Cap 09 Vector Mechanics For Engineers Static Solution

COSMOS: Complete Online Solutions Manual Organization System
Chapter 9, Solution 1.
b2 − b1
First note: y= x + b1
a
Have I y = ∫ x 2dA
b2 − b1
a x + b1
=∫ ∫ 0 0
a x 2d ydx
a  b − b1 
= ∫ 0 x2  2 x + b1  dx
 a 
a
 1 b − b1 4 1 3 
= 2 x + b1x 
4 a 3 0
1 3
= a ( b1 + 3b2 )
12
1 3
Iy = a ( b1 + 3b2 )
12
Vector Mechanics for Engineers: Statics and Dynamics, 8/e, Ferdinand P. Beer, E. Russell Johnston, Jr.,
Elliot R. Eisenberg, William E. Clausen, David Mazurek, Phillip J. Cornwell
© 2007 The McGraw-Hill Companies.
5 b
At x = a, y = b : b = ka 2 or k = 5
a2
b 5 a 2
∴ y = 5
x2 or x= 2
y5
a 2 b 5
1 3
dI y = x dy
3
1 a3 65
= y dy
3 b 65
1 a3 b 65
Then Iy = ∫ y dy
3 b 65 0
b
1 5 a3 115
= y
3 11 b 65
0
5 a3 115
= b
33 b 65
5 3
or I y = a b
33
2
First note: At x = 0: 0 = k (b + c)
or c = −b
2
At x = a : a = k ( 2b − b )
a
or k =
b2
a 2
2(
∴ x= y − b)
b
a 2
2b b 2 (
y − b)
=∫ 0 0∫ x 2dxdy
3
1 2b  a 2
0  2(
= ∫ y − b )  dy
3 b 
2b
1 a3 1 7
= 6
× ( y − b)
3b 7 b
1 3
= ab
21
1 3
Iy = a b
21
Have y = kx 2 + c
At x = 0, y = b : b = k ( 0) + c
or c=b
2
At x = 2a, y = 0: 0 = k ( 2a ) + b
b
or k =−
4a 2
b 2
Then y =− x +b
4a 2
b
=
4a 2
(4a 2 − x 2 )
Then I y = ∫ x 2dA, dA = ydx =
b
4a 2
(
4a 2 − x 2 dx )
2a
I y = ∫ a x 2dA =
b 2a 2 2 2
∫ x 4a − x dx
4a 2 a
( )
2a
b  2 x3 x5 
=  4a − 
4a 2  3 5 a
b b
=
3
(
8a3 − a3 − )
20a 2
32a5 − a5 ( )
7a3b 31a3b
= −
3 20
47 3
Iy = a b
60
b2 − b1
First note: y = x + b1
a
Have I x = ∫ y 2dA
b2 − b1
a x + b1
= ∫ ∫
0 0
a y 2d ydx
3
1 a  b − b1 
= ∫0  2 x + b1  dx
3  a 
a
4
1  1 a   b2 − b1 
= ×  x + b1 
3  4 b2 − b1   a 
0
1 a
=
12 b2 − b1
(
b24 − b14 )
1 a
=
12 b2 − b1
(
( b2 + b1 )( b2 − b1 ) b22 + b12 )
1
=
12
(
a ( b1 + b2 ) b12 + b22 )
1
Ix =
12
( )
a ( b1 + b2 ) b12 + b22
SOLUTION
5
At x = a, y = b : b = ka 2
b
or k = 5
a2
b 5
∴y = 5
x2
a 2
I x = ∫ y 2dA dA = xdy
b 2
a 2 
= ∫0 y  2
y 5 dy 
 b
5 
b 17
a5 175 5a b 5
= 2 × y =
b 5 17 17 b 52
0
5 3
or I x = ab
17
2
First note: At x = 0: 0 = k ( b + c )
or c = −b
2
At x = a : a = k ( 2b − b )
a
or k =
b2
a 2
2(
∴ x= y − b)
b
a 2
2b b 2 (
y − b)
=∫ b 0∫ y 2dxdy
a 2b 2 2
= 2 ∫b
y ( y − b ) dy
b
=
a 2b 4
b 2 ∫b (
y − 2by 3 + b 2 y 2 dy )
2b
a 1 5 1 4 1 2 3
=  y − by + b y 
b2  5 2 3 b
a  1 1 1 2 1 5 1 1 2 3 
=
b 2   5
5
2
4
3
3
  5 2 3
( )
 ( 2b ) − ( 2b ) + b ( 2b )  −  b − b b + b b  
4

( )
 32 8 1 1 1
= ab3  −8+ − + − 
 5 3 5 2 3
31 3
= ab
30
31 3
Ix = ab
30
Have y = kx 2 + c
At x = 0, y = b: b = k (0) + c
or c=b
At x = 2a, y = 0: 0 = k (2a) 2 + b
b
or k =−
4a 2
b
Then y =
4a 2
(
4a 2 − x 2 )
1 3
Now dI x = y dx
3
1 b3
( )
3
= 6
4a 2 − x 2 dx
3 64a
continued
Then I x = ∫ dI x
1 b3 2 a
( )
3
= 6 ∫a
4a 2 − x 2 dx
3 64a
b3
=
192a
2a
6 ∫a ( )
64a 6 − 48a 4 x 2 + 12a 2 x 4 − x 6 dx
2a
b3  6 4 3 12 2 5 x 7 
=  64 a x − 16a x + a x − 
192a 6  5 7 a
b3 
= 64a 7( 2 − 1) − 16a 7 ( 8 − 1)
192a 6 
12 7 1 
+ a ( 32 − 1) − (128 − 1) 
5 7 
ab3  372 127  3

=  64 − 112 + −  = 0.043006ab
192  5 7 
I x = 0.0430ab3
x2 y2
+ =1
a 2 b2
y2
x = a 1−
b2
dA = xdy
dI x = y 2dA = y 2 xdy
b b y2
I x = ∫ dI x = ∫ − b xy 2dy = a ∫ − b y 2 1 − dy
b2
Set: y = b sin θ dy = b cosθ dθ
π
I x = a ∫ 2π b 2 sin 2 θ 1 − sin 2 θ b cosθ dθ
−
2
π π
1 2
= ab3 ∫ 2π sin 2 θ cos 2 θ dθ = ab3 ∫ 2π sin 2θ dθ
− − 4
2 2
π
π
1 1 1  1 2
= ab3 ∫ 2π (1 − cos 4θ ) dθ = ab3 θ − sin 4θ 
4 − 2 8  4 −π
2 2
1 3  π  π  π 3 1
= ab  −  −   = ab Ix = π ab3
8  2  2  8 8
At x = 2a, y = b: 2a = kb3
2a
or k =
b3
2a 3
Then x= y
b3
b 1
or y = 1
x3
( 2a ) 3
1 3 1 b3
Now dI x = y dx = xdx
3 3 2a
2a
1 b3 2 a 1 b3 1 2
Then I x = ∫ dI x = ∫ xdx = x
3 2a a 6 a 2 a
b3
=
12a
(
4a 2 − a 2 )
1 3
Ix = ab
4
At x = a : b = k 1 − e a 
−a
First note:
 
b
or k =
1 − e−1
 −x 
b
 1− e a 
a 1− e −1  
=∫ ∫ 0 0
  y 2dydx
3 3
1  b  a
1 − e a  dx
−x
=  −1  ∫ 0 
31 − e   
3
1  b  a
1 − 3e a + 3e a − e a  dx
−x −2 x −3 x
=  −1  ∫ 0 
31 − e   
3 a
1 b   −x  a  −2 x  a −3x  
=  −1  
x − 3( − a ) e a + 3 −  e a −  − e a 
31 − e    2  3  0
3
1  b   1   1 
=  −1  
a + 3ae−1 − 1.5ae−2 + ae −3  −  3a − 1.5a + a  
3  1 − e   3   3 
1 ab3  11 
= 1.91723 − 
( )
3
3 1 − e −1  6
= 0.1107ab3
I x = 0.1107ab3
x2 y2
+ =1
a 2 b2
x2
y = b 1−
a2
dA = 2 ydx
dI y = x 2dA = 2 x 2 ydx
a a x2
I y = ∫ dI y = ∫ 0 2 x 2 ydx = 2b ∫ 0 x 2 1 − dx
a2
Set: x = a sin θ dx = a cosθ dθ
π
I y = 2b∫ 02 a 2 sin 2 θ 1 − sin 2 θ a cosθ dθ
π π
3 2 2 3 1 2
= 2a b∫ sin θ cos θ dθ = 2a b∫ 02
0
2 sin 2θ dθ
4
π
π
1 1 1  1 2
= a3b∫ 02 (1 − cos 4θ ) dθ = a3b θ − sin 4θ 
2 2 4  4 0
1 3 π  π
= a b  − 0  = a3b
4 2  8
1 3
Iy = πa b
8
At x = 2a, y = b : 2a = kb3
2a 3
Then x= y
b3
b 1
or y = 1
x3
( 2a ) 3
Now I y = ∫ x 2dA dA = ydx
2a b 1
Then I y = ∫ a x2 1
x 3 dx
( 2a ) 3
b 2a 7
= 1 ∫ a x 3 dx
( 2a ) 3
2a
b 3 103
= 1
x
( 2a ) 3 10
a
3b  2a 103 − a 103 
= ( )
 
1
10 ( 2a ) 3
3ba3  103
2 − 1 3 
10
= 1 
10 ( 2 ) 3  
= 2.1619a3b
or I y = 2.16a3b
At x = a : b = k 1 − e a 
−a
First note:
 
b
or k =
1 − e−1
 −x 
b
1− e a 
a 1− e −1   2
=   x d ydx
∫ ∫
0 0
a 2  b  −x

= ∫ 0 x 1 − e−1 1 − e a   dx
 
a
 
 −x 2  
b 1 3 e a  1  2  1
=  x − 
3 
−  x − 2  −  x + 2 
1 − e−1  3  1   a   a  
 −  
  a 0
b   1 3 3 −1  a
2
a  
= −1  
1 − e   3
a + a e 3
 2 + 2 + 2   − a × 2
a a
( )
   
a3b  1 
= −1 
+ 5e −1 − 2 
1− e 3 
= 0.273a3b
I y = 0.273 a3b
1
At x = a, y = b: b = k1a 4 b = k2a 4
b b
or k1 = k2 =
a4
1
a4
b 4 b 1
Then y1 = x y2 = x4
a4
1
a 4
a 1 a
and x1 = 1
y4 x2 = 4 y 4
b 4 b
 x 14 x 4 
a
Now A = ∫ ( y2 − y1 ) dx = b∫  − dx
a4 
0 1
4
a 
a
 4 x 54 1 x5 
= b −  = 3 ab
 5 a 14 5 a 4  5
 0
Then I x = ∫ y 2dA dA = ( x1 − x2 ) dy
b  a 1 a 
I x = ∫ 0 y 2  1 y 4 − 4 y 4  dy
 4 b 
b 
b
 4 y 134 1 y 7 
= a −
13 b 14 7 b4 
 0
 4 1
= ab3  − 
 13 7 
15 3
or I x = ab
91
15 3
ab
Ix 91 25 2
Now kx = = = b = 0.52414b
A 3 91
ab
5
or k x = 0.524b
First note: At x = a : 2b = k a
2b 2b
or k= ∴ y2 = x
a a
b
Straight line: y1 = x
a
a  2b 12 b 
Now: A = 2∫ 0  x − x  dx
 a a 
a
 4 x 23 1 2 
= 2b  − x
 3 a 2a 
 0
5
= ab
3
1
2b 2
x
a
= 2∫ ∫ 0 bx
a
y 2dydx
a
2 a  8b3 32 b3 3 
= ∫  x − 3 x  dx
3 0  a 23 a 

a
2b3  2 8 5 1 
=  × 3 x 2 − 3 x 4 
3  5 a2 4a 0
59 3
Ix = ab
30
Ix
And kx =
A
59 3
ab
= 30
5
ab
3
= b 1.18 k x = 1.086 b
1
At x = a, y = b: b = k1a 4 b = k2a 4
b b
or k1 = k2 =
a4
1
a4
b 4 b 1
Then y1 = x and y2 = x4
a4
1
a 4
 x 14 x 4 
a
Now A = ∫ ( y2 − y1 ) dx = b∫  − dx
a4 
0 1
4
a 
a
 4 x 54 1 x5 
= b −  = 3 ab
1 4
5 a4 5 a  5
 0
Now I y = ∫ x 2dA dA = ( y2 − y1 ) dx
a  b 1 b 
Then I y = ∫ 0 x 2  1 x 4 − 4 x 4  dx
 4 a 
a 
 x 94 x 6 
a
= b∫  − dx
a4 
0 1
4
a 
a
 4 x 134 1 x 7 
= b −
13 a 14 7 a4 
 0
 4 1 
= b  a3 − a3 
 13 7 
15 3
or I y = a b
91
15 3
Iy ab
91 25
Now ky = = = a = 0.52414a
A 3 91
ab
5
or k y = 0.524a
First note: At x = a : 2b = k a
2b 2b
or k= ∴ y2 = x
a a
b
Straight line: y1 = x
a
a  2b 12 b 
Now: A = 2∫ 0  x − x  dx
 a a 
a
 4 x 23 1 2 
= 2b  − x
 3 a 2a 
 0
5
= ab
3
1
2b 2
x
a
= 2∫ ∫0 b
a
x 2dydx
x
a
a  2b 12 b 
= 2∫ 0 x 2  x − x  dx
 a a 
a
 7
2 x2 1 x 4 

= 2b 2 × −
 7 a 4 a 
  0
9 3 9 3
= ab Iy = a b
14 14
continued
Iy
And ky =
A
9 3
ab
= 14
5
ab
3
27
=a k y = 0.621 a
70
First note: At x = 0: b = c cos ( 0 )

or c=b
At x = 2a : b = b sin k ( 2a )
π
or 2ka =
2
π
k=
4a
2a  π π 
Then A = ∫ a  b sin x − b cos x  dx
 4a 4a 
2a
 4a π 4a π 
= b  − cos x− sin x
 π 4a π 4a  a
4ab   1 1 
=− (1) −  + 
π   2 2 
4ab
=
π
( 2 −1 )
π
2 a b sin 4a x
= ∫a ∫ π y 2dydx
b cos x
4a
1 2a  3 3 π 3 3 π 
= ∫  b sin 4a x − b cos 4a x  dx
3 a  
2a
b3  4a π 1 4a π   4a π 1 4a 3 π  
=  − cos x+ cos3 x  −  sin x− sin x 
3  π 4a 3π 4a   π 4a 3π 4a   a
4ab3   1  1   
3 3
1  1 1 1  1
=  −1 + −  − + − + 
3π   3   2 3  2  2 3  2   
  
