8.6.

13
GOAL: Determine the Ixx , Iyy , Izz and Ixy for the illustrated body.
GIVEN: Body’s orientation and shape. a = 0.1 m, b = 0.02 m, c = 0.07 m, d = 0.06 m. The
density of the large block is 800 kg /m3 and the density of the small block is 1000 kg /m3 .
DRAW:

FORMULATE EQUATIONS: We’ll solve this problem by breaking it up into two rectangular
bodies, one with dimensions a, a, b and the other with dimensions e, e, d, where e = a − c and is
introduced for convenience.

e = 0.03
 m. From Appendix

B we have:

2 2 2 2
a +b a +b a2 + a2
Ix′ x′ = m , Iy′ y′ = m , Iz ′ z ′ = m
12 12 12
for the large block and



d2 + e2 d2 + e2 e2 + e2
Ix′ x′ =m , Iy′ y′ =m , Iz ′ z ′ =m
12 12 12
for the small block.
To find the mass moments of inertia and products of inertia we use (8.24)-(8.29) with appropriate
values of r1 , r2 and r3 .
SOLVE: Let’s first consider the body with dimensions a, a, b. We’ll put a “1” to the upper left of
the I as an identifier.
For this body r1 = a/2, r2 = a/2 and r3 = b/2.
1I 1 2 2
xx = Ix′ x′ + m1 (r2 + r3 )

     
= m1 a2 + b2 + m1 a2 + b2 = m1 a2 + b2
12 4 3
1I = 1I + m1 (r32 + r12 )
yy y′ y′
     
= m1 a2 + b2 + m1 a2 + b2 = m1 a2 + b2
12 4 3
1I = 1I + m1 (r12 + r22 )
zz z′ z′
     
= m1 a2 + a2 + m1 a2 + a2 = m1 a2 + a2
12 4 3


1 1 a2
Ixy = Ix′ y′ + m1 r1 r2 = m1
4
Now we’ll consider the body with dimensions d, e, e. We’ll put a “2” to the upper left of the I as

152
an identifier.
For this body r1 = e/2, r2 = c + e/2 and r3 = b + d/2.
2I 2 2 2
xx = Ix′ x′ + m2 (r2 + r3 )

   2 
d2 + e2
2
c + 2e + b+ d

= m2 12 + m2 2
2I = 2I + m2 (r32 + r12 )
yy y′ y′
    2 
d2 + e2 e 2
+ b+ d

= m2 12 + m2 2 2
2I = 2I + m2 (r12 + r22 )
zz z′ z′
    2 
e2 + e2 e 2
+ c + 2e

= m2 12 + m2 2
e e
  
2 2
Ixy = Ix′ y′ + m2 r1 r2 = m2 c+
2 2
The individual masses are given by
m1 = (800 kg /m3 )(0.1 m)(0.1 m)(0.02 m) = 0.16 kg

m2 = (1000 kg /m3 )(0.03 m)(0.03 m)(0.06 m) = 0.054 kg

Adding the rotational inertias together and evaluating for the given dimensional values gives us
1
Ixx = Ixx + 2 Ixx = (3.46̄×10−3 m2 )(0.16 kg) + (1.01×10−2 m2 )(0.054 kg)
1
Iyy = Iyy + 2 Iyy = (3.46̄×10−3 m2 )(0.16 kg) + (3.1×10−3 m2 )(0.054 kg)
1
Izz = Izz + 2 Izz = (6.6̄×10−3 m2 )(0.16 kg) + (7.6×10−3 m2 )(0.054 kg)
1
Ixy = Ixy + 2 Ixy = (2.5×10−3 m2 )(0.16 kg) + (1.275×10−3 m2 )(0.054 kg)

Ixx = 1.10×10−3 kg· m2 Iyy = 7.22×10−4 kg· m2

Izz = 1.48×10−3 kg· m2 Ixy = 4.69×10−4 kg· m2

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153
8.7.9
GOAL: Find the angular momentum of the illustrated structure about the point O.
⇀ ⇀
GIVEN: The angular velocity of the structure is ω = ω b 1 and its areal density is ρ.
DRAW:

FORMULATE EQUATIONS: The equation of interest is:

⇀
⇀
HO = Ixx ω1 − Ixy ω2 − Ixz ω3 b 1 +

⇀
Iyy ω2 − Iyz ω3 − Iyx ω1 b 2 + (1)

⇀
Izz ω3 − Izx ω1 − Izy ω2 b 3

⇀ ⇀
SOLVE: Since ω = ω b 1 , equation (1) gives us:
⇀ ⇀ ⇀ ⇀
HO = Ixx ω b 1 − Iyx ω b 2 − Izx ω b 3

We need to calculate Ixx , Iyx , and Izx .

