Moments and Product of Inertia

Contents
• Introduction（绪论）
• Moments of Inertia of an Area（平面图形的惯性矩）
• Moments of Inertia of an Area by Integration（积分法求惯性矩）
• Polar Moments of Inertia（极惯性矩）
• Radius of Gyration of an Area（惯性半径）
• Parallel Axis Theorem（平行移轴定理）
• Moments of Inertia of Common Shapes of Areas（常见平面图形
的惯性矩）
• Product of Inertia（惯性积）
• Principal Axes and Principal Moments of Inertia（主惯性轴与主
惯性矩）
• Mohr’s Circle for Moments of Inertia（惯性矩和惯性积莫尔圆）
• Principal Points（主惯性点）
2
Introduction
• Previously considered distributed forces which were proportional to the
area or volume over which they act.
- The resultant was obtained by summing or integrating over the
areas or volumes.
- The moment of the resultant about any axis was determined by
computing the first moments of the areas or volumes about that
axis.

• Will now consider forces which are proportional to the area or volume
over which they act but also vary linearly with distance from a given axis.
- It will be shown that the magnitude of the resultant depends on the
first moments of the force distribution with respect to the axis.
- The point of application of the resultant depends on the second
moments of the distribution with respect to the axis.

• Current chapter will present methods for computing the moments and
products of inertia for areas.
3
Moments of Inertia of an Area

• Consider distributed forces F whose magnitudes are
proportional to the elemental areas A on which they
act and also vary linearly with the distance of A
from a given axis.
• Example: Consider a beam subjected to pure bending.
Internal forces vary linearly with distance from the
neutral axis which passes through the section centroid.

F  kyA
R  k  y dA  0  y dA  S  first moment
x

M  k  y 2 dA  y dA  second moment
2

• Example: Consider the net hydrostatic force on a

submerged circular gate.
F  pA   gyA
R   g  y dA
M x   g  y 2 dA
4
Moments of Inertia of an Area by Integration

• Second moments or moments of inertia of

an area with respect to the x and y axes,
I x   y 2 dA I y   x 2 dA

• Evaluation of the integrals is simplified by

choosing dA to be a thin strip parallel to
one of the coordinate axes.

• For a rectangular area,

h
I x   y dA   y 2bdy  13 bh 3
2

0
• The formula for rectangular areas may also
be applied to strips parallel to the axes,
dI x  13 y 3dx dI y  x 2 dA  x 2 y dx
5
Polar Moments of Inertia

• The polar moments of inertia is an important

parameter in problems involving torsion of
cylindrical shafts and rotations of slabs.

I p   r 2 dA

• The polar moments of inertia is related to the

rectangular moments of inertia,

I p   r 2 dA    x 2  y 2 dA   x 2 dA   y 2 dA
 I y  Ix

6
Radius of Gyration of an Area
• Consider area A with moments of
inertia Ix. Imagine that the area is
concentrated in a thin strip parallel to
the x axis with equivalent Ix.
Ix
I x  ix2 A ix 
A
ix = radius of gyration with respect
iy to the x axis
ix
• Similarly,
Iy
I y  i A iy 
2
y
A
Ip
ip I p  i A ip 
2
p
A

i p2  ix2  iy2
7
Sample Problem
SOLUTION:
• A differential strip parallel to the x axis is chosen for
dA.
dI x  y 2dA dA  l dy

• For similar triangles,

l h y h y h y
 l b dA  b dy
b h h h
Determine the moments of
inertia of a triangle with respect
• Integrating dIx from y = 0 to y = h,
to its base.
h y
 
h
bh 2
I x   y dA   y b
2 2
dy   hy  y 3 dy
0 h h0
h
b  y3 y 4  bh3
 h   I x
h 3 4 12
0

8
Sample Problem
SOLUTION:
• An annular differential area element is chosen,
dI p  u 2 dA dA  2 u du
r r
I p   dI p   u  2 u du   2  u 3du
2

0 0


 Ip  r4
2

a) Determine the centroidal polar • From symmetry, Ix = Iy,

moments of inertia of a circular
area by direct integration. 
I p  I x  I y  2I x r 4  2I x
b) Using the result of part a, 2
determine the moments of inertia 
of a circular area with respect to a  Ix  r 4  I diameter
diameter. 4

9
Parallel Axis Theorem

• Consider moments of inertia I of an area A

with respect to the axis AA’

I AA   y 2 dA

• The axis BB’ passes through the area centroid

and is called a centroidal axis.

I AA   y 2 dA    y  d  dA
2

  y2 dA  2d  ydA  d 2  dA

 I AA  I BB  Ad 2  I  Ad 2

• For a group of parallel axes, the moment of inertia reaches the minimum value
when the reference axis is the centroid axis.
10
Parallel Axis Theorem
• Moments of inertia IT of a circular area with
respect to a tangent to the circle,
 
I T  I  Ad 2  14  r 4   r 2 r 2

 54  r 4

• Moments of inertia of a triangle with respect to a

centroidal axis,
I AA  I BB  Ad 2

I BB  I AA  Ad 2
 12
1 bh 3  
 2 bh 3 h
1 1 2

 36
1 bh 3

11
Moments of Inertia of Common Shapes of Areas
• The moments of inertia of a composite area A about a given axis is
obtained by adding the moments of inertia of the component areas
A1, A2, A3, ... , with respect to the same axis.