4ab3  5 2
=  2− 
3π  6 3
continued
2
Ix =
9π
(
ab3 5 2 − 4 )
= 0.217 ab3 I x = 0.217 ab3
Ix
And kx =
A
2
9π
(
ab3 5 2 − 4 )
=
4
π
(
ab 2 − 1 )
= 0.642b k x = 0.642 b
First note: At x = 0: b = c cos ( 0 )
or c=b
At x = 2a : b = b sin k ( 2a )
π
or 2ka =
2
π
k=
4a
2a  π π 
Then A = ∫ a  b sin x − b cos x  dx
 4a 4a 
2a
 4a π 4a π 
= b  − cos x− sin x
 π 4a π 4a  a
4ab   1 1 
=− (1) −  + 
π   2 2 
4ab
=
π
( 2 −1 )
π
2 a b sin 4a x 2
= ∫ ∫
a b cos π x
x dydx
4a
2a 2  π  π
= ∫ a x  b sin 4a x − b cos 4a x  dx
 
continued
 
 2 
 2x π 2 π x π 
= b  sin x + cos x − cos x
 2
4a 3
4a π  4a 
  π  π 
  
 
   4a     4a 
  4a  
2a
 
 2 
2x π 2 π x π 
− cos x − sin x + sin x 
  π 2 4a π 
3
4a π  4a  
      
 4a  
  4a   4a    a
2a
64a3b  π π  π   π π  π 2 2 
Iy =   sin x − cos x  x  +  sin x + cos x   2 − x 
π 3  4a 4a  2a   4a 4a   16a 2  
a
64a3b    π 2    1 1  π 2   
=   (1)( π ) + (1) 
 2 −   −   +   2 −  
π 3    4    2 2   16   

= 1.48228a3b I y = 1.482a3b
Iy
And ky =
A
1.48228a3b
=
4ab
π
(2 −1 )
= 1.676a k y = 1.676a
1 3
(a) dI x = a dx
3
1 3 a a3 2
Ix = a ∫ − a dx = ( 2a ) = a 4
3 3 3
dI y = x 2dA = x 2adx
a
a 2  x3  2
I y = a∫ −a
x dx = a   = a4
 3  −a 3
2 4 2 4 4 4
JO = I x + I y = a + a JO = a
3 3 3
4 4
a
JO 2 2
JO = kO2 A 2
k = = 3 2 = a2 kO = a
A 2a 3 3
(b)
1 3
dI x = a dx
12
a 3 2a a 3 2a 1 4
Ix = ∫
12 0
dx = [ x] = 6 a
12 0
dI y = x 2dA = x 2 ( adx )
2a
2a 2  x3  8
I y = a∫ 0
x dx = a   = a4
 3 0 3
1 4 8 4 17 4 17 4
JO = I x + I y = a + a = a JO = a
6 3 6 6
17 4
a
J 17 2 17
J O = kO2 A kO2 = O = 6 2 = a kO = a
A 2a 12 12
1
Have: A = ( 2a )( 3b ) − ( 2a )( b )
2
= 5ab
Have: JP = Ix + I y
Where: I x = ∫ y 2dA
a 2b
= 2∫ 0 ∫ b y 2dydx
− x
a
3
2 a 3  b  
= ∫ ( )  a   dx

3 0 
2b − − x
  
a
2  x4 
= b3  8x + 3 
3  4a 
0
11 3
= ab
2
And I y = ∫ x 2dA
a 2b 2
= 2∫ 0 ∫ b x dydx
− x
a
a   b 
= 2∫ 0 x 2  2b −  − x   dx
  a 
a
2 1 4
= 2b  x3 + x 
3 4a  0
11 3
= ab
6
continued
11 3 11 3
Then: JP = ab + a b
2 6
11
JP =
6
( )
ab a 2 + 3b 2
JP
Also: kP =
A
11
6
(
ab a 2 + 3b 2 )
=
5ab
11 2
kP =
30
(
a + 3b 2 )
y1 : At x = a, y = 2b: 2b = ma
2b
or m=
a
2b
Then y1 = x
a
y2 : At x = 0, y = b: b = k ( 0 ) + c or c=b
At x = a, y = 2b: 2b = ka 2 + b
b
or k =
a2
b 2 b
Then y2 =
a2
x + b = 2 x2 + a2
a
( )
2b 
Now
a b
a
(
A = ∫ ( y2 − y1 ) dx = ∫ 0  2 x 2 + a 2 − x dx
a 
)
a
 b 1  b 
=  2  x3 + a 2 x  − x 2 
a  3  a 0
b 1 3  b 1
= 2
a + a3  − a 2 = ab
a 3  a 3
a
Now I y = ∫ x 2dA = ∫ 0 x 2 ( y2 − y1 ) dx
2b 
∫ 0 x  a2 ( x + a ) − a
a 2 b 2 2
= x  dx
 
a
b  1 1  2b x 4 
= 2  x5 + a 2 x3  − 
a  5 3  a 4 0
b  a5 1 5  2b a 4 1 3
= 2
 + a  − = ab
a  5 3  a 4 30
continued
1 1 
And I x = ∫ dI x = ∫  y23 − y13  dx
 3 3 
1 a  b3 2 8b3 3 
( )
3
= ∫ 0  6
x + a2 − x  dx
3 a a3 
1 b3 a  1 6
= ∫
3 a3 0  a3
( 
x + 3x 4a 2 + 3x 2a 4 + a 6 − 8x3  dx

)
a
1 b3  1  x 7 3 2 5 3 4 3 6  8 4
Ix = 3  3
+ a x + a x + a x  4x 
 −
3 a  a  7 5 3   0
1 b3  1  a 7 3 7   26 3
= 3  3 + a + a 7 + a 7  − 2a 4  = ab
3 a  a  7 5   105
26 3 1 3
Finally JP = Ix + I y = ab + ab
105 30
ab
or J P =
210
(
7a 2 + 52b 2 )
JP
ab
210
(
7a 2 + 52b 2 )
And kP = =
A 1
ab
3
7a 2 + 52b 2
or k P =
70
First note: x = r 2 − y2
JP = Ix + I y
r r 2 − y2
I x = ∫ y 2dA = 2∫ r ∫ 0 y 2dxdy
2
r
= 2∫ r y 2 r 2 − y 2 dy
2
Let y = r sin θ
π r π
Then dy = r cosθ dθ ; y = r: θ = ; y= : θ =
2 2 6
π
Thus I x = 2∫ π2 r 2 sin 2 θ ( r cosθ )( r cosθ dθ )
6
1 2
Now sin 2θ = 2sin θ cosθ thus sin 2 θ cos 2 θ = sin 2θ
4
1 4 π2 2
Ix = r ∫ π sin 2θ dθ
2 6
π
1  θ sin 4θ  2
= r4  − 
2 2 8  π
6
1 4π π 1 3
= r  − + × 
2  4 12 8 2 
r4  π 3
=  + 
4 3 8 
r r 2 − y2
I y = ∫ x 2dA = 2∫ r ∫0 x 2dxdy
2
3
2 r 2
= ( 2
∫ r r − y 2 dy
3 2
)
continued
Let y = r sin θ
2 π2 3
Then Iy = ∫
3 6
(3
π r cos θ ) ( r cosθ dθ )
1 2
Now ( )
cos 4 θ = cos 2 θ 1 − sin 2 θ = cos 2 θ −
4
sin 2θ
2 4 π2  2 1 
Thus Iy = r ∫ π  cos θ − sin 2 2θ  dθ
3 6  4 
π
2  θ sin 2θ  1  θ sin 4θ   2
= r 4  + −  − 
3  2 4  4 2 8  π
6
1 4  π 1 π   π 1 3 1 π 1 1 3 
= r  − ×  −  + × − × + × × 
3  2 4 2   6 2 2 4 6 4 4 2  
r4  π 3 3 
=  − 
4  3 8 
r4  π 3  r4  π 3 3 
Then JP =  + +  − 
43 8  4  3 8 
r4
=
48
(
8π − 3 3 )
J P = 0.415r 4
r
Now A = 2∫ r xdy
2
r
= ∫ r r 2 − y 2 dy
2
continued
Let y = r sin θ
π
A = 2∫π2 ( r cosθ )( r cosθ dθ )
6
π
2 θ
sin 2θ  2
= 2r  + 
2 4 π
6
π π 1 3
= r 2  − − × 
2 6 2 2 
r2
=
12
(
4π − 3 3 )
JP
Have kP =
A
r4
48
(
8π − 3 3 )
=
r2
12
(
4π − 3 3 )
k P = 0.822 r
(a) Have J O ≡ I 0 = ∫ r 2dA
3π
Where dA = rdr
2
R  3π 
Then J O = ∫R 2 r 2  r  dr
1
 2 
R
3π 4 2 3π 4
=
8
r
R1
=
8
(
R2 − R14 )
3π 4
JO =
8
( )
R2 − R14
(b) Now I x = ( I x )1 + ( I x )2 + ( I x )3
By inspection ( I x )1 = ( I x )2 = ( I x )3
so that I x = 3 ( I x )1
Similarly, Iy = Iy ( )1 + ( I y )2 + ( I y )3 = 3 ( I y )1
Symmetry implies ( I x )1 = ( I y )1
Then Ix = I y
Now JO = I x + I y
JO 3π 4
Then Ix = I y =
2
=
16
(
R2 − R14 )
3π 4
or I x = I y =
16
( )
R2 − R14
3π 4
(a) From Problem 9.25 JO =
8
(R2 − R14 )
3π 3π 2
And A = ∫ dA = ∫R 2
1
R
2
rdr =
4
R2 − R12 ( )
3π 4
J (
R2 − R14 ) (
R22 + R12 R22 − R12 1 2 )( )
Then 2
kO = O
= 8 = = R2 + R12 ( )
A 3π 2
4
R2 − R1(
2 2 R 2
2 − R)
1
2 2 ( )
1
Now Rm = ( R1 + R2 ) and t = R2 − R1
2
t t
Then R2 = Rm + and R1 = Rm −
2 2
2 2
1  t  t 1
And kO2 =  Rm +  +  Rm −   = Rm2 + t 2
2  2  2  4
For t R1, R2 kO2 Rm2
Or kO Rm
1 2
Rm − Rm2 + t
R − kO 4 × 100%
(b) Have % error = m × 100% =
kO 1 2
Rm2 + t
4
2
1 t 
1− 1+  
4  Rm 
= × 100%
2
1 t 
1+  
4  Rm 
continued
1
1− 1+
t 4 × 100%
Then = 1: % error =
Rm 1
1+
4
or % error = −10.56%
2
11
1− 1+  
t 1 44
= : % error = × 100%
Rm 4 11
2
1+  
4 4
or % error = −0.772%
2
1 1 
1− 1+  
t 1 4  16 
= : % error = × 100%
Rm 16 1 1 
2
1+  
4  16 
or % error = −0.0488%
π
a cos 2θ
Have: A = 2∫ 04 ∫ 0 rdrdθ
π
= ∫ 04 a 2 cos 2 2θ dθ
π
2 θ
sin 4θ  4
=a  + 
2 8 0
π
= a2
8
Have: J O = ∫ r 2dA
π
a cos 2θ
= 2∫ 04 ∫ 0 r 2 ( rdrdθ )
π
1
= ∫ 04 a 4 cos 4 2θ dθ
2
Now: (
cos 4 2θ = cos 2 2θ 1 − sin 2 2θ )
1 2
= cos 2 2θ − sin 4θ
4
π
1  1 
Then: J O = a 4 ∫ 04  cos 2 2θ − sin 2 4θ  dθ
2  4 
π
1  θ sin 4θ  1  θ sin 8θ  4
= a 4  + −  − 
2  2 8  4 2 16  0
1 4π 1 π 
= a  − × 
4 4 4 4
3π 4
JO = a
64
continued
JO
And: kO =
A
3π 4
a
= 64
π
a2
8
a
kO = 6
4
h
By observation y = x
b
2
b
or x= y
2h
 b 
Now dA = xdy =  y  dy
 2h 
b 3
And dI x = y 2dA = y dy
2h
h b 3
Then I x = ∫ dI x = 2∫ 0 y dy
2h
h
b y4 1 3
= = bh
h 4 0
4
2h
From above y = x
b
 2h 
Now dA = ( h − y ) dx =  h − x  dx
 b 
h
= ( b − 2 x ) dx
b
h
And dI y = x 2dA = x 2 ( b − 2 x ) dx
b
b
h 2
Then I y = ∫ dI y = 2∫ 02 x ( b − 2 x ) dx
b
b
h 1 1 2
= 2  bx3 − x 4 
b 3 2 0
3 4
h b  b  1b  1 3
=2    −    = bh
b  3  2  2  2   48
continued
1 3 1 3
Now JO = I x + I y = bh + bh
4 48
bh
or J O =
48
( )
12h 2 + b 2
bh
J (
12h 2 + b 2
1 )
And 2
kO =
A
O
= 48
1
=
24
12h 2 + b 2 ( )
bh
2
12h 2 + b 2
or kO =
24
First the circular area is divided into an increasing number of identical

circular sectors. The sectors can be approximated by isosceles triangles.
For a large number of sectors the approximate dimensions of one of the
isosceles triangles are as shown.
For an isosceles triangle (see Problem 9.28)
bh
JO =
48
(
12h 2 + b 2 )
Then with b = r ∆θ and h=r
1
( ∆ J O )sector ( r ∆θ )( r ) 12r 2 + ( r ∆θ )2 
48
1 4 
=
48  (
r ∆θ 12 + ∆θ 2 
 )
dJ O sector  ∆ J O sector  1 4 2 
Now = lim   = lim  r 12 + ( ∆θ )  
dθ ∆θ → 0
 ∆θ  ∆θ → 0  48 
1 4
= r
4
1
2π 1 2π
( J O )circle ∫ 0 4 r dθ = 4 r [θ ]0
4 4
Then = ∫ dJ O sector =
π
or ( J O )circle = r4
2
From the solution to sample Problem 9.2, the centroidal polar moment of
inertia of a circular area is
π
( J C )cir = r4
2
The area of the circle is
Acir = π r 2
A2
So that  J C ( A )  =
cir 2π
Two methods of solution will be presented. However, both methods
depend upon the observation that as a given element of area dA is moved
closer to some point C, The value of J C will be decreased ( J C = ∫ r 2dA ;
as r decreases, so must J C ).
Solution 1
Imagine taking the area A and drawing it into a thin strip of negligible
width and of sufficient length so that its area is equal to A. To minimize
the value of ( J C ) A , the area would have to be distributed as closely as
possible about C. This is accomplished by winding the strip into a tightly
wound roll with C as its center; any voids in the roll would place the
corresponding area farther from C than is necessary, thus increasing the
value of ( J C ) A . (The process is analogous to rewinding a length of tape
back into a roll.) Since the shape of the roll is circular, with the centroid
of its area at C, it follows that
A2
( JC ) A ≥ Q.E.D.
2π
where the equality applies when the original area is circular.
continued
Solution 2
Consider an area A, with its centroid at point C, and a circular area of area
A, with its center (and centroid) at point C. Without loss of generality,
assume that
A1 = A2 A3 = A4
It then follows that
( J C ) A = ( J C )cir +  J C ( A1 ) − J C ( A2 ) + J C ( A3 ) − J C ( A4 ) 
Now observe that

J C ( A1 ) − J C ( A2 ) ≥ 0
J C ( A3 ) − J C ( A4 ) ≥ 0
since as a given area is moved farther away from C its polar moment of
inertia with respect to C must increase.
∴ ( J C ) A ≥ ( J C )cir
A2
or ( JC ) A ≥ Q.E.D.
2π
Area: A = 2 (10 mm )( 40 mm )  + ( 90 mm )(10 mm ) = 1700 mm 2
1
Part : I x = I x + Ad 2 = (10 mm )( 40 mm )3 + (10 mm )( 40 mm )( 25 mm )2
12
= 303.3 × 103 mm 4
1
Part : Ix = Ix = ( 90 mm )(10 mm )3 = 7.50 × 103 mm 4
12
Part : (Same as Part ) I x = 303.3 × 103 mm 4

