Moment of Inertia

Rotation
Moment of inertia of a rotating body:

I = r
2
dm
w
Usually reasonably easy to calculate when
Body has symmetries
Rotation axis goes through Center of mass

Exams: All moment of inertia will be given!
No need to copy the table from the book.

Rotation
Parallel axis theorem:
Assume the body rotates
around an axis through P.
.
COM
.
P
dm
Let the COM be the center
of our coordinate system.
P has the coordinates (a,b)
a
b
I = r
2
dm = (x-a)
2
+(y-b)
2
dm
= (x
2
+y
2
)dm 2a xdm 2b ydm + (a
2
+b
2
) dm
= I
COM
0 0 + h
2
M
I = I
COM
+ h
2
M This is something you might need
w w
w w w w

Rotation
Parallel axis theorem:
Assume the body rotates
around an axis through P.
.
COM
.
P
dm
Let the COM be the center
of our coordinate system.
P has the coordinates (a,b)
a
b
I = I
COM
+Mh
2

The moment of inertia of a body rotating around an
arbitrary axis is equal to the moment of inertia of a body
rotating around a parallel axis through the center of mass
plus the mass times the perpendicular distance between the
axes h squared.

36kg
9kg
4kg
h=1m
h=2m
h=3m
If R<<h I
COM
<<< Mh
2
All have essentially the same
moment of inertia:
I ~ 36 kg m
2
Solid sphere of radius R rotating
around symmetry axis: I = 2MR
2
/5
Example: Moment of inertia
I = I
COM
+Mh
2

I
COM,A

>
I
COM,B

>
I
COM,C

.
P
I = r
2
dm
w
Step1: Replace dm with an integration
over a volume element dV.
Step 2: Express the volume element in
useful coordinates and find the boundaries
for the integration.
Step 3: Integrate
Lets calculate the moment of inertia for
an annular homogeneous cylinder rotating
around the central axis:
Parameters: Mass M, Length L
Outer and Inner Radii R
1
, R
2

.
P
I = r
2
dm
w
Step1: Replace dm with an integration
over a volume element dV.
Homogeneous:
Density p = M/V dm = p dV
and p is independent of the coordinates
(As long as we only integrate over the body
itself and not over empty space)
I =p r
2
dV
w
1
, R
2
V
cyl
= r L (R
1
2
-R
2
2
)

.
P
I =p r
2
dV
dV = dxdydz in cartesian coordinates
Better coordinates:
cylindrical coordinates
w
ds
dr
x
y
1
, R
2

Volume element in cylindrical coordinates
I =p r
2
dV
dV = dxdydz in cartesian coordinates
Better coordinates for this problem:
Cylindrical Coordinates
dz is the same in both
only change how we

describe things in the
x-y plane
w
ds
dr
x
y
Area element in x-y plane
dsdr = rdodr
dV = dxdydz = rdodrdz

.
P
I =p r
2
dV

I =p r
2
rdodrdz

I =p L 2r (R
1
4
-R
2
4
)/4 Use (R
1
4
-R
2
4
) = (R
1
2
+R
2
2
) (R
1
2
-R
2
2
)
I = M (R
1
2
+R
2
2
)/2 See Table in book, also Sample Problem 10-7
w
w
Integration boundaries:
z: -L/2 to L/2, o: 0 to 2r
r: R
2
to R
1
z-integration
o-integration
r-integration
Recall: V
cyl
= r L (R
1
2
-R
2
2
)

Kinetic Energy
Kinetic energy of a rotating body:
Lets split up the body into a collection of particles

.
r
i Rotational Inertia:
I = (Lm
i
r
i
2
)
K = 0.5 (Lm
i
r
i
2
) u
2
K = 0.5 I u
2
Compare with translation:
K = 0.5 m v
2
Correspondences:
v <-> u
I <-> m
v
m

Example: Kinetic Energy
Energy storage in an electric flywheel:
K
rot
= 0.5 I u
2
http://en.wikipedia.org/wiki/Flywheel#Physics
To reduce mass w/o reducing I
it might be useful to use an
annular cylinder.
But material stress favors
solid wheels for high end
applications.

Example: Kinetic Energy
Energy storage in an electric flywheel:
K
rot
= 0.5 I u
2
Example (solid wheel):
M = 600kg, R=0.5m
I = 75kg m
2
Rotates 30000rpm:
f = 30000rpm/60s/min = 500Hz
u = 2rf = r * 1000 rad/s
K
rot
= 370MJ
A lot of energy which can be released very fast in
fusion reactors, in braking systems used in trains etc.

