Lecture 12: Moment of Inertia

PH1011 Physics
Week 6
Lecture 12: Moment of Inertia

Moment of Inertia
- Rotational inertia (scalar quantity), resists changes in angular velocity 𝜔
- Calculation of moment of inertia must use the rotational axis as the origin
- Parallel axis theorem: 𝐼 = 𝐼!" + 𝑀𝑑 #
- Perpendicular axis theorem: 𝐼$ = 𝐼% + 𝐼&

Continuous Mass Case

- Refers to an extended mass
Discrete Mass Case - Can be viewed as “many slices” of
Refers to several point masses small masses 𝑑𝑚 with distance-squared 𝑟 #
𝐼 = ' 𝑚' 𝑟'# joined together
' 𝐼 = * 𝑟 # 𝑑𝑚
with 𝑟 # = 𝑥 # + 𝑦 # + 𝑧 # in 3D.

Examples
- Thin Hoop on page 3
Examples - Table of moment of inertia on page 5
- 1D, 3 discrete masses on page 5 - 1D, uniform rod on page 6
- 1D 2 discrete masses, Giancoli example 10-8 on page 7 - 2D, triangle on page 6

Other Examples
- Serway example 10.6 on page 8
- Serway example 10.16 on page 9
- Serway examples 10.4/10.11 on page 10

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 Lecture 12: Moment of Inertia

Moment of Inertia >> General Discussion:

Rotational Inertia:

Consider trying to turn the rod in two different orientations starting from rest and accelerating to
angular velocity 𝜔. Which one do you think will require more effort?

A B
We will do another example that is easier to compute a numerical quantity for comparison.
Consider two systems comprising of two masses 𝑚 attached to a light rod, in one case length 𝑅
and in another case 4𝑅. Which would have gain more kinetic energy starting from rest and
accelerating to angular velocity 𝜔 about the middle of the rod?

R 2R

KE = KE =

The configuration of masses with a given separation about a fixed axis of rotation can be
characterized by the physical quantity 𝑚𝑅! , known as the moment of inertia 𝐼 (in this case for
point mass 𝑚). We see that the moment of inertia of an object, plays the same role for rotational
motion that mass does for translational motion. Consider a mass 𝑚 rotating in a circle of radius
𝑅 about a fixed point and a single force 𝐹 acts on 𝑚:
𝐹 = 𝑚𝑎 = 𝑚𝑅𝛼 ⟹ 𝐹𝑅 = 𝜏 = 𝑚𝑅! 𝛼 = 𝐼𝛼
Thus, we see from translational dynamics to rotational dynamics.
mass 𝑚 ⟹ moment of inertia 𝐼

Final Dictionary between Linear and Angular Motion:

Expression Linear version “Rotational” version

Constant acceleration 1 1
𝑠 = 𝑢𝑡 + 𝑎𝑡 ! + 𝑠" 𝜃 = 𝜔# 𝑡 + 𝛼𝑡 ! + 𝜃"
2 2
𝑣 = 𝑢 + 𝑎𝑡 𝜔$ = 𝜔# + 𝛼𝑡
𝑣 ! = 𝑢! + 2𝑎𝑠 𝜔$! = 𝜔#! + 2𝛼𝜃
Momentum 𝑝⃗ = 𝑚𝑣⃗ B⃗ = 𝐼𝜔
𝐿 B⃗
with conservation of linear with conservation of angular
momentum momentum
Newton’s 2nd Law 𝑑𝑝⃗ 𝑑𝐿B⃗
𝐹⃗%&' = 𝜏⃗%&' =
𝑑𝑡 𝑑𝑡
𝐹⃗%&' = 𝑚𝑎⃗ 𝜏%&' = 𝐼𝛼
Kinetic Energy 1 1 !
𝑚𝑣 ! 𝐼𝜔
2 2

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 Lecture 12: Moment of Inertia

Moment of Inertia >> General Discussion:

Discrete Masses:

As we have seen, the quantity

𝐼 = D 𝑚# 𝑟#!
#
is the rotational inertia for discrete point masses. We now need to generalize and get a formula
for continuous mass.

Continuous Mass:

Look at these 2 continuous masses:

The distribution of mass matters here – these 2 objects have the same mass but the one on
the left should have a greater rotational inertia because so much of its mass is far from the axis
of rotation.