Thus for entire area:
I x = ( 303.3 + 7.50 + 303.3) × 103 = 614.2 × 103 mm 4
I x = 614 × 103 mm 4
Ix 614.2 × 103 mm 4
k x2 = = 2
= 361.27 mm 2
A 1700 mm
k x = 19.01 mm
Have A = A1 − A2 − A3
= (12 )( 8 ) − ( 5 )( 4 ) − ( 2 )( 6 )  in 2
= 64 in 2
Have I x = ( I x )1 − ( I x )2 − ( I x )3
 1 3 1 3 1 3
=   (12 )( 8 )  −  ( 5 )( 4 )  −  ( 2 )( 6 )   in 4
 12   12   12 
= ( 512 − 26.667 − 36 ) in 4
= 449.33 in 4
I x = 449 in 4
Ix
And kx =
A
449.33 in 4
=
64 in 2
= 2.65 in.
k x = 2.65 in.
Area: A = 2 (10 mm )( 40 mm )  + ( 90 mm )(10 mm ) = 1700 mm 2
1
Part : I y = I y + Ad 2 = ( 40 mm )(10 mm )3 + ( 40 mm )(10 mm )( 40 mm )2
12
= 643.3 × 103 mm 4
1
Part : I y = I y = (10 mm )( 90 mm )3 = 607.5 × 103 mm 4
12
Part : (Same as Part ) I y = 643.3 × 103 mm 4
Thus for entire area:
I y = ( 643.3 + 607.5 + 643.3) × 103 mm 4
= 1.894 × 106 mm 4 I y = 1.894 × 106 mm 4
Iy 1.894 × 106 mm 4
k y2 = = 2
= 1114.2 mm 2
A 1700 mm
k y = 33.4 mm
Have A = A1 − A2 − A3
= (12 )( 8 ) − ( 5 )( 4 ) − ( 2 )( 6 )  in 2
= 64 in 2
Have Iy = Iy ( )1 − ( I y )2 − ( I y )3
  1 3 1 3
2
1   1 3 2 

=   ( 8 )(12 )  −  ( 4 )( 5 ) + 20    −  ( 6 )( 2 ) + 12 ( 4 )   in 4
  12  12  2    12  
= (1152 ) − ( 41.667 + 5 ) − ( 4 + 192 )  in 4
= 909.33 in 4 I y = 909 in 4
Iy
And ky =
A
909.33 in 4
=
64 in 2
= 3.77 in. k y = 3.77 in.
Have I x = ( I x )1 + ( I x )2 + ( I x )3
1 3 1 3
=  ( 2a )( 4a )  +  ( a )( 3a ) 
 3   3 
  π 2
π  4a   π  4a  
2
+   a 4 − a 2    + a 2  3a +  
16 4  3π   4  3π  
  
 128 4   27 4   π 4 9π 4  4
= a + a + − + +2+ a
 3   3   16 9π 4 9π 
 161 37π  4 4
= +  a = 60.9316a
 3 16 
or I x = 60.9a 4
Also Iy = Iy( )1 + ( I y )2 + ( I y )3
1 3 1 3 π 
=  ( 4a )( 2a )  +  ( 3a )( a )  +  a 4 
3  3  16 
 32 π 
= + 1 +  a 4 = 11.8630a 4
 3 16 
or I y = 11.86a 4
Have I x = ( I x )1 − ( I x )2 − ( I x )3
1 3 π  π 
=  ( 3a )( 2a )  −  a 4  −  a 4 
 12  8  8 
 π π  π
=  2 − −  a4 =  2 −  a4
 8 8  4
or I x = 1.215a 4
Also Iy = Iy( )1 − ( I y )2 − ( I y )3
1 2
3 a 
=  ( 2a )( 3a ) + ( 3a )( 2a )   
12  2  
  π 2
π  4a   π  4a  
2
−   a 4 − a 2    + a 2  2a −  
  8 2  3π   2  3π  

  π 2
π  4a   π  4a  
2
−  a4 − a2    + a2  a −  
  8 2  3π   2  3π  

9 3 π 8 8 8  4
=  +  a4 −  − + 2π − + a
2 2  8 9π 3 9π 
π 8 π 4 8  4  11π  4
− − + − +  a =  10 − a
 8 9π 2 3 9π   4 
= 1.3606a 4
or I y = 1.361a 4
2
I AA′ = 2.2 × 106 mm 4 = I + A ( 25 mm )
2
I BB′ = 4 × 106 mm 4 = I + A ( 35 mm )
(
I BB′ − I AA′ = ( 4 − 2.2 ) × 106 = A 352 − 252 )
1.8 × 106 = A ( 600 ) A = 3000 mm 2
Then (
I AA′ = 2.2 × 106 mm 4 = I + 3000 mm 2 ( 25 mm ) ) 2
I = 325 × 103 mm 4 I = 325 × 103 mm 4
Given: A = 6000 mm 2
(
I AA′ = 18 × 106 mm 4 = I + 6000 mm 2 ( 50 mm ) ) 2
I = 3 × 106 mm 4
(
I BB′ = I + Ad 2 = 3 × 106 mm 4 + 6000 mm 2 ( 60 mm ) ) 2
= 24.6 × 106 mm 4 I BB′ = 24.6 × 106 mm 4
Have J A = J C + Ad12 d1 = 2a
(
J B = J C + A d 22 + a 2 )
Then J A − JB = A ( 3a 2
− d 22 )
Substituting ( ) 2
256 in 4 − 190 in 4 = 24 in 2 3a 2 − ( 2 in.) 
 
a = 1.500 in.
And ( ) 2
256 in 4 = J C + 24 in 2  4 (1.500 in.) 
 
J C = 40.0 in 4
Have J A = J C + Ad12
(
J B = J C + A d 22 + a 2 )
(a) J B = 3 J A; d1 = d 2 = 2.5 in.
Then ( )
3 J C + Ad12 = J C + A d12 + a 2( )
JC
or a2 = 2 + 2d12
A
 52.5 in 4 2
= 2 2
+ ( 2.5 in. ) 
 30 in 
a = 4.00 in.
(b) Have ( ) 2 2
J B = 52.5 in 4 + 30 in 2 ( 2.5 in ) + ( 4.00 in.) 
 
J B = 720 in 4
Determination of centroid:
y = 0 by symmetry.
Part Area x ( in.) ( )

xA in 3
1 ( ) 2
3 ( 0.75 ) = 2.25 1.5 3.375
2 6 ( 0.75 ) = 4.50 0.375 1.6875
3 3 ( 0.75 ) = 2.25 1.5 3.375
Σ 9.00 8.4375
ΣxA 8.4375 in 3
x = = = 0.9375 in.
ΣΑ 9.00 in 2
Determination of I x :
1
Part : I x = ( 3 in.)( 0.75 in.)3 + ( 3 in.)( 0.75 in.)( 3.375 in.)2 = 25.734 in 4
12
1
Part : I x = ( 0.75 in.)( 6 in.)3 = 13.50 in 4
12
Part : (Same as Part ) I x = 25.734 in 4
Entire Section: I x = ( 25.734 + 13.50 + 25.734 ) in 4
= 64.97 in 4 I x = 65.0 in 4
Determination of I y :
1 2
Part : I y = ( 0.75 in.)( 3 in.)3 + ( 0.75 in.)( 3 in.) (1.5 − 0.9375) in.
12
= 2.3994 in 4
1 2
Part : I y = ( 6 in.)( 0.75 in.)3 + ( 6 in.)( 0.75 in.) ( 0.9375 − 0.375) in.
12
= 1.6348 in 4
Part : (Same as Part ) I y = 2.3994 in 4
Entire Section: I y = ( 2.3994 + 1.6348 + 2.3994 ) in 4
= 6.434 in 4 I y = 6.43 in 4
Locate centroid
y1 = 52.5 mm A1 = ( 84 mm )(105 mm )
= 8820 mm 2
1
y2 = 90 mm A2 = − ( 42 mm )( 45 mm )
2
= − 945 mm 2
Σyi Ai
Then y =
ΣAi
( 52.5 mm ) (8820 mm 2 ) + ( 90 mm ) ( − 945 mm 2 )

=
8820 mm 2 − 945 mm 2
= 48.0 mm
Have I x = ( I x )1 − ( I x )2
1
12
3
( ) 2
=  ( 84 mm )(105 mm ) + 8820 mm 2 ( 52.5 mm − 48.0 mm ) 

1
 36
3
( ) 2
−  ( 42 mm )( 45 mm ) + 945 mm 2 ( 90.0 mm − 48.0 mm ) 

= ( 8103375 + 178605 ) − (106312.5 + 1666980 )  mm 4
I x = 6.51 × 106 mm 4
And I y = I y ( )1 − ( I y )2
1 3 1 3
=  (105 mm )( 84 mm )  − 2  ( 45 mm )( 21 mm ) 
12  12 
= 5186160 − 2 ( 34728.75 )  mm 4
I y = 5.12 × 106 mm 4
Locate centroid:
x1 = 8 in. y1 = 3 in. A1 = (16 )( 6 ) = 96 in 2
x2 = −1.5 in. y2 = 2 in. A2 = ( 3)( 4 ) = 12 in 2
x3 = 14 in. y3 = − 5.25 in. A3 = ( 4 )(10.5 ) = 42 in 2

ΣxA
x =
ΣΑ
8 ( 96 ) − 1.5 (12 ) + 14 ( 42 )  in 3
= = 8.92 in.
( 96 + 12 + 42 ) in 2
ΣyA
y =
ΣA
3 ( 96 ) + 2 (12 ) − 5.25 ( 42 )  in 3
= = 0.610 in.
( 96 + 12 + 42 ) in 2
( ) ( ) ( )
I x = I x1 + I x2 + I x3
1 3 2 1 3 2
=  (16 )( 6 ) + ( 96 )( 3 − 0.610 )  in 4 +  ( 3)( 4 ) + (12 )( 2 − 0.610 )  in 4
 12   12 
1 3 2
+  ( 4 )(10.5 ) + ( 42 )( − 5.25 − 0.610 )  in 4
 12 
= ( 288 + 548.36 ) + (16 + 23.185 ) + ( 385.875 + 1442.26 )  in 4
= 2703.7 in 4
I x = 2700 in 4
( ) ( ) ( )
I y = I y1 + I y2 + I y3
1 3 2 1 3 2
=  ( 6 )(16 ) + ( 96 )( 8 − 8.92 )  in 4 +  ( 4 )( 3) + (12 )( −1.5 − 8.92 )  in 4
 12   12 
1 3 2
+  (10.5 )( 4 ) + ( 42 )(14 − 8.92 )  in 4
12 
= ( 2048 + 81.254 ) + ( 9 + 1302.92 ) + ( 56 + 1083.87 )  in 4
= 4581.0 in 4
I y = 4580 in 4
Locate centroid:
x1 = 20 mm y1 = 45 mm A1 = ( 40 mm )( 90 mm )
= 3600 mm 2
1
x2 = 50 mm y2 = 51 mm A2 = ( 48 mm )( 30 mm )
2
= 720 mm 2
Σxi Ai
Then x =
ΣΑi
( 20 mm ) ( 3600 mm 2 ) + ( 50 mm ) ( 720 mm 2 )
=
3600 mm 2 + 720 mm 2
= 25.0 mm
Σyi Ai
And y =
ΣAi
( 45 mm ) ( 3600 mm 2 ) + ( 51 mm ) ( 720 mm 2 )
=
3600 mm 2 + 720 mm 2
= 46.0 mm
Now I x = ( I x )1 + ( I x )2
1 3
( 2
=  ( 40 mm )( 90 mm ) + 3600 mm 2 (1 mm ) 
 12 
)
1 1
3
( )2
+  ( 30 mm )( 24 mm ) + 720 mm 2 ( 59 mm − 46.0 mm ) 
 36 2 
1 1
3
( )2
+  ( 30 mm )( 24 mm ) + 720 mm 2 ( 46.0 mm − 43 mm ) 
 36 2 
( ) ( ) (
=  2.430 × 106 + 3600 + 11.520 × 103 + 60.840 × 103 + 11.520 × 103 + 3240  mm 4
  )
I x = 2.52 × 106 mm 4
continued
And Iy = Iy( )1 + ( I y )2
1 3
( 2
=  ( 90 mm )( 40 mm ) + 3600 mm 2 ( 5 mm ) 
 12 
)
1
 36
3
( 2
+  ( 48 mm )( 30 mm ) + 720 mm 2 ( 25 mm ) 

)
( ) (
=  480 × 103 + 90 × 103 + 36 × 103 + 450 × 103  mm 4
  )
I y = 1.056 × 106 mm 4
Dimensions in mm
Determination of centroid, C:
Par y mm yA mm3
Area mm 2 ΣyA
t y =
ΣΑ
1 80 170.67 × 103 122.67 × 103 mm 3
1 (160 )(80 ) = 6400 =
2 3 4000 mm 2
1 − 48.0 × 103 = 30.667 mm
2 − (80 )( 60 ) = − 24 20
2
Σ 4000 122.67 × 103
(a) Polar moment of inertia with respect to point O, J O :

1
Part : Ix = (160 mm )(80 mm )3 = 6.8267 × 106 mm 4
12
1 3
I y = 2  ( 80 mm )( 80 mm )  = 6.8267 × 106 mm 4
 12 
J O = I x + I y = ( 6.8267 + 6.8267 ) × 106 = 13.653 × 106 mm 4
1
Part : Ix = (80 mm )( 60 mm )3 = 1.440 × 106 mm 4
12
1 3
I y = 2  ( 60 mm )( 40 mm )  = 0.640 × 106 mm 4
 12 
J O = I x + I y = (1.440 + 0.640 ) × 106 = 2.080 × 106 mm 4
continued
Entire Section:
( ) ( )
J O = J O1 − J O2 = 13.653 × 106 − 2.080 × 106  mm 4
= 11.573 × 106 mm 4 J O = 11.57 × 106 mm 4

(b) Polar moment of inertia with respect to centroid, J C :
J O = J C + Ay 2
(
11.573 × 106 mm 4 = J C + 4000 mm 2 ( 30.667 mm ) ) 2
J C = 7.8116 × 106 mm 4 J C = 7.81 × 106 mm 4
Locate centroid:
By symmetry, y = 0
x1 = 0 A1 = π (100 mm )( 60 mm ) = 6000π mm 2
4 ( 45 mm ) 60
x2 = = mm
3π π
π
A2 = − ( 45mm )2 = −1012.5π mm 2
2
− 4 ( 30 mm ) 40
All dimensions in mm x3 = =− mm
3π π
π
A3 = − ( 30 mm )2 = − 450π mm 2
2
 60 40
ΣxA 
0 ( 6000π ) + ( −1012.5π ) − ( − 450π ) mm3
π π 
x= = = − 2.9990 mm
ΣA ( 6000π − 1012.5π − 450π ) mm 2
(a) Have J O = ( J O )1 − ( J O )2 − ( J O )3
1 1 1
4
( 

)
4
4
 4
4
=  π (100 )( 60 ) 1002 + 602  mm 4 −  π ( 45 )  mm 4 −  π ( 30 )  mm 4

(
= π 20 400 000 − 1 025 156 − 202 500 mm 4 )
= 60232000 mm 4
or J O = 60.2 × 106 mm 4
(b) Have J O = J C + Ax 2
With A = ( 6000π − 1012.5π − 450π ) mm 2
= 4537.5π mm 2
Then (
J C = 60 232 000 mm 4 − 4537.5π mm 2 ( − 2.9990 mm ) ) 2
= 60 232 000 mm 4 − 128209 mm 4

= 60 104 000 mm 4
or J C = 60.1 × 106 mm 4
Locate centroid:
x1 = 4 in. y1 = −1.15 in. A1 = (16 )( 2.3) = 36.8 in 2
1
x2 = 4 in. y2 = 3.2 in. A2 = (12 )( 9.6 ) = 57.6 in 2
2
1
x3 = 2 in. y3 = 1.6 in. A3 = ( 6 )( 4.8 ) = −14.4 in 2
2
ΣxA  4 ( 36.8 ) + 4 ( 57.6 ) + 2 ( −14.4 )  in

3
348.8 in 3
x= = = − = 4.360 in.
ΣA ( 36.8 + 57.6 − 14.4 ) in 2 80 in 2
ΣyA  −1.15 ( 36.8 ) + 3.2 ( 57.6 ) + 1.6 ( −14.4 )  in

3
118.96 in 3
y= = 2
=− = 1.487 in.
ΣA 80 in 80 in 2
(a) Have I x = ( I x )1 + ( I x )2 − ( I x )3
1 1 1
= (16 )( 2.3)3 in 4 + (12 )( 9.6 )3 in 4 − ( 6 )( 4.8)3 in 4
3 12 12
= 64.891 in 4 + 884.736 in 4 − 55.296 in 4
= 894.33 in 4
Iy = Iy ( )1 + ( I y )2 − ( I y )3
1 3 2 1 3 1 3
=  ( 2.3)(16 ) + 2.3 (16 )( 4 )  in 4 + ( 9.6 )(12 ) in 4 − ( 4.8 )( 6 ) in 4
12  12 12
= 1373.87 in 4 + 1382.4 in 4 − 86.4 in 4
= 2669.9 in 4
Now J O = I x + I y = 894.33 in 4 + 2669.9 in 4
= 3564.2 in 4 J O = 3560 in 4
(b) Have J O = J C + Ad 2 where d2 = x2 + y2
Then ( ) 2 2
J C = 3564.2 in 4 − 80 in 2 ( 4.360 in.) + (1.487 in.) 
 