Torque
We have
discussed the equations describing the

dynamical variables of rotation (u, u, o)

calculated the kinetic energy associated

with a rotating body
pointed out the similarities with translations

What is missing: The 'force' of rotation, the torque

Note: Nm = J but J is only used for energies and Nm only for torques

Example
3L/4
.
Pivot Point
L/4
F
What is the angular acceleration?
Use o = t/I need to get I and t
Moment of inertia: I = I
com
+M(L/4)
2
= ML
2
/12+ML
2
/16
I = 7ML
2
/48
Torque: t = F L/4 (Note F is perpendicular to lever arm)
o = t/I = (FL/ML
2
) (48/(7*4)) = 12 * F/(7*M*L)

Example
3L/4
.
Pivot Point
L/4
F
1
Assume a second force is now applied at the other end
of the stick. What would be its magnitude and direction
if it prevents the stick from rotating?
No rotation: t
Net
= 0 t
1
= F
1
L/4 = t
2
= F
2
3L/4

Direction of the force will be the same (both down)
Magnitude: F
2
=F
1
/3
F
2

Example
A uniform disk with mass M = 2.5kg
and radius R=20cm is mounted on a
horizontal axle. A block of mass
m=1.2kg hangs from a massless
cord that is wrapped around the rim
of the disk.
Q1:
Find the acceleration of the falling block.
.
Notice:
We have two forces acting on mass m:

Gravity and tension from the string
We have one torque caused by the

tension in the string acting on the disk
The linear motion of the mass is linked to the

circular motion of the disk via the cord.

Example
of the disk.
Q1:
.
Notice:
We have two forces acting on mass m:

Gravity and tension from the string

ma = T-mg (equation of motion of the falling block)
(Unknowns: a and T)

Example
of the disk.
Q1:
.
Notice:
We have one torque caused by the

tension in the string acting on the disk

t = -TR (force T perpendicular to lever arm
negative, because of clockwise rotation)
= Io =0.5 MR
2
o T = -0.5MRo

Example
of the disk.
Q1:
.
Notice:
ma = T-mg and T = -0.5MRo

The linear motion of the mass is linked to the

circular motion of the disk via the cord.
a = Ro 3 equations, 3 unknowns: T, a, o

Example
of the disk.
ma = T-mg, T = -0.5MRo, a = Ro
.

Some math:
ma = -0.5Ma mg a = -2mg/(M+2m) = -4.8m/s
2

Angular accel.: o = a/R = -4.8/0.2rad/s
2
= -24rad/s
2

Tension in the cord: T = -0.5MRo = 6.0N
Check out Table 10.3
for analogy with translation

Work and kinetic Energy
y
x
Rod
r
F
F
r
F
t
The radial component of F does not do any work
as it does not displace the mass m

The tangential component of F does displace the
mass by ds and does work:

dW = F
t
ds = F
t
rdu = tdu
m

W= dW = t du = t (u
f
u
i
) Work done
during displacement
w
w
u
f
u
i
for constant torque
Recall Work for constant force and translation:
W= dW = Fdx = F(x
f
-x
i
)
w
x
i
x
f
Power: P=dW/dt = tu (rotation about fixed axis)

y
x
Rod
r
F
F
r
F
t
The tangential component of F does increase the velocity
of the mass:
K
f
-K
i
= 0.5mv
f
2
-0.5mv
i
2
=W
use v=ur K
f
-K
i
= 0.5mr
2
u
f
2
-0.5mr
2
u
i
2

K
f
-K
i

= 0.5Iu
f
2
-0.5Iu
i
2
=W
m

y
x
Rod
r
F
F
r
F
t
m
If we assume that the particle is part of a solid body
then we would have to repeat this for all particles in
the body. Adding up all these changes in kinetic energy
and the work would show that this also works for a solid
body.
We just derived the
relation between
work done by
a net torque and the
change in kinetic
energy for a
single particle.

Problem 66.
m=0.6kg
r = 0.05m
I = 0.003kgm
2
M=4.5kg
h
Q: What is the velocity of
mass m after it dropped a
distance h? (No friction)
mg

Problem 66.
m=0.6kg
r = 0.05m
I = 0.003kgm
2
M=4.5kg
h
Q: What is the velocity of
mass m after it dropped a
distance h? (No friction)
Two possible approaches:
a) Use forces (gravity and tension) and torques
b) Energy conservation
mg

Problem 66.
m=0.6kg
r = 0.05m
I = 0.003kgm
2
spherical shell
of M=4.5kg
h
b) Energy conservation
As we are only interested in the
situation at the end and energy
is conserved, this should work.
mg
Initial: U=mgh, Final: K
shell
+ K
pulley
+ K
mass

Problem 66.
m=0.6kg
r = 0.05m
I = 0.003kgm
2
spherical shell
of M=4.5kg
h
mg
Initial: U=mgh,
Final: K
shell
=0.5I
S
u
S
2
=0.5(2MR
2
/3)u
S
2

K
pulley
= 0.5I
p
u
P
2

K
mass
= 0.5mv
2
Also know that the 'length of the string is conserved':
v=u
P
r, v=u
S
R Use this to replace the u's in the kinetic energies
mgh = Mv
2
/3 + 0.5I
p
v
2
/r
2
+ 0.5mv
2
Solve for v = 1.4m/s

Moment of Inertia

Uploaded by

Copyright:

Available Formats

Moment of Inertia

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Moment of Inertia

Uploaded by

Copyright:

Available Formats

Rotation

Moment of inertia of a rotating body:

Body has symmetries

Rotation axis goes through Center of mass

dz is the same in both

only change how we

Lets split up the body into a collection of particles

discussed the equations describing the

calculated the kinetic energy associated

pointed out the similarities with translations

We have two forces acting on mass m:

We have one torque caused by the

The linear motion of the mass is linked to the

We have two forces acting on mass m:

We have one torque caused by the

The linear motion of the mass is linked to the

You might also like