:

The moment of inertia with respect to the Y axis is:

Where:

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DYNAMICS MOMENT OF INERTIA, INERTIA PRODUCT, AND STEINER'S THEOREM

EXERCISES OF
APPLICATION

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DYNAMICS MOMENT OF INERTIA, INERTIA PRODUCT AND STEINER'S THEOREM

EXERCISE NO. 01 (Book: 'Mechanics', Author: Ausberto R. Rojas Saldaña; problem 1, page
672):
Determine the moment of inertia of a homogeneous bar of length L with respect to an axis.
perpendicular to the bar and what happens
through a left end
b) through its center.

Solution:
a)

∫ ∫

But the mass of the bar is:

So:

b)

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DYNAMICS Moment of inertia, inertia product, and Steinern's theorem

⁄
∫ ∫
⁄

EXERCISE NO. 02 (Book: “Statics”, Author: R.C. Hibbeler; page 552):

The pendulum shown in the figure consists of two thin bars each with a weight of
10lb. Determine the mass moment of inertia of the pendulum with respect to an axis that passes through a)
the pivot in O, and b) the center of mass G of the pendulum.

Solution:

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DYNAMICS Moment of inertia, inertia product and Steiner's theorem

a) The moment of inertia of the bar OA with respect to an axis perpendicular to the page and that passes

through point O of the bar, it is ⁄ Therefore:

( )

Note that this same value can be calculated with and the Steiner theorem, that is,
( ) ( )

For bar BC we have

( ) ( )

The moment of inertia of the pendulum with respect to O is, therefore

b) The center of mass G will be located with respect to the pin located at O. If we assume that this
distance is̅we use the formula to determine the center of mass we have:
∑̌ (⁄ ) (⁄ )
̅
∑ (⁄ ) (⁄ )

The moment of inertia it can be calculated in the same way as , which requires
successive applications of Steiner's theorem to transfer the moments of inertia of the bars
OA and BC. However, a more direct solution means applying Steiner's theorem with the
result of previously determined, that is:

( )

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DYNAMICS MOMENT OF INERTIA, INERTIA PRODUCT, AND STEINER'S THEOREM

EXERCISE N°03 (Book: “Vector Mechanics for Engineers-Statics”, Author: Ferdinand P.

Beer–E. Russell Johnston–Elliot R. Eisenber; problem 9.11, page 521):
Determine the Moment of Inertia of a straight circular cone with respect to:
its longitudinal axis
b) An axis that passes through the apex of the cone and is perpendicular to its longitudinal axis
c) An axis that passes through the centroid of the cone and is perpendicular to its axis
perpendicular.

Solution:
The differential mass element shown in the figure is selected:

Moment of inertia we calculate the mass moment of inertia of the differential element with
regarding the x-axis.

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DYNAMIC Moment of inertia, inertia product, and Steiner's theorem

( )( )

Integrating from x=0 to x=h, we obtain

∫ ∫

As the total mass of the cone is it can be written

( )

b) Moment of inertia using the same differential element, applying the theorem of
Steiner and using the expression for a thin disk:

( )

If the expressions parary and parad are substituted into the previous equation, it is obtained

( )( ) ( )

∫ ∫ ( ) ( )

With the introduction of the expression for the total mass of the conom, it is rewritten in the form
next:
( )

( )

̅ Steiner theorem is applied and it is written

c) Moment of inertia the
̅̅

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DYNAMICS Moment of inertia, inertia product, and Steiner's theorem

Solving for ̅

̅ ̅ ( ) ( )

̅ ( )

EXERCISE NO. 04 (Book: "Vector Mechanics for Engineers-Statics", Author: Ferdinand P.

Beer–E. Russell Johnston–Elliot R. Eisenber; problem 9.12, page 522):

A piece of steel consists of a prism.

rectangular of 6 x 2 x 2 in and two cylinders
2 inches in diameter and 3 inches in length,
as shown in the figure. If it is known
the specific weight of steel is 490
pound per foot3Determine the moments of inertia
of the piece with respect to the axes

coordinates.

Solution:

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DYNAMICS MOMENT OF INERTIA, INERTIA PRODUCT AND STEINER'S THEOREM

Calculation of the masses:

Prism

( )( )

Each of the cylinders

( )( )

Moments of inertia: they will be obtained based on the tables of moment and product of inertia.
from home piece of the figure. Note that all units must be expressed in feet.

Prism

*( ) ( ) +

*( ) ( ) +

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DYNAMICS Moment of inertia, inertia product, and Steiners theorem

Each of the cylinders

̅ ( ) ( )

* ( ) ( )+ ( )

̅ ̅

* ( ) ( )+ *( ) ( ) +

Complete piece, with the sum of the obtained values, (answers):

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DYNAMICS Moment of inertia, product of inertia and Steiner's theorem

EXERCISE NO. 05 (Book: 'Vector Mechanics for Engineers-Statics', Author: Ferdinand P.

Beer–E. Russell Johnston–Elliot R. Eisenber; problem 9.14, page 538:
Consider a rectangular prism with sides a, b, c. Determine:
The moments and products of inertia of the prism with respect to the shown coordinate axes.

Solution:

Moments of inertia with respect to the coordinate axes: when introducing the centroidal axes x’, y’ and
z', with respect to which the moments of inertia are provided in the given tables, the
theorem of parallel axes.

̅ ̅ ̅ ( )

In a similar way for

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DYNAMIC Moment of inertia, inertia product, and Steiner's theorem

Inertia products with respect to the coordinate axes: due to symmetry, the products of
Inertia with respect to the centroidal axes x', y' and z' is equal to zero, and these axes are axes
principal moments of inertia.

̅ ̅̅ ( )( )

In a similar form for

BIBLIOGRAPHY
“MECÁNICA”, Autor: Ausberto R. Rojas Saldaña;Editorial Publicaciones Moshera S. R. L
Lima–Peru

“ingeniería Mecánica -Dinamica”, decimosegunda Edición, Autor: R.C. Hibbeler;

“ingeniería Mecánica -Estatica”, decimosegunda Edición, Autor: R.C. Hibbeler;

“Mecánica Vectorial para Ingenieros-Estática”,octava Edición; Autor: Ferdinand P. Beer–E.

Russell Johnston–Elliot R. Eisenber

Web:

[Link]

[Link]

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