= 3564.2 in 4 − 1697.66 in 4
= 1866.54 in 4 J C = 1867 in 4
Locate centroid:
4 (12 in.) π
y1 = A1 = (12 in )2
3π 2
16
= in. = 72π in 2
π
y2 = 4 in. A2 = − (12 in.)( 8 in.)
= − 96 in 2
Σ yi Ai
Then y =
ΣΑi
 16 
 π 
( 2
)
 in.  72π in + ( 4 in.) − 96 in
2
( )
=
72π in 2 − 96 in 2
= 5.8989 in.
(a) Have JO = I x + I y
Where I x = ( I x )1 − ( I x )2
π 4 1 3
=  (12 in.) − (12 in.)( 8 in.) 
8 3 
= 6095.0 in 4
And Iy = Iy( )1 − ( I y )2
π 4 1 3
=  (12 in.) − ( 8 in.)(12 in.) 
8 12 
= 6991.0 in 4
Then J O = ( 6095.0 + 6991.0 ) in 4
= 13086.0 in 4 J O = 13.09 × 103 in 4
(b) Have J O = J C + Ay 2
2
13086.0 in 4 = J C + ( 72π − 96 ) in 2  ( 5.8989 in.)
J C = 8.555 × 103 in 4
J C = 8.56 × 103 in 4
From Fig. 9.13A

Area = A = 4.75 in 2
I x′ = 17.4 in 4
I y′ = 6.27 in 4
( ) 2
I x = 2  I x′ + Ad 2  = 2 17.4 in 4 + 4.75 in 2 ( 3.00 − 1.990 ) in 2 
 
= 2 17.4 in 4 + 4.8455 in 4  = 44.491 in 4
I x = 44.5 in 4
Ix 44.491 in 4
k x2 = = = 4.683 in 2 k x = 2.16 in.
(
A 2 4.75 in 2 )
( ) 2
I y = 2  I y′ + Ad 2  = 2 6.27 in 4 + 4.75 in 2 ( 2.25 − 0.987 ) in 2 
 
= 2 6.27 in 4 + 7.5771 in 4  = 27.694 in 4
I y = 27.7 in 4
Iy 27.694 in 4
k y2 = = = 2.9152 in 2 k y = 1.707 in.
A (
2 4.75 in 2 )
Data for C 250 × 30:

A = 3780 mm 2
I x = 32.6 × 106 mm 4
I y = 1.14 × 106 mm 4
Dimensions in mm
Total Area, A = 2 3780 mm 2 + (10 mm )( 375 mm )  = 15.06 × 103 mm 2
1 3 2
I x = 2 32.6 × 106 mm 4  + 2  ( 375 mm )(10 mm ) + ( 375 mm )(10 mm )(132 mm ) 
 12 
= 65.2 × 106 mm 4 + 130.74 × 106 mm 4
= 195.94 × 106 mm 4 or I x = 195.9 × 106 mm 4
I x 195.94 × 106 mm 4
k x2 = = 3 2
= 13.01 × 103 mm 2 or k x = 114.0 mm
A 15.06 × 10 mm
1
 ( 2
)  12
3
I y = 2 1.14 × 106 mm 4 + 3780 mm 2 (115.3 mm )  + 2  (10 mm )( 375 mm ) 

= 102.783 × 106 mm 4 + 87.891 × 106 mm 4

= 190.674 × 106 mm 4
or I y = 190.7 × 106 mm 4
Iy 190.674 × 106 mm 4
k y2 = = = 12.661 × 103 mm 2 or k y = 112.5 mm
A 15.06 × 103 mm 2
Shape Data: Fig. 9.13A

S10 × 35: A = 10.3 in 2 C10 × 20: A = 5.88 in 2
I x = 147 in 4 I x = 78.9 in 4
I y = 8.36 in 4 I y = 2.81 in 4
Combined section:
( )
A = AS + 2 AC = 10.3 in 2 + 2 5.88 in 2 = 22.06 in 2
( )
I x = ( I x )S + 2 ( I x )C = 147 in 4 + 2 78.9 in 4 = 304.8 in 4
or I x = 305 in 4
Iy = Iy( )S + 2 ( I y )C + ACd 2 

 2
2  4.944  
4 4
= 8.36 in + 2  2.81 in + 5.88 in 

(
 2
)
in. + 2.739 in. − 0.606 in.  
 
= ( 8.36 + 5.62 + 249.38 ) in 4 = 263.36 in 4
or I y = 263 in 4
Ix 304.8 in 4
kx = = or k x = 3.72 in.
A 22.06 in 2
Iy 263.36 in 4
ky = = or k y = 3.46 in.
A 22.06 in 2
Channel: A = 3780 mm 2
I x = 32.6 × 106 mm 4
I y = 1.14 × 106 mm 4
Now Ix = 2 Ix ( )C + ( I x )plate
(
= 2 32.6 × 106 mm 4 + ) d
12
( 300 mm )3
(
= 65.2 × 106 + 2.25d × 106 mm 4 )
And
Iy = 2 Iy ( )channel + ( I y )plate
  ( 300 mm ) d
 2 3

(d
2  
)
= 2 1.14 × 106 mm 4 + 3780 mm 2  + 15.3 mm   +
12
(
=  2.28 × 106 + 1890d 2 + 115.668 × 103 d + 1.7697 × 106 + 25d 3  mm 4
  )
(
= 25d 3 + 1890d 2 + 115.67 × 103 d + 4.0497 × 106 mm 4 )
Given I x = 16I y
Then 65.2 × 106 + 2.25d × 106
(
= 16 25d 3 + 1890d 2 + 115.67 × 103 d + 4.0497 × 106 )
or 25d 3 + 1890d 2 − 24955d − 25300 = 0
Solving numerically d = 12.2935 mm
or d = 12.29 mm
Locate centroid:
x1 = 15.3 mm y1 = 127 mm A1 = 3780 mm 2
x2 = − 21.4 mm y2 = 76 mm − 21.4 mm A2 = 932 mm 2

= 54.6 mm
x3 = − 21.4 mm y3 = 76 mm + 21.4 mm A3 = 932 mm 2

= 97.4 mm
Σxi Ai
Then x =
ΣΑi
(15.3 mm ) ( 3780 mm 2 ) + 2 ( − 21.4 mm ) ( 932 mm 2 )

=
(
3780 mm 2 + 2 932 mm 2 )
= 3.1794 mm
Σyi Ai
And y=
ΣΑi
(127 mm ) ( 3780 mm 2 ) + ( 76 mm ) ( 2 × 932 mm 2 )

=
(
3780 mm 2 + 2 932 mm 2 )
= 110.157 mm
Now I x = ( I x )1 + ( I x )2 + ( I x )3
( ) 2
= 32.6 × 106 mm 4 + 3780 mm 2 (127 mm − 110.157 mm ) 
 
( ) 2
+ 0.517 × 106 mm 4 + 932 mm 2 (110.157 mm − 54.6 mm ) 
 
+ ( 932 mm ) (110.157 mm − 97.4 mm ) 
2
+ 0.517 × 106 mm 4 2
 
continued
( ) (
=  32.6 × 106 + 1.07234 × 106 + 0.517 × 106 + 2.8767 × 106
 )
(
+ 0.517 × 106 + 0.151675 × 10 )  mm

6 4
I x = 37.7 × 106 mm 4
And ( )1 + ( I y )2 + ( I y )3
Iy = Iy
( ) 2
= 1.14 × 106 mm 4 + 3780 mm 2 (15.3 mm − 3.1794 mm ) 
 
( ) 2
+ 2 0.517 × 106 mm 4 + 932 mm 4 ( 3.1794 mm + 21.4 mm ) 
 
( ) (
=  1.14 × 106 + 0.55532 × 106 + 2 0.517 × 106 + 0.56306 × 106  mm 4
  )
I y = 3.86 × 106 mm 4
1
Angle: L3 × 3 × :
4
A = 1.44 in 2 I x = I y = 1.24 in 4
1
L6 × 4 × :
2
A = 4.75 in 2 I x = 6.27 in 4 I y = 17.4 in 4
Plate: A = ( 27 in.)( 0.8 in.) = 21.6 in 2
1
Ix = ( 0.8 in.)( 27 in.)3 = 1312.2 in 4
12
1
Iy = ( 27 in.)( 0.8 in.)3 = 1.152 in 4
12
continued
Centroid: X =0
ΣAy
Y =
ΣA
or
( ) ( ) ( )
2  1.44 in 2 ( 27 in. − 0.84 in.)  + 2  4.75 in 2 ( 0.987 in.)  + 21.6 in 2 (13.5 in.)
Y =    
(
2 1.44 in 2 + 4.75 in 2 + 21.6 in 2 )
376.31 in 3
= = 11.0745 in.
33.98 in 2
Now I x = 2 ( I x )1 + 2 ( I x )3 + ( I x )2
2 2
= 2 6.27 + 4.75 (11.075 − 0.987 )  in 4 + 2 1.24 + 1.44 ( 27 − 0.842 − 11.075 )  in 4
   
2
+ 1312.2 + 21.6 (13.5 − 11.075 )  in 4
 
= 2 ( 489.67 ) in 4 + 2 ( 328.84 ) in 4 + 1439.22 in 4 = 3076.24 in 4
or I x = 3076 in 4
Also ( I y ) = 2 ( I y )1 + 2 ( I y )3 + ( I y )2
2 2
= 2 17.4 + 4.75 ( 0.4 + 1.99 )  in 4 + 2 1.24 + 1.44 ( 0.4 + 0.842 )  in 4 + 1.152 in 4
   
= 2 ( 44.532 ) in 4 + 2 ( 3.4613) in 4 + 1.152 in 4
= 97.139 in 4
or I y = 97.1 in 4
Angle: A = 2420 mm 2
I x = 3.93 × 106 mm 4
I y = 1.06 × 106 mm 4
Plate: A = ( 200 mm )(10 mm ) = 2000 mm 2

1
Ix = ( 200 mm )(10 mm )3 = 0.01667 × 106 mm 4
12
1
Iy = (10 mm )( 200 mm )3 = 6.6667 × 106 mm 4
12
Centroid X =0
ΣAy
Y =
ΣA
or Y =
( )
2 2420 mm 2 ( 44.4 mm ) + 2000 mm 2 ( −5 mm )
=
204896 mm 3
 2 ( 2420 ) + 2000  mm 2 6840 mm 2
= 29.9556 mm
Now I x = 2 ( I x )angle + ( I x )plate
2
= 2 3.93 × 106 + ( 2420 )( 44.4 − 29.9556 )  mm 4
 
2
+ 0.01667 × 106 + ( 2000 )( 29.9556 + 5 )  mm 4
 
( )
= 2 4.4349 × 106 mm 4 + 2.4605 × 106 mm 4
= 11.3303 × 106 mm 4
or I x = 11.33 × 106 mm 4
continued
Also Iy = 2 Iy( )angle + ( I y )plate

Where ( I y )angle = 1.06 × 106 mm 4 + ( 2420 mm 2 ) ( b − 19.0 mm )2
(
= 1.06 × 106 + ( 2420 ) b 2 − 38b + 361  mm 4
  )
=  2420b 2 − 91960b + 1.93362 × 106  mm 4
and ( I y )plate = 6.6667 × 106 mm 4

Now ( )
I y = 3 Ix
Then
 (
2  2420b 2 − 91960b + 1.93362 × 106  mm 4 + 6.6667 × 106 mm 4 = 3  11.33 × 106 mm 4 
 )
or 2420b 2 − 91960b + 1.93362 × 106 − 13.662 × 106 = 0
b 2 − 38.0b − 4846.5 = 0
b = 91.16 mm
or b = 91.2 mm
(a) Using shape data from Fig. 9.13A

xA = 1.78 in. AA = 8.44 in 2
xC = − 0.499 in. AC = 3.09 in 2

 a
xP =  6 −  in. AP = ( 0.75a ) in 2
 2
ΣxA
From the condition x= =0 or ΣxA = 0
ΣΑ
 a 
(1.78 in.) (8.44 in 2 ) − ( 0.499 in.) ( 3.09 in 2 ) +  6 − ( 2
 in. 0.75a in = 0 )
 2 
or a 2 − 12a − 35.950 = 0 a = 14.4823 in.

or a = 14.48 in.
and AP = ( 0.75 in.)(14.4823 in.) = 10.8617 in 2

(b) Locate centroid
6 
ΣyA
(1.78 in.) (8.44 in 2 ) +  ( ) (
in.  3.09 in 2 − ( 0.375 in.) 10.8617 in 2 )
y= = 2 
ΣΑ (8.44 + 3.09 + 10.8617 ) in 2
= 0.90302 in.
continued
Now I x = ( I x ) A + ( I x )C + ( I x ) P
( ) 2
=  28.2 in 4 + 8.44 in 2 (1.78 in. − 0.90302 in.) 
 
( ) 2
+ 15.2 in 4 + 3.09 in 2 ( 3.0 in. − 0.90302 in.) 
 
1
12
3
( ) 2
+  (14.4823 in.)( 0.75 in.) + 10.8617 in 2 ( 0.375 in. + 0.90302 in.) 