The moment of inertia of a thin, rectangular plate about an axis perpendicular to its surface and
1
through the center of mass is 12 m(l2 + w2 ), where l is the length of the plate and w its width. The
moment of inertia about a transverse axis lying in the plane of the plate, through the center of
1
mass and parallel to an edge of length w is 12 ml2 . Using the parallel axis expressions, the moment
of inertia about the x axis for each plate is:
  2 
2
1 b c
    
2 2
B
Ixx = I B
+ m B r2 + r 3 = mB b2 + c2 + mB + −
x′′ x′′ 12 2 2
1  
= mB b2 + c2
3
2
1 c 1
  
A
Ixx = I A′ + mA r22 + r32 = mA c2 + mA − = m c2
x x′ 12 2 3 A

For the composite structure,

1   1 1  3 
B
Ixx = Ixx A
+ Ixx = ρbc c2 + b2 + ρacc2 = ρ ac + b3 c + bc3
3 3 3

169
 A
The plane of symmetry for plate A is the x−z plane, so Iyx = 0. The plane of symmetry for plate B
B B
is the y−z plane, so Iyx = Izx = 0. The only remaining moment of inertia needed for substitution
A
into equation (1) is Izx . Notice that all products of inertia about the center of mass of each plate
are zero, thus by the parallel axis expressions we have:
c a 1
  
A
Izx = Izx = I A
+ mA r3 r1 = 0 + mA − = − ρa2 c2
z ′ x′ 2 2 4

Substition into (1) yields

⇀
HO = 31 ρ ac3 + b3 c + bc3 ω b 1 + 14 ρa2 c2 ω b 3

⇀ ⇀

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170
8.8.2
GOAL: Find the moment the shaft must exert on the disk for it to rotate with constant angular
speed ω.
GIVEN: The radius of the disk is R and its areal density is ρ. The disk is inclined an angle φ
from the plane normal to the axis of the shaft, as shown.
DRAW: Let x, y, z be a set of body-fixed axes attached to the disk, with the origin at its center
of mass. The z-axis is chosen to be normal to the plane of the disk.

FORMULATE EQUATIONS: The angular momentum equation of motion has the form:

⇀ ⇀
˙
MG = HG

⇀
One method of solution is therefore to form HG and take its derivative. A second method of solution
would be to use Euler’s equations, since the x, y, z axes are a set of principle axes for the disk. We
will use both methods and check that the solutions are the same.
SOLVE: The moments of inertia of the disk about the x, y, z axes are I¯xx = I¯yy = 41 mR2 , and
I¯zz = 1 mR2 . The angular velocity of the disk is:
2

⇀
 ⇀ ⇀

⇀
ω = ωk = ω cos φ b 3 + sin φ b 1

⇀
Since the angular velocity is constant, the angular acceleration α is zero.
By symmetry, all products of inertia in the x, y, z coordinate system are zero (and thus x, y, z are
principle axes). The angular momentum then becomes:

⇀ ⇀ ⇀ ⇀
HG = I¯xx ω1 b 1 + I¯yy ω2 b 2 + I¯zz ω3 b 3
1 ⇀ 1 ⇀
= mR2 ω sin φ b 1 + 0 + mR2 ω cos φ b 3 (1)
4 2

174
Taking the derivative:
 

⇀ ⇀
˙ d  ⇀ ⇀
⇀
MG = HG  = HG + ω×HG
N
dt S

 ⇀ ⇀
 1 1⇀ ⇀

= 0 + ω cos φ b 3 + sin φ b 1 × mR ω sin φ b 1 + mR2 ω cos φ b 3
2
4 2
1 ⇀
= − mR2 ω 2 sin φ cos φ b 2
4
⇀
Note that the unit vector b 2 is always in the direction perpendicular to the axis of the shaft. With
m = ρπR2 , we have:
⇀
M = − 14 ρπR4 ω 2 sin φ cos φ b 2
⇀

⇀
Since α and ω2 are zero, the only non-zero Euler’s equation is

1 1
 
= I¯yy α2 + ω1 ω3 I¯xx − I¯zz mR2 − mR2
 
M2 = 0 + (ω sin φ) (ω cos φ)
4 2

M2 = − 14 ρπR4 ω 2 sin φ cos φ

which yields an identical result as above.

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instructional purposes only to students enrolled in courses for which the textbook has been adopted. Any other repro-
duction or translation of this work beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright
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175