The generalization of discrete masses to continuous mass amounts to a “continuous

summation of small slices of discrete masses”. Mathematically, “continuous summation”
means “integration”.
𝐼 = F 𝑟 ! 𝑑𝑚
Quick Example:

Let’s compute the moment of inertia of a thin hoop of mass 𝑀 and radius 𝑅 about the
cylindrical axis.

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 Lecture 12: Moment of Inertia

Moment of Inertia >> General Discussion:

Theorems:

Parallel Axis Theorem:

This theorem relates the moment of inertia 𝐼 of an object of total mass 𝑀 about any axis, and
its moment of inertia 𝐼() about an axis passing through the centre of mass and parallel to the
first axis. If the two axes are a distance 𝑑 apart, then

𝐼 = 𝐼() + 𝑀𝑑!
Thus, if the moment of inertia about an axis through the CM is known, the moment of inertia
CM axis, 𝐼!" New axis, 𝐼

about any parallel axis can be easily obtained (without doing integration!).

Note: parallel axis theorem relates 𝐼() to another 𝐼. Do not use it to relate any 2 moment of
inertias.

Perpendicular Axis Theorem:

The parallel axis theorem that we have seen earlier can be applied to any object. However, the
perpendicular axis theorem can only be applied to plane (or flat) objects – objects whose
thickness can be neglected compared to other dimensions. The theorem states that:

The sum of moment of inertia of a plane object about any two perpendicular axes in the plane
of the object, is equal to the moment of inertia about an axis through their point of intersection
perpendicular to the plane of the object. For an object in the 𝑥𝑦 plane
𝐼* = 𝐼+ + 𝐼,
Here, 𝐼+ , 𝐼, and 𝐼* are the moment of inertias about the 𝑥, 𝑦 and 𝑧 axes. The proof is simple:
since 𝐼+ = ∑ 𝑚# 𝑦#! and 𝐼, = ∑ 𝑚# 𝑥#! then 𝐼* = ∑ 𝑚# (𝑥#! + 𝑦#! ).

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 Lecture 12: Moment of Inertia

Moment of Inertia >> Example:

Table of Moment of Inertia for various objects with axis of rotation about CM

Moment of Inertia >> Example:

1D, 3 Discrete Masses:

Three masses are connected by a rod of negligible mass as shown. Compute the moment of
inertia of rod about the axis of rotation (A, B and C) as shown.

A B C

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 Lecture 12: Moment of Inertia

Moment of Inertia >> Example:

1D, Continuous Mass:

The mass per unit length λ of a rod is 15g/cm and it is 12cm long. Compute the moment of
inertia of the rod about the axis of rotation as shown.
Axis of rotation

Moment of Inertia >> Example:

2D, Continuous Mass:

Now consider a triangular sheet of metal as shown in the figure below.

(It should be obvious that the narrow strip A will have a smaller mass as compared to strip B.)
If the mass per unit area of the sheet is 𝜇 = 1.6g/cm2, compute the moment of inertia of the
sheet about the y-axis.

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 Lecture 12: Moment of Inertia

Moment of Inertia >> Example:

Giancoli example 10-8
1D, 2 Discrete Masses:

Two small “weights” of 5 kg and 7 kg are mounted 4.0 m apart on a light rod (whose mass can
be ignored). Calculate the moment of inertia of the system when rotated about an axis
a) passing its center of mass;
b) half way between the weights; and
c) 0.50 m to the left of the 5.0 kg mass.

Note that these 3 moment of inertias are related by parallel axis theorem.

Moment of Inertia >> Example:

Serway example 10.6

A wheel of radius 𝑅, mass 𝑀, and moment of inertia 𝐼 is mounted on a frictionless, horizontal

axle as in Figure. A light cord wrapped around the wheel supports an object of mass 𝑚. When
the wheel is released, the object accelerates downward, the cord unwraps off the wheel, and
the wheel rotates with an angular acceleration. Find expressions for the angular acceleration of
the wheel, the translational acceleration of the object, and the tension in the cord.