= ( 28.2 + 6.4912 ) + (15.2 + 13.5877 ) + ( 0.5091 + 17.7408 )  in 4
= 81.729 in 4
or I x = 81.7 in 4
and ( ) A + ( I y )C + ( I y ) P
Iy = Iy
 ( ) 2
  ( )
2
=  28.2 in 4 + 8.44 in 2 (1.78 in.)  + 0.866 in 4 + 3.09 in 2 ( 0.499 in.) 

1 2
14.4823 in.  
12
3
(
+  ( 0.75 in.)(14.4823 in.) + 10.8617 in 2  6 in. −

)
2
 
 
= ( 28.2 + 26.741) + ( 0.866 + 0.7694 ) + (189.842 + 16.7319 )  in 4
= 263.15 in 4
or I y = 263 in 4
From Sec. 9.2: R = γ ∫ ydA
M AA′ = γ ∫ y 2dA
Let yP = Distance of center of pressure from AA′.
We must have
2
M AA′ γ ∫ y dA I AA′
RyP = M AA ' : yP = = =
R γ ∫ ydA yA
For a triangular panel:
1 3 1 1
I AA′ = ah y= h A= ah
12 3 2
1 3
ah 1
Thus yP = 12 = h
 1  1  2
 h  ah 
 3  2 
1
yP = h
2
We must have
2
RyP = M AA ' : yP = = =
R γ ∫ ydA yA
π
For a semiellipse I AA′ = ab3
8
4b π
y = , A = ab
3π 2
π
ab3
Then yP = 8
 4b  π 
  ab 
 3π  2 
3π
or yP = b
16
Let yP = Distance of center of pressure from AA′ :
We must have
2
RyP = M AA ' : yP = = =
R γ ∫ ydA yA
Divide Trapezoid as shown:
1 1 1 1
I AA′ = ( a − b ) h3 + bh3 = ah3 + bh3
12 3 12 4
1 1  1 1 1
yA = y1 A1 + y2 A2 = h  ( a − b ) h  + h ( bh ) = ah 2 + bh 2
3 2  2 6 3
1 3 1 3
I AA′ 12 ah + 4 bh a + 3b
yP = = yP = h
yA 1 2 1 2 2a + 4b
ah + bh
6 3
We must have
2
RyP = M AA ' : yP = = =
R γ ∫ ydA yA
where I AA′ = ( I AA′ )1 + ( I AA′ )2
1 3
  π 2
π  4r   π 2  4r  
2
=  ( 2r )( r )  +   r 4 − r 2    + r  r +  
3    8 2  3π   2  3π  

2 4 π 8 π 4 9  4  5π  4
= r + − + + + r = 2 + r
3  8 9π 2 3 8π   8 
r   4r  π 2  
And YA = ΣyA =  ( 2r × r )  +  r +  r  
2   3π  2  
 π 2 5 π 
= 1 + +  r 3 =  +  r 3
 2 3 3 2
 5π  4
2 + r
8 
Then yP =  = 1.2242r
5 π  3
 + r
3 2
or yP = 1.224r
Using equation developed on page 491 of text:

Ix I
yP = = AA′ R = γ yA = ρ gyA
yA yA
kg m
Then R = 920 3
× 9.81 2 × 3 m × ( 0.55 × 0.25 ) m 2
m s
= 3722.9 N
1
and I AA′ = ( 0.55 m )( 0.25 m )3 + ( 0.55 m )( 0.25 m )( 3 m )2
12
= 1.238216 m 4
and yA = ( 3 m )( 0.55 m )( 0.25 m ) = 0.4125 m 3
FBD Cover: 1.238216 m 4

Then yP = = 3.001736 m
0.4125 m 3
Symmetry implies FA = FB and FC = FD .

Equilibrium:
ΣM CD = 0: − ( 0.125 − 0.001736 ) m × ( 3722.9 N )
+ ( 0.25 m )( 2FA ) = 0
FA = 917.80 N or FA = FB = 918 N
ΣFx = 0: − 2 ( 917.80 N ) + 3722.9 N − 2 FC = 0
FC = 943.65 N or FC = FD = 944 N
Using equations developed on page 491 of text:

Ix I
yP = = ss′ R = γ yA
yA yA
Now yA = Σ yA
1 
= ( h + 17 in.)  × 120 in. × 51 in. 
2 
1 
d = ( h + 79 in.) + ( h + 34 in.)  × 84 in. × 51 in. 
 2 
= ( 5202h + 124848 ) in 3
= ( 36.125h + 72.25 ) ft 3
Then, ( )
R = γ yA = 62.4 lb/ft 3 ( 36.125h + 72.75 ) ft 3
= 2254.2 ( h + 2 ) lb
Also, I ss′ = ( I ss′ )1 + ( I ss′ )2
 1  120  51 3  1  120  51    2
17  2 
=  ft  ft  +   ft  ft    h +  ft 
 36  12  12   2  12  12    12  
 1  84  51 3  1  84  51    2
34  2 
+  ft  ft  +   ft  ft    h +  ft 
 36  12  12   2  12  12    12  
  34 289   2 68 1156   4
=  21.324 + 21.25  h 2 + h+  + 14.9266 + 14.875  h + h+   ft
  12 144   12 144  
(
= 36.125h 2 + 144.5h + 198.311 ft 4 )
continued
Then yP =
I ss′
=
(
36.125h 2 + 144.5h + 198.311 ft 4 )
yA ( 36.125h + 72.25 ) ft 3
h 2 + 4h + 5.4896
= ft
h+2
FBD of Gate: For gate to open:
ΣM AB = 0: − M open + ( yP − h ) R = 0
 h 2 + 4h + 5.4896  
2 ( 8000 lb ⋅ ft ) −  − h  ft   2254.2 ( h + 2 ) lb  = 0
 h+2  
or 2h − 1.60826 = 0 h = 0.80413 ft
79  79 
Thus d =h+ ft =  0.80413 +  ft
12  12 
= 7.3875 ft or d = 7.39 ft
x = ∫ EL
x dV
Have
∫ dV
where dV = ydA and xEL = x
60 1
Now y = x= x
300 5
1 
∫ x  5 x  dA
Then x =  
1 
∫  5 x  dA
 
∫ x dA = ( I z ) A
2
=
∫ xdA ( xA) A
where ( I z ) A is the moment of inertia of the area with respect to the z axis, and x is analogous to y p
1 1
Now ( Iz )A = ( 240 mm )( 300 mm )3 + ( 240 mm )( 300 mm ) ( 200 mm )2
36 2
= 1.620 × 109 mm 4
1 
and xA = ( 200 mm )  ( 240 mm )( 300 mm )  = 7.20 × 106 mm 3
2 
1.620 × 109 mm 4
Then x =
7.20 × 106 mm 3
or x = 225 mm
xv of the volume is defined by
xvV = ∫ xEL dV
Selecting the element of volume shown

dV = ydA = kxdA
V = k ∫ xdA = kx A A
Where x A = coordinate of the centroid of area A
xvV = ∫ xEL dV = ∫ x ( kx dA ) = k ∫ x 2dA = kI z
Where I z = moment of inertia of area with respect to z-axis.
kI z I
Thus xv = = z which is the same as for center of pressure.
kx A A xA A
For circular area:
1 4 5
I z = I z′ + Aa 2 =
4
( )
π a + π a2 a2 = π a4
4
xA = a
A = π a2
5 4
Iz πa 5
Thus xv = = 4 2 xv = a
xA A a π a ( ) 4
The pressure p at an arbitrary depth ( y sin θ ) is

p = γ ( y sin θ )
so that the hydrostatic force dF exerted on an infinitesimal area dA is

dF = (γ y sin θ ) dA
Equivalence of the force P and the system of infinitesimal forces dF requires

ΣF: P = ∫ dF = ∫ γ y sin θ dA = γ sin θ ∫ ydA
or P = γ Ay sin θ
Equivalence of the force and couple ( P, M x′ + M y′ ) and the system of infinitesimal hydrostatic forces
requires
ΣM x: − yP − M x′ = ∫ ( − ydF )
Now −∫ ydF = −∫ y (γ y sin θ ) dA = − γ sin θ ∫ y 2dA
= − (γ sin θ ) I x
Then − yP − M x′ = − (γ sin θ ) I x
or M x′ = (γ sin θ ) I x − y (γ Ay sin θ )
(
= γ sin θ I x − Ay 2 )
or M x′ = γ I x′ sin θ
ΣM y : xP + M y′ = ∫ xdF
Now ∫ xdF = ∫ x (γ y sin θ ) dA = γ sin θ ∫ xydA

= (γ sin θ ) I xy ( Equation 9.12 )
continued
Then xP + M y′ = (γ sin θ ) I xy
or M y′ = (γ sin θ ) I xy − x (γ Ay sin θ )
(
= γ sin θ I xy − Ax y )
or, using Equation 9.13, or M y′ = γ I x′y′ sin θ
The pressure p at an arbitrary depth ( y sin θ ) is

p = γ ( y sin θ )
so that the hydrostatic force dP exerted on an infinitesimal area dA is
dP = (γ y sin θ ) dA
The magnitude P of the resultant force acting on the plane area is then
P = ∫ dP = ∫ γ y sin θ dA = γ sin θ ∫ ydA
= γ sin θ ( yA)
Now p = γ y sin θ ∴ P = pA
Next observe that the resultant P is equivalent to the system of infinitesimal forces dP. Equivalence then
requires
ΣM x: − yP P = −∫ ydP
∫ ydP = ∫ y (γ y sin θ ) dA = γ sin θ ∫ y dA

2
Now
= ( γ sin θ ) I x
Then yP P = (γ sin θ ) I x
or yP =
(γ sin θ ) I x
γ sin θ ( yA )
Ix
or yP =
Ay
ΣM y : xP P = ∫ xdP
Now ∫ xdP = ∫ x (γ y sin θ ) dA = γ sin θ ∫ xydA

= (γ sin θ ) I xy ( Equation 9.12 )
continued
Then xP P = (γ sin θ ) I xy
(γ sin θ ) I xy
or xP =
γ sin θ ( yA )
I xy
or xP =
Ay
Now I x = I x′ + Ay 2
From above I x = ( Ay ) yP
By definition I x′ = k x2′ A
Substituting ( Ay ) yP = k x2′ A + Ay 2
k x2′
Rearranging yields yP − y =
y
Although k x′ is not a function of the depth of the area (it depends only on the shape of A), y is dependent on
the depth.
∴ ( yP − y ) = f ( depth )
x2
First note y = a 1−
4a 2
1
= 4a 2 − x 2
2
Have dI xy = dI x′y′ + xEL yEL dA
where dI x′y′ = 0 ( symmetry ) xEL = x
1 1
yEL = y = 4a 2 − x 2
2 4
1
dA = ydx = 4a 2 − x 2 dx
2
2a  1  1 
Then I xy = ∫ dI xy = ∫ 0 x  4a 2 − x 2  4a 2 − x 2  dx
4  2 
2a
1 2a 1 1 
8
( 8
)
= ∫ 0 4a 2 x − x3 dx =  2a 2 x 2 − x 4 
4 0
a4  2 1 4
=
8 2 ( 2 ) − 4 ( 2 ) 
 
1 4
or I xy = a
2
First note: At x = a : b = ka3
b b
or k = 3
; y = 3 x3
a a
Now I xy = ∫ xydA
a b
= ∫0 ∫ b 3 xydydx
x
a3
1 a  2 b2 6 
= ∫ x  b − a 6 x  dx
2 0  
a
b2  1 2 1 8
=  x − 6x 
2 2 8a 0
3 2 2
= ab
16
3 2 2
I xy = ab
16
Have I xy = ∫ xydA
0 0
= ∫ − b ∫ h x xydydx
b
1 0  h2 2 
= ∫ x  − x  dx
2 − b  b 2 
0
1 h2 4
=− x
8 b 2 −b
1 2 2
= b h
8
1 2 2
I xy = b h
8

a
First note: At x = a : b = ke a
b b x
or k = ; y = ea
e e
Now I xy = ∫ xydA
b ax
a ee
=∫ ∫ 0 0
xydydx
1 b 2 a 2ax
= ∫ xe dx
2 e2 0
a
 
2  
2x
1b  e 2 a

=  x − 1 
2 e2   2 2  a 
  
  a   0
1 b2  a 2   2
=   e (1) − (1)( −1) 
2 e2  4  
a 2b 2 2
=
8e 2
( e +1 )
I xy = 0.1419a 2b 2
Have ( )1 − ( I xy )2 − ( I xy )3
I xy = I xy
Where ( I xy )1 = 0
0
and I xy = I x′y′ + A x y for areas and
Now x2 = −15 mm y2 = 10 mm A2 = ( 50 mm )( 20 mm )
= 1000 mm 2
x3 = 15 mm y3 = −10 mm A3 = ( 50 mm )( 20 mm )
= 1000 mm 2
Then ( )
I xy = − 1000 mm 2 ( −15 mm )(10 mm )
− (1000 mm )(15 mm )( −10 mm )
= 300 × 103 mm 4
I xy = 300 × 103 mm 4
Note: Orientation of A3 corresponding to a 180° rotation of the axes. Equation 9.20 then yields
I x′y′ = I xy
• Symmetry implies ( I xy )1 = 0
Using Sample Problem 9.6 ( I x′y′ )2 = − 721 ( 9 in.)2 ( 4.5 in.)2 = − 22.78125 in 4
1
and X 2 = 9 in. Y2 = 1.5 in. A2 = ( 9 in.)( 4.5 in.) = 20.25 in 2
2
Similarly, ( I x′y′ )3 = − 721 ( 9 in.)2 ( 4.5 in.)2 = − 22.78125 in 4

1
and X 3 = − 9 in. Y2 = −1.5 in. A3 = ( 9 in.)( 4.5 in.) = 20.25 in 2
2
0
Then ( )1 + ( I xy )2 + ( I xy )3
I xy = I xy with ( I xy )2 = ( I xy )3
and I xy = I x′y′ + x y A
Therefore, I xy = 2  − 22.78125 + ( 9 )(1.5 )( 20.25 )  in 4
= 501.1875 in 4
or I xy = 501 in 4
Have ( )1 + ( I xy )2
I xy = I xy
For each semicircle I xy = I x′y′ + x y A and I x′y′ = 0 (symmetry)
Thus I xy = Σx y A
A, mm 2 x , mm y , mm Ax y , mm 4
π 160
1 (120 )2 = 7200π − 60 − 69.12 × 106
2 π
π 160
2 (120 )2 = 7200π 60 69.12 × 106
2 π
Σ 138.24 × 106
or I xy = 138.2 × 106 mm 4
Have ( )1 + ( I xy )2
I xy = I xy
For each rectangle I xy = I x′y′ + Ax y and I x′y′ = 0 (symmetry)
Thus I xy = Σ x y A
A, mm 2 x , mm y , mm Ax y , mm 4
1 76 ( 6.4 ) = 486.4 −12.9 9.4 − 58 980.86
2 44.6 ( 6.4 ) = 285.44 21.9 −16.1 −100 643.29
Σ −159 624.15
or I xy = − 0.1596 × 106 mm 4
Have ( )1 + ( I xy )2 + ( I xy )3
I xy = I xy
Now symmetry implies ( I xy )1 = 0

and for the other rectangles I xy = I x′y′ + x y A where I x′y′ = 0 (symmetry)
Thus I xy = ( x y A )2 + ( x y A)3
= ( − 69 mm )( − 25 mm ) (12 mm )( 38 mm ) 
+ ( 69 mm )( 25 mm ) (12 mm )( 38 mm ) 
= ( 786 600 + 786 600 ) mm 4 = 1 573 200 mm 4
or I xy = 1.573 × 106 mm 4
Symmetry implies ( I xy )1 = 0
Using Sample Problem 9.6 and Equation 9.20, note that the orientation of A2 corresponds to a
1 2 2
90° rotation of the axes; thus I x′y′ =
2 72
b h ( )
Also, the orientation of A3 corresponds to a 270° rotation of the axes; thus ( I x′y′ )3 = 721 b2h2
Then ( I x′y′ )2 = 721 ( 9 in.)2 ( 6 in.)2 = 40.5 in 4
1
and x2 = − 6 in., y2 = 2 in., A2 = ( 9 in.)( 6 in.) = 27 in 2
2
Also ( I x′y′ )3 = ( I x′y′ )2 = 40.5 in 4
and x3 = 6 in., y3 = − 2 in., A3 = A2 = 27 in 2
0
Now ( )1 − ( I xy )2 − ( I xy )3
I xy = I xy and I xy = I x′y′ + x y A ( I xy )2 = ( I xy )3
Then
 (
I xy = −2  40.5 in 4 + ( 6 in.)( −2 in.) 27 in 2 
 )
= −2 ( 40.5 − 324 ) in 4 or I xy = 567 in 4
Have I xy = I x′y′ + x yA
Where I x′y′ = 0 for each rectangle
Then ( )1 + ( I xy )2 + ( I xy )3 = Σ x yA
I xy = I xy
Section : x1 = − ( 8.92 in. − 8 in.) = − 0.92 in.