Ip

Ip

Ip

Ip
Ip

12
Sample Problem

SOLUTION:
• Compute the moments of inertia of the
bounding rectangle and half-circle with
respect to the x axis.
• The moments of inertia of the shaded area
is obtained by subtracting the moments of
inertia of the half-circle from the moments
of inertia of the rectangle.
Determine the moments of inertia
of the shaded area with respect to
the x axis.

13
 SOLUTION:
• Compute the moments of inertia of the bounding
rectangle and half-circle with respect to the x axis.
Rectangle:
I x  13 bh3  13 240120  138.2  106 mm4

Half-circle:
moments of inertia with respect to AA’,
I AA  18 r 4  18  904  25.76  106 mm4
moments of inertia with respect to x’,
I x  I AA  Aa 2  25.76 106  12.72 103  38.22
4r 4 90 
a   38.2 mm  7.20 106 mm4
3 3
b  120 - a  81.8 mm
moments of inertia with respect to x,
A  12 r  12  90   
2 2
I x  I x  Ab 2  7.20  106  12.72  103 81.82
 12.72  103 mm2  92.3  106 mm4
14
• The moments of inertia of the shaded area is obtained
by subtracting the moments of inertia of the half-circle
from the moments of inertia of the rectangle.

Ix  138.2  106 mm4  92.3  106 mm4

I x  45.9  106 mm4

15
Product of Inertia
• Product of Inertia:
I xy   xy dA

• When the x axis, the y axis, or both are an

axis of symmetry, the product of inertia is
zero.

• Parallel axis theorem for products of inertia:

I xy  I xy  x yA

16
Sample Problem
SOLUTION:
• Determine the product of inertia using
direct integration with the parallel axis
theorem on vertical differential area strips
• Apply the parallel axis theorem to
evaluate the product of inertia with respect
to the centroidal axes.

Determine the product of inertia of

the right triangle (a) with respect
to the x and y axes and
(b) with respect to centroidal axes
parallel to the x and y axes.

17
SOLUTION:
• Determine the product of inertia using direct integration
with the parallel axis theorem on vertical differential
area strips
 x  x
y  h1   dA  y dx  h1  dx
 b  b
 x
xel  x yel  12 y  12 h1  
 b

Integrating dIxy from x = 0 to x = b,

12 
b 2
2x
I xy   dI xy   xel yel dA   x h 1   dx
0  b
b 2 b
2 x x x 2 3 x 2 x3 x 4 
h    dx h    2 
 2 b 2b 2 
0   4 3b 8b  0

I xy  24
1 b2h2

18
• Apply the parallel axis theorem to evaluate the
product of inertia with respect to the centroidal axes.

x  13 b y  13 h
With the results from part a,
I xy  I xy  x yA
I xy  24  13 h12 bh
1 b2h2  1 b
3

I xy   72
1 b 2h2

19
Principal Axes and Principal Moments of Inertia
• The change of axes yields
Ix  I y Ix  I y
I x   cos 2  I xy sin 2
2 2
Ix  I y
I xy  sin 2  I xy cos 2
2
Ix  I y Ix  I y
I y   cos 2  I xy sin 2
2 2

Given I x   y 2 dA I y   x 2 dA • The equations for Ix’ and Ix’y’ are the

parametric equations for a circle,
I xy   xy dA
 I x  I ave   I x2y  R 2
2

We wish to determine moments

Ix  I y I I 
2

and product of inertia with I ave  R   x y   I xy2

respect to new axes x’ and y’. 2  2 

Note: x  x cos  y sin  • The equations for Iy’ and Ix’y’ lead to the
y   y cos  x sin  same circle.
20
Principal Axes and Principal Moments of Inertia
• At the points A and B, Ix’y’ = 0 and Ix’ is
a maximum and minimum, respectively.
tan 2m   2I xy I x  Iy 
• The equation for m defines two angles,
90o apart which correspond to the
principal axes of the area about O.
• One method to determine the principal
moments of inertia of the area about O
is to substitute these m back into the
equation for Ix’.
• The advantage is that we know which of
 I x  I ave   I x2y  R 2
2

the two principal angles corresponds to

Ix  I y  Ix  I y 
2
each principal moment of inertia.
I ave  R    I 2
xy
2  2  • Alternatively, the principal moments of
inertia may be determined by
I max, min  I ave  R
21
Sample Problem
SOLUTION:
• Compute the product of inertia with
respect to the xy axes by dividing the
section into three rectangles and applying
the parallel axis theorem to each.
• Determine the orientation of the
principal axes and the principal
moments of inertia.
For the section shown, the moments of
inertia with respect to the x and y axes
are Ix = 10.38 in4 and Iy = 6.97 in4.
Determine (a) the orientation of the
principal axes of the section about O,
and (b) the values of the principal
moments of inertia about O.