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 Lecture 12: Moment of Inertia

Moment of Inertia >> Example:

Serway problem 10.16

A block of mass m- = 2.00 kg and a block of mass m! = 6.00 kg are connected by a

massless string over a pulley in the shape of a solid disk having radius 𝑅 = 0.250 m and mass
𝑀 = 10.0 kg. The fixed, wedge-shaped ramp makes an angle of 𝜃 = 30.0. as shown in
Figure. The coefficient of kinetic friction is 0.360 for both blocks. (a) Draw force diagrams of
both blocks and of the pulley. Determine (b) the acceleration of the two blocks and (c) the
tensions in the string on both sides of the pulley.

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 Lecture 12: Moment of Inertia

Moment of Inertia >> Example:

Serway examples 10.4/10.11

A uniform rod of length 𝐿 and mass 𝑀 is attached at one end to a frictionless pivot and is free
to rotate about the pivot in the vertical plane as in Figure. The rod is released from rest in the
horizontal position.
a) What are the initial angular acceleration of the rod and
b) the initial translational acceleration of its right end?
c) What is its angular speed when the rod reaches its lowest position?
d) Determine the tangential speed of the center of mass and the tangential speed of the lowest
point on the rod when it is in the vertical position.

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 Lecture 12: Moment of Inertia

End of Lecture Reflection Questions:

1) Are you able to distinguish between discrete and continuous mass problems when calculating
moment of inertia?

2) Are you able to recognize situations when parallel axis theorem or perpendicular axis theorem
applies?

3) Are you able to deploy 𝑑𝑚 in various dimensions just like how it is used in CM calculations?

4) Are you able to form the extra equations coming from angular quantities and rotational
Newton’s 2nd law 𝜏 = 𝐼𝛼? Then are you able to juggle the algebra to solve for the quantity
required by the question?

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 Lecture 12: Moment of Inertia

Extra Materials (Non-examinable):

Digression (Non-examinable) >> Mathematical Digression on Integration

a) Deriving circumference = 2𝜋𝑟

b) Deriving area of circle = 𝜋𝑟 !

c) Deriving surface of sphere = 4𝜋𝑟 !

/
d) Deriving volume of sphere = 0 𝜋𝑟 0

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 Lecture 12: Moment of Inertia

Digression (Non-examinable) >> Inertial Reference Frames

Imagine a spaceship in deep space far away from anything and there is a ball floating in it and
the observer will conclude that no force is acting on the ball.

Spaceship accelerating forward

a

The observer accelerating with the

space ship will perceive the ball
Non-inertia
accelerating backwards and
reference frame
conclude that there is a backward
force acting on the ball.

A non-accelerating observer will

conclude that there is no force
Inertia reference
acting on the ball.
frame

So who is correct? Is there a force acting on the ball?

Importance of Centre of Mass Reference Frame

The above diagram shows the motion of a rotating spanner through space with no forces
acting on it. We see that if we see that the center of mass is the only point on the spanner that
is non-accelerating – making it a special and important reference.

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 Lecture 12: Moment of Inertia

Digression (Non-examinable) >> Moment of

Inertia of a Cylinder
Giancoli pg 264 example 10-12

a) Show that the moment of inertia of a uniform

hollow cylinder of inner radius R1, outer radius R2,
and mass M, is I = ½ M(R12 + R22), if the rotation
axis is through the center along the axis of
symmetry.
b) Obtain the moment of inertia for a solid cylinder.

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 Lecture 12: Moment of Inertia

Digression (Non-examinable) >> Moment of Inertia of a Sphere (Using Moment of Inertia

of Discs)
http://hyperphysics.phy-astr.gsu.edu/hbase/isph.html

Radius = 𝑅
Mass = 𝑀
𝑀 𝑀
Density = 𝜌 = =
𝑉 4 𝜋𝑅)
3

Small moment of inertia:

1 1 1
𝑑𝐼 = 𝑦 ! 𝑑𝑚 = 𝑦 ! 𝜌𝑑𝑉 = 𝑦 ! 𝜌𝜋𝑦 ! 𝑑𝑧
2 2 2

and “summing” the small momenta of inertias gives

1 1
1 1 8
𝐼 = 𝜌𝜋 F 𝑦 / 𝑑𝑧 = 𝜌𝜋 F (𝑅! − 𝑧 ! )! 𝑑𝑧 = 𝜌𝜋𝑅3
2 21 2 21 15

Substituting the density expression gives

8 𝑀 2
𝐼= Y Z 𝜋𝑅3 = 𝑀𝑅!
15 4 3 5
3 𝜋𝑅

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