y1 = 3 in. − 0.61 in. = 2.39 in.
A1 = (16 in.)( 6 in.) = 96 in 2
Section : x2 = ( − 8.92 in. − 1.5 in.) = −10.42 in.
y2 = 2 in. − 0.61 in. = 1.39 in.
A2 = ( 3 in.)( 4 in.) = 12 in 2
Section : x3 = (16 in. − 8.92 in.) − 2 in. = 5.08 in.
y3 = − ( 0.61 in. + 5.25 in.) = − 5.86 in.
A3 = ( 4 in.)(10.5 in.) = 42 in 2
Then ( ) (
I xy = ( − 0.92 in.)( 2.39 in.) 96 in 2  + ( −10.42in.)(1.39 in.) 12 in 2 
    )
(
+ ( 5.08 in.)( − 5.86 in.) 42 in 2 
  )
= − ( 211.08 + 173.806 + 1250.29 ) in 4
= −1635.18 in 4
I xy = −1635 in 4
Have ( )1 + ( I xy )2
I xy = I xy
For each rectangle

I xy = I x′y′ + x yA and I x′y′ = 0 (symmetry)
Then I xy = Σ x yA = ( −0.75 in.)( −1.5 in.) ( 3 in.)( 0.5 in.) 
+ ( 0.5 in.)(1.00 in.) ( 4.5 in.)( 0.5 in.) 
= (1.6875 + 1.125 ) in 4 = 2.8125 in 4
or I xy = 2.81 in 4
π
From Figure 9.12: Ix = ( 2a )( a )3
16
π
= a4
8
π
Iy = ( 2a )3 ( a )
16
π
= a4
2
1 4
From Problem 9.67: I xy = a
2
1 1 π π  5
First note
2
( )
I x + I y =  a4 + a4  =
2 8 2  16
π a4
1 1π π  3
2
( 2 8
)
I x − I y =  a4 − a4  = − π a4
2  16
Now use Equations (9.18), (9.19), and (9.20).
1 1
Equation (9.18): I x′ =
2
(
Ix + I y + )
2
( )
I x − I y cos 2θ − I xy sin 2θ
5 3 1
= π a 4 − π a 4 cos 2θ − a 4 sin 2θ
16 16 2
1 1
Equation (9.19): I y′ =
2
(
Ix + I y − )
2
( )
I x − I y cos 2θ + I xy sin 2θ
5 3 1
= π a 4 + π a 4 cos 2θ + a 4 sin 2θ
16 16 2
1
Equation (9.20): I x′y′ =
2
( )
I x − I y sin 2θ + I xy cos 2θ
3 1
=− π a 4 sin 2θ + a 4 cos 2θ
16 2
From the solution to Problem 9.72

I xy = 501.1875 in 4
A2 = A3 = 20.25 in 2
First compute the moment of inertia
I x = ( I x )1 + ( I x )2 + ( I x )3 with ( I x )2 = ( I x )3
1 3 1 3
=  (12 in.)( 9 in.)  + 2  ( 9 in.)( 4.5 in.) 
 12   12 
= ( 729 + 136.6875 ) in 4 = 865.6875 in 4
and Iy = Iy( )1 + ( I y )2 + ( I y )3 with ( I y ) 2 = ( I y )3

1 1
3 3
( 2
=  ( 9 in.)(12 in.)  + 2  ( 4.5 in.)( 9 in.) + 20.25 in 2 ( 9 in.) 
12   36 
)
= (1296 + 182.25 + 3280.5 ) in 4 = 4758.75 in 4
Ix + I y Ix − I y
From Equation 9.18 I x′ = + cos 2θ − I xy sin 2θ
2 2
865.6875 in 4 + 4758.75 in 4 865.6875 in 4 − 4758.75 in 4
= + cos  2 ( −45° ) 
2 2
−501.1875 in 4 sin  2 ( −45° ) 
= ( 2812.21875 + 501.1875 ) in 4 = 3313.4063 in 4
or I x′ = 3.31 × 103 in 4
Ix + I y Ix − I y
Similarly I y′ = − cos 2θ + I xy sin 2θ
2 2
= ( 2812.21875 − 501.1875 ) in 4 = 2311.0313 in 4
or I y′ = 2.31 × 103 in 4
Ix − I y
and I x′y′ = sin 2θ + I xy cos 2θ
2
865.6875 in 4 − 4758.75 in 4
= sin  2 ( −45° ) 
2
+ 501.1875cos  2 ( −45° ) 
= ( −1946.53125 )( −1) in 4 = 1946.53125 in 4
or I x′y′ = 1.947 × 103 in 4
From Problem 9.73, I xy = 138.24 × 106 mm 4
I x = ( I x )1 + ( I x )2 ( I x )1 = ( I x )2
π 4
= 2  (120 mm ) 
8 
= 51.84π × 106 mm 4
Iy = Iy ( )1 + ( I y )2 ( I y )1 = ( I y )2
π 4 π 2 2
= 2  (120 mm ) + (120 mm ) ( 60 mm ) 
8 2 
= 103.68π × 106 mm 4
Have ( )
I x = 2 25.92π × 106 = 51.84π × 106 mm 4
and Iy = 2 ( 51.84π × 10 ) = 103.68π × 10

6 6
mm 4
1
Then
2
( )
I x + I y = 77.76π × 106 mm 4
1
and
2
( )
I x − I y = −25.92π × 106 mm 4
Now, from Equations 9.18, 9.19, and 9.20

1 1
Equation 9.18: I x′ =
2
(Ix + I y +)2
( )
I x − I y cos 2θ − I xy sin 2θ
= 77.76π × 106 − 25.92π × 106 cos ( −60° ) − 138.24 × 106 sin ( −60° )  mm 4
= 323.29 × 106 mm 4
or I x = 323 × 106 mm 4
1 1
Equation 9.19: I y′ =
2
(
Ix + I y − )
2
( )
I x − I y cos 2θ + I xy sin 2θ
= 77.76π × 106 + 25.92π × 106 cos ( −60° ) + 138.24 × 106 sin ( −60° )  mm 4
= 165.29 × 106 mm 4
or I y′ = 165.29 × 106 mm 4
1
Equation 9.20: I x′y′ =
2
( )
I x − I y sin 2θ + I xy cos 2θ
=  −25.92π × 106 sin ( −60° ) + 138.24 × 106 cos ( −60° )  mm 4
= 139.64 × 106 mm 4
or I x′y′ = 139.6 × 104 mm 4
From Problem 9.75 I xy = 1.5732 × 106 mm 4
Now I x = ( I x )1 + ( I x )2 + ( I x )3
1
where ( I x )1 = (150 mm )(12 mm )3 = 21 600 mm 4
12
1
and ( I x )2 = ( I x )3 = (12 mm )( 38 mm )3 + (12 mm )( 38 mm ) ( 25 mm )2
12
= 339 872 mm 4
Then I x =  21 600 + 2 ( 339 872 )  mm 4 = 701 344 mm 4 = 0.70134 × 106 mm 4
Also Iy = Iy ( )1 + ( I y )2 + ( I y )3
where ( I y )1 = 121 (12 mm )(150 mm )3 = 3.375 × 106 mm 4
and ( I y )2 = ( I y )3 = 121 ( 38 mm )(12 mm )3 + (12 mm )( 38 mm ) ( 69 mm )2
= 2.1765 × 106 mm 4
Then I y = ( 3.375 + 2 ( 2.1765 )  × 106 mm 4 = 7.728 × 106 mm 4
1
Now
2
( )
I x + I y = 4.2146 × 106 mm 4
1
and
2
( )
I x − I y = −3.5133 × 106 mm 4
Using Equations 9.18, 9.19, and 9.20

From Equation 9.18:
Ix + I y Ix − I y
I x′ = + cos 2θ − I xy sin 2θ
2 2
( )
=  4.2147 × 106 + −3.5133 × 106 cos (120° ) − 1.5732 × 106 sin (120° )  mm 4
 
= 4.6089 × 106 mm 4
or I x′ = 4.61 × 106 mm 4
From Equation 9.19:
Ix + I y Ix − I y
I y′ = − cos 2θ + I xy sin 2θ
2 2
( )
=  4.2147 × 106 − −3.5133 × 106 cos (120° ) + 1.5732 × 106 sin (120° )  mm 4
 
= 3.8205 × 106 mm 4
or I y′ = 3.82 × 106 mm 4
From Equation 9.20:
Ix − I y
I x′y′ = sin 2θ + I xy cos 2θ
2
=  −3.5133 × 106 sin (120° ) + 1.5732 × 106 cos (120° )  mm 4
= −3.8292 × 106 mm 4
or I x′y′ = −3.83 × 106 mm 4
From Problem 9.74
I xy = −0.1596 × 106 mm 4
From Figure 9.13
I x = 0.166 × 106 mm 4
I y = 0.453 × 106 mm 4
1
Now
2
( )
I x + I y = 0.3095 × 106 mm 4
1
2
( )
I x − I y = −0.1435 × 106 mm 4
Using Equations (9.18), (9.19), and (9.20)

Equation (9.18):
Ix + I y Ix − I y
I x′ = + cos 2θ − I xy sin 2θ
2 2
( ) (
= 0.3095 × 106 + −0.1435 × 106 cos ( −90° ) − −0.1596 × 106 sin ( −90° )  mm 4
  )
= 0.1499 × 106 mm 4
or I x′ = 0.1499 × 106 mm 4
Equation (9.19):
Ix + I y Ix − I y
I y′ = − cos 2θ + I xy sin 2θ
2 2
( ) (
= 0.3095 × 106 − −0.1435 × 106 cos ( −90° ) + −0.1596 × 106 sin ( −90° )  mm 4
  )
= 0.4691 × 106 mm 4
or I y′ = 0.469 × 106 mm 4
Equation (9.20):
Ix − I y
I x′y′ = sin 2θ + I xy cos 2θ
2
=  −0.1435 × 106 sin ( −90° ) + 0.1596 × 106 cos ( −90° )  mm 4
= 0.1435 × 106 mm 4
or I x′y′ = 0.1435 × 106 mm 4
From Problem 9.78

I xy = 2.8125 in 4
From Figure 9.13

I x = 9.45 in 4 , I y = 2.58 in 4
1
Now
2
( )
I x + I y = 6.015 in 4
1
2
( )
I x − I y = 3.435 in 4
Using Equations (9.18), (9.19), and (9.20)

Ix + I y Ix − I y
Equation (9.18): I x′ = + cos 2θ − I xy sin 2θ
2 2
= 6.015 + 3.435cos ( 60° ) − 2.8125sin ( 60° )  in 4 = 5.2968 in 4
or I x′ = 5.30 in 4
Ix + I y Ix − I y
Equation (9.19): I y′ = − cos 2θ + I xy sin 2θ
2 2
= 6.015 − 3.435cos ( 60° ) + 2.8125sin ( 60° )  in 4 = 6.7332 in 4
or I y′ = 6.73 in 4
Ix − I y
Equation (9.20): I x′y′ = sin 2θ + I xy cos 2θ
2
= 3.435sin ( 60° ) + 2.8125cos ( 60° )  in 4 = 4.3810 in 4 or I x′y′ = 4.38 in 4
π π
From Problem 9.79: Ix = a4 Iy = a4
8 2
1 4
Problem 9.67: I xy = a
2
1 
2  a4 
2I xy 2 
Now, Equation (9.25): tan 2θ m = − =−
Ix − I y π π
a4 − a4
8 2
8
= = 0.84883
3π
Then 2θ m = 40.326° and 220.326°
or θ m = 20.2° and 110.2°
2
Ix + I y  Ix − I y  2
Also, Equation (9.27): I max, min = ±   + I xy
2  2 
1π 4 π 4
=  a + a 
2 8 2 
2 2
 1  π 4 π 4  1 4
±   a − a  +  a 
2  8 2  2 
= ( 0.981748 ± 0.772644 ) a 4
or I max = 1.754a 4
and I min = 0.209a 4

By inspection, the a axis corresponds to Imin and the b axis corresponds to
Imax.
From the solutions to Problem 9.72 and 9.80

1
I xy = 501.1875 in 4
2
( )
I x + I y = 2812.21875 in 4
1
2
( )
I x − I y = −1946.53125 in 4
2I xy 501.1875
Then Equation (9.25): tan 2θ m = − =− = 0.257477
Ix − I y −1946.53125
or 2θ m = 14.4387° and 194.4387°
or θ m = 7.22° and 97.2°
2
Ix + I y  Ix − I y 
I max, min = ±  + I xy2
 2 
Equation (9.27):
2  
= 2812.21875 ± ( −1946.53125 )2 + ( 501.1875 )2

= ( 2812.21875 ± 2010.0181) in 4
or I max = 4.82 × 103 in 4
and I min = 802 in 4
By inspection, the a axis corresponds to I min and the b axis corresponds to I max .
From Problems 9.73 and 9.81
I x = 51.84π × 106 mm 4
I y = 103.68π × 106 mm 4
I xy = 138.24 × 106 mm 4
Equation (9.25): tan 2θ m = −

2 I xy
=−
(
2 138.24 × 106 )
Ix − I y 51.84π × 10 − 103.68π × 106
6
= 1.69765
2θ m = 59.500° and 239.500°
or θ m = 29.7° and 119.7° !
2
1  Ix − I y 
Then I max, min =
2
( )
Ix + I y ± 

2
 + I xy
 2 
2
( 51.84 + 103.68)π × 106  ( 51.84 − 103.68 ) π × 106 
( )
2
6
= ±   + 138.24 × 10
2  2 
= ( 244.29 ± 160.44 ) × 106 mm 4
or I max = 405 × 106 mm 4 !
and I min = 83.9 × 106 mm 4 !
Note: By inspection the a axis corresponds to I min and the b axis corresponds to I max .
I x = 0.70134 × 106 mm 4
I y = 7.728 × 106 mm 4
I xy = 1.5732 × 106 mm 4
1
Then
2
( )
I x + I y = 4.2147 × 106 mm 4
1
2
( )
I x − I y = −3.5133 × 106 mm 4
Equation (9.25): tan 2θ = −