22
SOLUTION:
• Compute the product of inertia with respect to the xy axes
by dividing the section into three rectangles.
Apply the parallel axis theorem to each rectangle,
 
I xy   I xy  xyA
Note that the product of inertia with respect to centroidal
axes parallel to the xy axes is zero for each rectangle.

Rectangle Area, in 2 x , in. y , in. x yA, in 4

I 1.5  1.25  1.75  3.28
II 1.5 0 0 0
III 1.5  1.25  1.75  3.28
 x yA  6.56

I xy   x yA  6.56 in 4

23
 • Determine the orientation of the principal axes and the
principal moments of inertia.
2 I xy 2 6.56
tan 2 m     3.85
Ix  I y 10.38  6.97
2 m  75.4 and 255.4

 m  37.7 and  m  127.7

2
Ix  I y  Ix  I y 
I x  10.38 in 4
I max,min      I xy
2
2  2 
I y  6.97 in 4
2
10.38  6.97  10.38  6.97 
      6.56
2
I xy  6.56 in 4
2  2 

I a  I max  15.45 in 4
I b  I min  1.897 in 4

24
Mohr’s Circle for Moments of Inertia
• The moments and product of inertia for an area
are plotted as shown and used to construct Mohr’s
circle,
Ix  I y  Ix  I y 
2

I ave  R    I xy
2

2  2 

• Mohr’s circle may be used to graphically or

analytically determine the moments and product
of inertia for any other rectangular axes
including the principal axes.

25
Sample Problem
SOLUTION:
• Plot the points (Ix , Ixy) and (Iy ,-Ixy).
Construct Mohr’s circle based on the
circle diameter between the points.
• Based on the circle, determine the
orientation of the principal axes and the
principal moments of inertia.
The moments and product of inertia • Based on the circle, evaluate the
with respect to the x and y axes are Ix = moments and product of inertia with
7.24x106 mm4, Iy = 2.61x106 mm4, and respect to the x’y’ axes.
Ixy = -2.54x106 mm4.
Using Mohr’s circle, determine (a) the
principal axes about O, (b) the values of
the principal moments about O, and (c)
the values of the moments and product
of inertia about the x’ and y’ axes
26
 SOLUTION:
• Plot the points (Ix , Ixy) and (Iy ,-Ixy). Construct Mohr’s
circle based on the circle diameter between the points.
 
OC  I ave  12 I x  I y  4.925  106 mm4
 
CD  12 I x  I y  2.315  106 mm4

R CD 2  DX 2  3.437  106 mm4

I x  7.24  106 mm4 • Based on the circle, determine the orientation of the
I y  2.61  106 mm4 principal axes and the principal moments of inertia.
DX
I xy  2.54  106 mm4 tan 2 m   1.097 2 m  47.6  m  23.8
CD

I max  OA  I ave  R I max  8.36  106 mm4

I min  OB  I ave  R I min  1.49  106 mm4

27
 • Based on the circle, evaluate the moments and product
of inertia with respect to the x’y’ axes.
The points X’ and Y’ corresponding to the x’ and y’ axes
are obtained by rotating CX and CY counterclockwise
through an angle   2(60o) = 120o. The angle that CX’
forms with the x’ axes is f = 120o - 47.6o = 72.4o.

I x '  OF  OC  CX  cos f  I ave  R cos 72.4o

I x  5.96  106 mm4

I y '  OG  OC  CY  cos f  I ave  R cos 72.4o

I y  3.89  106 mm4

I xy '  FX   CY  sin f  R sin 72.4o

OC  I ave  4.925  106 mm4 I xy  3.28  106 mm4

R  3.437  106 mm4
28
Principal Points
• Consider a pair of principal axes with origin at a given point O.
• If there exists a different pair of principal axes through that same point, then every
pair of axes through that point is a set of principal axes and all moments of inertia
are the same.

Ix  I y Ix  I y
I x   cos 2  I xy sin 2
2 2
Ix  I y
I xy  sin 2  I xy cos 2
2

• A point so located that every axis through the point is a principal axis, and hence
the moments of inertia are the same for all axes through the point, is called a
principal point.
• In general, every plane area has two principal points. These points lie equidistant
from the centroid on the principal centroidal axis having the larger principal
moment of inertia.
29
Principal Points
• Apply the concepts described above to axes through the centroid of an area.
• If an area has three or more axes of symmetry, the centroid is a principal point and
every axis through the centroid is a principal axis and has the same moment of
inertia.
• These conditions are fulfilled for a circle, for all regular polygons (equilateral
triangle, square, regular pentagon, regular hexagon, and so on), and for many other
symmetric shapes.

• When the two principal centroidal moments of inertia are equal; then the two
principal points merge at the centroid, which becomes the sole principal point.
30