2I xy
=−
(
2 1.5732 × 106 )
Ix − I y 0.70134 × 10 − 7.728 × 106
6
= 0.44778
Then 2θ m = 24.12° and 204.12°
or θ m = 12.06° and 102.1°
2
Ix + I y  Ix − I y  2
I max, min = ±  I
 2  xy
Also, Equation (9.27):
2  
( −3.5133 × 10 ) + (1.5732 × 10 )
2 2
= 4.2147 × 106 ± 6 6
= ( 4.2147 ± 3.8494 ) × 106 mm 4
or I max = 8.06 × 106 mm 4
and I min = 0.365 × 106 mm 4

I x = 0.166 × 106 mm 4
I y = 0.453 × 106 mm 4
I xy = −0.1596 × 106 mm 4
1
Then
2
( )
I x + I y = 0.3095 × 106 mm 4
1
2
( )
I x − I y = −0.1435 × 106 mm 4
Equation (9.25): tan 2θ m = −

2 I xy
=−
(
2 −0.1596 × 106 ) = −1.1122
Ix − I y ( 0.166 − 0.453) × 106
Then 2θ m = −48.041° and 131.96°
or θ m = −24.0° and 66.0° !
Also, Equation (9.27): I max, min =

( Ix + I y ) ± 
2
 Ix − I y  2
 + I xy
2  2 
( −0.1435 × 10 ) + ( −0.1596 × 10 )
2 2
= 0.3095 × 106 ± 6 6
= ( 0.3095 ± 0.21463) × 106 mm 4
or I max = 0.524 × 106 mm 4 !
I min = 0.0949 × 106 mm 4 !
I xy = 2.81 in 4
I x = 9.45 in 4
I y = 2.58 in 4
1
Then
2
( )
I x + I y = 6.015 in 4
1
2
( )
I x − I y = 3.435 in 4
2 I xy 2 ( 2.81)
Equation (9.25): tan 2θ m = − =− = −0.8180
Ix − I y 9.45 − 2.58
Then 2θ m = −39.2849° and 140.7151°
or θ m = −19.64° and 70.36° !
Also, Equation (9.27): I max, min =

( Ix + I y ) ±  Ix − I y 

2
2
 + I xy
2  2 
= 6.015 ± 3.4352 − 2.812
= ( 6.015 ± 4.438 ) in 4
or I max = 10.45 in 4 !
and I min = 1.577 in 4 !
Note: By inspection, the a axis corresponds to I max and the b axis corresponds to I min .
π
From Problem 9.79: Ix = a4
8
π
Iy = a4
2
1 4
2
The Mohr’s circle is defined by the diameter XY, where
π 1  π 1 
X  a4, a4  and Y  a4 , − a4 
 8 2   2 2 
1 1π π  5
Now I ave =
2
( )
I x + I y =  a 4 + a 4  = π a 4 = 0.98175a 4
2 8 2  16
2 2 2
 Ix − I y  2  1  π 4 π 4  1 4
and R=   + I xy =   a − a  +  a 
 2  2  8 2  2 
= 0.77264a 4
The Mohr’s circle is then drawn as shown.
2I xy
tan 2θ m = −
Ix − I y
1 
2  a4 
=− 2 
π π
a4 − a4
8 2
= 0.84883
or 2θ m = 40.326°
continued
Then α = 90° − 40.326°

= 49.674°
β = 180° − ( 40.326° + 60° )

= 79.674°
(a) I x′ = I ave − R cos α = 0.98175a 4 − 0.77264a 4 cos 49.674°
or I x′ = 0.482a 4
I y′ = I ave + R cos α = 0.98175a 4 + 0.77264a 4 cos 49.674°
or I y′ = 1.482a 4
I x′y′ = − R sin α = −0.77264a 4 sin 49.674°
or I x′y′ = −0.589a 4
(b) I x′ = I ave + R cos β = 0.98175a 4 + 0.77264a 4 cos 79.674°
or I x′ = 1.120a 4
I y′ = I ave − R cos β = 0.98175a 4 − 0.77264a 4 cos 79.674°
or I y′ = 0.843a 4
I x′y′ = R sin β = 0.77264a 4 sin 79.674°
or I x′y′ = 0.760a 4
From the solution to
Problem 9.72: I xy = 501.1875 in 4
Problem 9.80: I x = 865.6875 in 4
I y = 4758.75 in 4
1
Now
2
( )
I x + I y = 2812.21875 in 4
1
2
( )
I x − I y = −1946.53125 in 4
The Mohr’s circle is defined by the points X and Y where
X: ( I x , I xy ) Y: ( I y , −I xy )
1
Now I ave =
2
( )
I x + I y = 2812.2 in 4
2
 Ix − I y 
and R= 
2
 + I xy = ( −1946.53125)2 + 501.18752 in 4
 2 
= 2010.0 in 4
I xy 501.1875
Also, tan 2θ m = = = 0.2575
Ix − I y 1946.53125
2
or 2θ m = 14.4387°
Then α = 180° − (14.4387° + 90° ) = 75.561°
Then I x′ , I y′ = I ave ± R cos α = 2812.2 ± 2010.0cos 75.561°
or I x′ = 3.31 × 103 in 4
and I y′ = 2.31 × 103 in 4
and I x′y′ = R sin α = 2010.0sin 75.561°
or I x′y′ = 1.947 × 103 in 4
I xy = 138.24 × 106 mm 4
I x = 51.84π × 106 mm 4
= 162.86 × 106 mm 4
I y = 103.68π × 106 mm 4
= 325.72 × 106 mm 4
1
Now I ave =
2
(
Ix + I y )
= 244.29 × 106 mm 4
2
 Ix − I y  2
R=   + I xy
 2 
= 160.4405 × 106 mm 4
From Problem 9.87 2θ m = 59.5°
Then α = 180 − 60° − 2θ m = 60.5°
Then I x′ = I ave + R cos α = ( 244.29 + 160.4405cos 60.5° ) × 106
= 323.29 × 106 mm 4
or I x′ = 323 × 106 mm 4
I y′ = I ave − R cos α = ( 244.24 − 160.4405cos 60.5° ) × 106
= 165.29 × 106 mm 4
or I y′ = 165.3 × 106 mm 4
I x′y′ = R sin α = 160.44 × 106 sin 60.5° = 139.6 × 106 mm 4
I x = 0.70134 × 106 mm 4
I y = 7.728 × 106 mm 4
I xy = 1.5732 × 106 mm 4
1
Now I ave =
2
( )
I x + I y = 4.2147 × 106 mm 4
2
 Ix − I y  2 6 4
and R=   + I xy = 3.8494 × 10 mm
 2 
 −2 (1.5732 ) 
Then 2θ m = tan −1   = 24.12°
 0.70134 − 7.728 
and α = 120° − 24.12° − 90° = 5.88°
Then I x′ = I ave + R sin α = ( 4.2147 + 3.8494sin 5.88° ) × 106 mm 4
= 4.6091 × 106 mm 4
or I x′ = 4.61 × 106 mm 4
I y′ = I ave − R sin α = ( 4.2147 − 3.8494sin 5.88° ) × 106 mm 4
= 3.8203 × 106 mm 4
or I y′ = 3.82 × 106 mm 4
I x′y′ = − R cos α = −3.8494cos 5.88° = −3.8291 × 106 mm 4
or I x′y′ = −3.83 × 106 mm 4

I x = 0.166 × 106 mm 4
I y = 0.453 × 106 mm 4
I xy = −0.1596 × 106 mm 4
1
Now I ave =
2
( )
I x + I y = 0.3095 × 106 mm 4
2
 Ix − I y  2
and R=   + I xy
 2 
= 0.21463 × 106 mm 4
 −2 ( −0.1596 ) 
Then 2θ m = tan −1   = −48.04°
 0.166 − 0.453 
and α + 90° − 2θ = 90°; α = 2θ m
Then
I x′ = I ave − R sin α = ( 0.3095 − 0.21463sin 48.04° ) × 106 mm 4
= 0.14989 × 106 mm 4
or I x′ = 0.1499 × 106 mm 4
and
I y′ = I ave + R sin α = ( 0.3095 + 0.21463sin 48.04° ) × 106 mm 4
= 0.46910 × 106 mm 4
or I y′ = 0.4690 × 106 mm 4
and
I x′y′ = R cos α = 0.21463cos 48.04° = 0.1435 × 106 mm 4
or I x′y′ = 0.1435 × 106 mm 4
Have I x = 9.45 in 4
I y = 2.58 in 4
From Problem 9.78 I xy = 2.8125 in 4
Ix + I y
Now I ave = = 6.015 in 4
2
2
 Ix − I y 
( )
2
and R=   + I xy
 2 
= 4.43952 in 4
 −2 ( 2.8125 ) 
Then 2θ m = tan −1   = −39.31°
 9.45 − 2.58 
2θ m + 60° + α = 180°, α = 80.69°
Then I x′ = I ave − R cos α = 6.015 in 4 − ( 4.43952 in 4 ) cos80.69°
= 5.29679 in 4
or I x′ = 5.30 in 4
I y′ = I ave + R cos α = 6.015 in 4 + ( 4.43952 in 4 ) cos80.69°
= 6.73321 in 4
or I y′ = 6.73 in 4
I x′y′ = R sin α = ( 4.43952 in 4 ) sin 80.69° = 4.38104 in 4
or I x′y′ = 4.38 in 4
π π
From Problem 9.79: Ix = a4 Iy = a4
8 2
1 4
2
The Mohr’s circle is defined by the diameter XY, where
π 1  π 1 
X  a4, a4  and Y  a4 , − a4 
8 2  2 2 
1 1π π 
Now I ave =
2
( )
I x + I y =  a 4 + a 4  = 0.98175a 4
2 8 2 
and
2 2 2
1   1  π 4 π 4  1 4
R= ( ) 2
 2 I x − I y  + I xy =   a − a  +  a 
  2 8 2  2 
= 0.77264a 4
The Mohr’s circle is then drawn as shown.
2I xy
tan 2θ m = −
Ix − I y
1 
2  a4 
=− 2 
π π
a4 − a4
8 2
= 0.84883
or 2θ m = 40.326°
and θ m = 20.2°
∴ The principal axes are obtained by rotating the xy axes through
20.2° counterclockwise
Now I max, min = I ave ± R = 0.98175a 4 ± 0.77264a 4
or I max = 1.754a 4
and I min = 0.209a 4
From the Mohr’s circle it is seen that the a axis corresponds to I min and
the b axis corresponds to I max .
From the solution to Problem 9.72:
I xy = 501.1875 in 4
I x = 865.6875 in 4
I y = 4758.75 in 4
1
2
( )
I x + I y = 2812.21875 in 4
1
2
( )
I x − I y = −1946.53125 in 4
The Mohr’s circle is defined by the point X: ( I x , I xy ) , Y: ( I y, − I xy )

1
Now I ave =
2
( )
I x + I y = 2812.2 in 4
2
 Ix − I y 
and R= 
2
 + I xy = ( −1946.53125 )2 + 501.18752 = 2010.0 in 4
 2 
continued
I xy 501.1875
tan 2θ m = − =− = 0.2575, 2θ m = 14.4387°
 Ix − I y  −1946.53125
 
 2 
or θ m = 7.22° counterclockwise
Then I max, min = I ave ± R = ( 2812.2 ± 2010.0 ) in 4
or I max = 4.82 × 103 in 4
Note: From the Mohr’s circle it is seen that the a axis corresponds to I min and the b axis corresponds to I max .
From the solution to Problem 9.76 I xy = 567 in 4
Now I x = ( I x )1 − ( I x )2 − ( I x )3 , where ( I x ) 2 = ( I x )3
π 1
= (15 in.)4 − 2  ( 9 in.)( 6 in.)3  = ( 39761 − 324 ) in 4
4 12 
= 39, 437 in 4
and Iy = Iy ( )1 − ( I y )2 − ( I y )3 , where ( I y )2 = ( I y )3
π 1 1
= (15 in.)4 − 2  ( 6 in.)( 9 in.)3 + ( 9 in.)( 6 in.)( 6 in.)2 
4  36 2 
= ( 39, 761 − 243 − 1944 ) in 4 = 37,574 in 4
The Mohr’s circle is defined by the point (X, Y) where
X: ( I x , I xy ) Y: ( I y , −I xy )
1 1
Now I ave =
2
( 2
)
I x + I y = ( 39, 437 + 37,574 ) in 4 = 38,506 in 4
2 2
 Ix − I y  1 
 2 ( 39, 437 − 37,574 )  + 567 = 1090.5 in
2 2 4
and R=   + I xy =
 2   
continued
− I xy −567
tan 2θ m = = = −0.6087
Ix − I y 1
( 39, 437 − 37,574 )
2 2
or θ m = −15.66° clockwise
Then I max, min = I ave ± R = ( 38,506 ± 1090.50 ) in 4
or I max = 39.6 × 103 in 4
and I min = 37.4 × 103 in 4
Note: From the Mohr’s circle it is seen that the a axis corresponds to the I max and the b axis corresponds to
I min .
From Problems 9.73 and 9.81 I x = 162.86 × 106 mm 4
I y = 325.72 × 106 mm 4
I xy = 138.24 × 106 mm 4
Define points X (162.86,138.24 ) × 106 mm 4 Y ( 325.72, − 138.24 ) × 106 mm 4

1 1
Now I ave =
2
( )
I x + I y = (162.86 + 325.72 ) × 106 mm 4
2
= 244.29 × 106 mm 4
2 2
 Ix − I y   (162.86 − 325.72 ) 
( )
2
2
and R=   + I xy =  × 106  + 138.24 × 106
 2   2 
= 160.44 × 106 mm 4
 −2 (138.24 ) × 106 
and 2θ m = tan −1  6
= 59.4999°
 (162.86 − 325.72 ) × 10 
Then (
I max, min = I ave ± R = 244.29 × 106 ± 160.44 × 106 mm 4 )
or I max = 405 × 106 mm 4
and I min = 83.9 × 106 mm 4
I x = 0.166 × 106 mm 4 , I y = 0.453 × 106 mm 4 , I xy = −0.1596 × 106 mm 4
Define points X ( 0.166, −0.1596 ) × 106 mm 4 and Y ( 0.453, 0.1596 ) × 106 mm 4
1 1
Now I ave =
2
( )
I x + I y = ( 0.166 + 0.453) × 106 mm 4
2
= 0.3095 × 106 mm 4
2 2
 Ix − I y   ( 0.166 − 0.453) × 106 
( )
2
2 6
and R=   + I xy =   + −0.1596 × 10
 2   2 
= 0.21463 × 106 mm 4
 −2I xy   −2 ( −0.1596 ) 
Also 2θ m = tan −1   = tan −1   = −48.04°
 Ix − I y 
   0.166 − 0.453 
θ m = −24.02°
or θ = −24.0° clockwise
Then I max, min = I ave ± R = ( 0.3095 ± 0.21463) × 106 mm 4
or I max = 0.524 × 106 mm 4
and I min = 0.0949 × 106 mm 4
I x = 0.70134 × 106 mm 4 , I y = 7.728 × 106 mm 4 , I xy = 1.5732 × 106 mm 4
1 1
Now I ave =
2
( )
I x + I y = ( 0.70134 + 7.728 ) × 106 mm 4 = 4.2147 × 106 mm 4
2
2 2
 Ix − I y   ( 0.70134 − 7.728 ) × 106 
( )
2
2 6
and R=   + I xy =   + 1.5732 × 10
 2   2 
= 3.8495 × 106 mm 4
Define points X ( 0.70134, 15732 ) × 106 mm
Y ( 7.728, − 1.5732 ) × 106 mm
 −2 (1.5732 ) 
Also 2θ m = tan −1   = 24.122°, θ m = 12.06°
 0.70134 − 7.728 
Then I max, min = I ave ± R = ( 4.2147 ± 3.8495 ) × 106 mm 4
or I max = 8.06 × 106 mm 4
and I min = 0.365 × 106 mm 4


I xy = 300 × 103 mm 4
Now I x = ( I x )1 − ( I x )2 − ( I x )3
1 1
 12
3
  12
3 2
=  (120 mm )( 80 mm )  − 2  ( 50 mm )( 20 mm ) + 1000 mm 2 (10 mm ) 

( )
(
= 5.120 × 106 − 2 33.333 × 103 + 100 × 103  mm 4
  )
= 4.8533 × 106 mm 4
and Iy = Iy ( )1 − ( I y )2 − ( I y )3
1 1
3 3 2
=  ( 80 mm )(120 mm )  − 2  ( 20 mm )( 50 mm ) + 1000 mm 2 (15 mm ) 
12  12 
( )
(
= 11.520 × 106 − 2 208.33 × 103 + 225 × 103  mm 4
  )
= 10.6533 × 106 mm 4
(
x I x , I xy )
(
y I y , − I xy )
1
Center: I ave =
2
(
Ix + I y )
1
= ( 4.8533 + 10.6533) × 106 mm 4
2
= 7.7533 × 106 mm 4
2
 Ix − I y 
R=  + I xy2
 2 
Radius:
 
2
1  2
= 106  ( 4.8533 − 10.6533)  + ( 0.300 ) mm
2 
= 2.9155 × 106 mm
continued
From Prob. 9.43 and 9.77

I x = 2703.7 in 4 I y = 4581.0 in 4 I xy = −1635.18 in 4
Define Points: x ( 2703.7, −1635.18 ) in 4 y ( 4581.0, 1635.18 ) in 4

1 1
Then I ave =
2
( )
I x + I y = ( 2703.7 + 4581.0 ) in 4 = 3642.4 in 4
2
2 2
 Ix − I y   2703.7 − 4581.0  2
+ I xy2 =   + ( −1635.18 ) = 1885.44 in
4
R=  
 2   2 
 
2I xy 2 ( −1635.18 )
tan 2θ m = − =− = −1.74206
Ix − I y 2703.7 − 4581.0
θ m = − 30.1°
I max,min = I ave ± R = ( 3642.4 ± 1885.44 ) in 4
I max = 5530 in 4
I min = 1757 in 4
Given: I x = 0.166 × 106 mm 4 , I y = 0.453 × 106 mm 4 and I xy < 0
Note: A review of a table of rolled-steel shapes reveals that the given values of I x and I y are obtained when
the 102 mm leg of the angle is parallel to the x axis. For I xy < 0 the angle must be oriented as shown.
1 1
(a) Now I ave =
2
( )
I x + I y = ( 0.166 + 0.453) × 106 mm 4
2
= 0.3095 × 106 mm 4
Now I min = I ave − R or R = I ave − I min
Then R = ( 0.3095 − 0.051) × 106 mm 4
= 0.2585 × 106 mm 4
2
 Ix − I y 
( )
2 2
R = + I xy
 2 
From
 
 2
2  0.166 − 0.453  
I xy = ( 0.2585 ) −  6
  × 10 mm
4
  2  
I xy = ±0.21501 × 106 mm 4
Since I xy < 0, I xy = −0.21501 × 106 mm 4 or I xy = −0.215 × 106 mm 4
 −2 ( −0.21501) 
(b) 2θ m = tan −1   = −56.28°
 0.166 − 0.453 
or θ m = −28.1° clockwise
(c) I max = I ave + R = ( 0.3095 + 0.2585 ) × 106 mm 4
or I max = 0.568 × 106 mm 4
From Figure 9.13 I x = 9.45 in 4

I y = 2.58 in 4
From Problem 9.78 I xy = − 2.81 in 4

The Mohr’s circle is defined by the diameter XY where
X ( 9.45, − 2.81) in 4
Y ( 2.58, 2.81) in 4
1 1
Now I ave =
2
(
Ix + I y =
2
) (
9.45 in 4 + 2.58 in 4 )
= 6.015 in 4
2
1 
and R= ( ) 2
 2 I x − I y  + I xy
 
2
1
( 4 
) ( )
2
4 4
=  2 9.45 in − 2.58 in  + 2.81 in
 
= 4.438 in 4
tan 2θ m =
−2I xy
=
(
−2 −2.81 in 4 ) = 0.81805
Ix − I y 9.45 in − 2.58 in 4
4
or 2θ m = 32.285°
Now I max, min = I ave ± R = ( 6.015 ± 4.438 ) in 4

or I max = 10.45 in 4
and I min = 1.577 in 4
From the Mohr’s circle it is seen that the a axis corresponds to I max and
the b axis corresponds to I min .
From Figure 9.13B: I x = 7.20 × 106 mm 4 , I y = 2.64 × 106 mm 4
Have ( )1 + ( I xy )2 ,
I xy = I xy where I xy = I x′y′ + x yA and I x′y′ = 0
102 12.7
Now x1 = − 25.3 = 25.7 mm, y1 = 50.3 − = 43.95 mm
2 2
A1 = 102 × 12.7 = 1295.4 mm 2
12.7 1 
x2 = −25.3 + = −18.95 mm y2 = −  (152 − 12.7 ) − ( 50.3 − 12.7 )  = − 32.05 mm
2 2 
A2 = (12.7 )(152 − 12.7 ) = 1769.11 mm 2
Then { ( )
I xy = ( 25.7 mm )( 43.95 mm ) 1295.4 mm 2  + ( −18.95 mm )( −32.05 mm ) 1769.11 mm 2  × 106
    ( )}
= (1.46317 + 1.07446 ) × 106 mm 4 = 2.5376 × 106 mm 4
The Mohr’s circle is defined by points X and Y, where
( ) (
X I x , I xy , Y I y , − I xy )
1 1
Now I ave =
2
( 2
)
I x + I y = ( 7.20 + 2.64 ) × 106 mm 4 = 4.92 × 106 mm 4
continued
2  2 
 Ix − I y  1 
 + I xy =   ( 7.20 − 2.64 )  + 2.5376  × 10 mm
2 2 6 4
and R= 
 2    2  
 
= 3.4114 × 106 mm 4
2I xy 2 ( 2.5376 )
tan θ m = − =− = −1.11298, 2θ = −48.0607°
Ix − I y ( 7.20 − 2.64 )
or θ = −24.0° clockwise
Now I max, min = I ave ± R = ( 4.92 ± 3.4114 ) × 106 mm 4
or I max = 8.33 × 106 mm 4
and I min = 1.509 × 106 mm 4
Note: From the Mohr’s circle it is seen that the a axis corresponds to I max and the b axis corresponds to I min .
1 1
Have I ave =
2
(
Ix + I y =
2
) (
640 in 4 + 280 in 4 = 460 in 4 )
1 1
2
(
Ix − I y =
2
) (
640 in 4 − 280 in 4 = 180 in 4 )
Also have I x′y′ = −180 in 4 , 2θ = −120°, Ix > I y
Letting the points ( I x , I xy ) and ( I x′, I x′y′ ) be denoted by X an X ′, respectively, three possible Mohr’s
circles can be constructed
Assume the first case applies
Ix − I y
Then = R cos 2θ m or R cos 2θ m = 180 in 4
2
Also I x′y′ = R cos α or R cos α = 180 in 4
∴ α = ±2θ m
Also have 120° = 2θ m + ( 90° − α ) or 2θ m − α = 30°
∴ α = −2θ m and 2 ( 2θ m ) = 30° or 2θ m = α = 15°
2θ m > 0 
Note  implies case 2 applies
α < 0
continued
(a) Therefore, θ m = 7.5° clockwise
(b) Have R cos15° = 180 or R = 186.35 in 4

Then I max, min = I ave ± R = 460 ± 186.350
or I max = 646 in 4
Note: From the Mohr’s circle it is seen that the a axis corresponds to I max and the b axis corresponds to I min .
First assume Ix > I y
(Note: Assuming I x < I y is not consistent with the requirement that the axis corresponding to the I xy ( )max is
obtained by rotating the x axis through 67.5° counterclockwise)
From Mohr’s circle have 2θ m = 2 ( 67.5° ) − 90° = 45°
2 I xy
(a) From tan 2θ m =
Ix − I y
I xy 125 in 4
Have I x = I y + 2 = 300 in 4 + 2 = 550 in 4
tan 2θ m tan 45°
or I x = 550 in 4
1 550 + 300 4
(b) Now I ave =
2
(
Ix + I y = )2
in = 425 in 4
I xy 125 in 4
and R= = = 176.78 in 4
sin 2θ m sin 45°
I max, min = I ave ± R = ( 425 ± 176.76 ) in 4

Then
= ( 601.78, 248.22 ) in 4
or I max = 602 in 4
Consider the regular pentagon shown, with centroidal axes x and y.

Because the y axis is an axis of symmetry, it follows that I xy = 0. Since
I xy = 0, the x and y axes must be principal axes. Assuming
I x = I max and I y = I min , the Mohr’s circle is then drawn as shown.
Now rotate the coordinate axes through an angle α as shown; the

resulting moments of inertia, I x′ and I y′ , and product of inertia, I x′y′ , are
indicated on the Mohr’s circle. However, the x′ axis is an axis of
symmetry, which implies I x′y′ = 0. For this to be possible on the Mohr’s
circle, the radius R must be equal to zero (thus, the circle degenerates into
a point). With R = 0, it immediately follows that
(a) I x = I y = I x′ = I y′ = I ave (for all moments of

inertia with respect to an axis through C)
(b) I xy = I x′y′ = 0 (for all products of inertia with respect to
all pairs of rectangular axes with origin at C)
First observe that for a given area A and origin O of a rectangular

coordinate system, the values of I ave and R are the same for all
orientations of the coordinate axes. Shown below is a Mohr’s circle, with
the moments of inertia, I x′ and I y′ , and the product of inertia. I x′y′ ,
having been computed for an arbitrary orientation of the x′y′ axes.
From the Mohr’s circle
I x′ = I ave + R cos 2θ
I y′ = I ave − R cos 2θ
I x′y′ = R sin 2θ
Then, forming the expression I x′ I y′ − I x2′y′

2
I x′ I y′ − I x2′y′ = ( I ave + R cos 2θ )( I ave − R cos 2θ ) − ( R sin 2θ )
(2
= I ave ) (
− R 2 cos 2 2θ − R 2 sin 2 2θ )
2
= I ave − R 2 which is a constant
∴ I x′ I y′ − I x2′y′ is independent of the orientation of the coordinate axes
Q.E.D.
Shown is a Mohr’s circle, with line OA, of length L, the required tangent.
Noting that OAC is a right angle, it follows that
L2 = I ave
2
− R2
or L2 = I x′ I y′ − I x2′y′ Q.E.D.
From Problem 9.111 have, I x′ I y′ − I x′y′ = constant

Now consider the following two cases
Case 1: I x′ = I x , I y′ = I y , I x′y′ = I xy
Case 2: I x′ = I max , I y′ = I min , I x′y′ = 0
2
Then I x I y − I xy = I max I min
or I xy = ± I x I y − I max I min
From Figure 9.13B: I x = 453 × 103 mm 4 I y = 166 × 103 mm 4
1 1
Now I ave =
2
(
Ix + I y =
2
) (
I max + I min )
With I max = 524 × 103 mm 4
then I min = ( 453 + 166 − 524 ) × 103 mm 4 = 95.0 × 103 mm 4
Finally I xy = ±  ( 453)(166 ) − ( 524 )( 95.0 )  × 103 mm 4


= ±159.43 × 103 mm 4
The two roots corresponding to the following orientations of the cross
section:
(a) I xy = −159.4 × 103 mm 4

(a)
(b) I xy = 159.4 × 103 mm 4
(b)
Mass = m = ρ tA
m
I mass = ρ tI area = I area
A
1 2
Area = A = πa
2
1π 4 1 4
I AA′, area = I DD′, area =  a  = πa
2 4  8
m m 1 4 1 2
I AA′, mass = I DD′, mass = I AA′, area = π a  = ma
A 1 2  8  4
πa
2
2
2 1 2  4a 
(a) I BB′ = I DD′ − m ( AC ) = ma − m  
4  3π 
= ( 0.25 − 0.1801) ma 2 I BB′ = 0.0699 ma 2
(b) Eq. ( 9.38 ) :
I CC ′ = I AA′ + I BB′
1 2
= ma + 0.0699ma 2 I CC ′ = 0.320 ma 2
4
Mass = m = ρV = ρ tA
m
A
Area = A = π r22 − π r12 = π r22 − r12 ( )

π π π
I AA′, area =
4
r24 −
4
r14 =
4
(r 2
4
− r14 )
m m π 4 1
(a) I AA′, mass = I AA′, area = (
r − r14 = m r22 + r12) ( )
A (2
π r2 − r12 4 2
) 4
1
I AA′ =
4
( )
m r22 + r12
(b) By Symmetry: I BB′ = I AA′
Eq. ( 9.38 ) : I CC ′ = I AA′ + I BB′ = 2 I AA′
1
I CC ′ =
2
( )
m r22 + r12
First note mass = m = ρV = ρ tA

π
= ρt
4
(r
2
2
− r12 )
Also I mass = ρ tI area
m
= I area
π
4
( r22 − r12 )
π
(a) Using Figure 9.12, I AA′, area =
16
(r 2
4
− r14 )
m π
Then I AA′, mass =
π
× (r
2
4
− r14 )
4
( r22 − r12 ) 16
m 2
=
4
(
r2 + r12 )
2
m 2 1  m5 
=  r2 +  r2   =  r22 
4  2   44 
5
or I AA′ = mr22
16
(b) Symmetry implies I BB′, mass = I AA′, mass
Then, I OO′ = I AA′ + I BB′
 5 
= 2  mr22 
 16 
5 2
= mr2
8
continued
Now locate centroid C.

X ΣA = ΣxA
π π  4r  π  4r  π 
or X  r22 − r12  = 2  r22  − 1  r12 
4 4  3π  4  3π  4 
4 r23 − r13
or X =
3π r22 − r12
Now r = X 2
3
1 
r3 − r
4 2 2  2 2  14 2
= 2
= r2
3π 2  1  9 π
r2 −  r2 
2 
Finally I OO′ = I CC′ + mr 2

2
5 2  14 2 
or mr2 = I CC ′ + m  r2 
8  9 π 
or ICC ′ = 0.1347mr22
Locate centroid:
b
y1 = A1 = 3ab
2
3
y2 = b A2 = ab
2
Σyi Ai
Then y =
ΣΑi
b 3
( 3ab ) + b ( ab )
= 2 2
3ab + ab
3
= b
4
3 1
Uniform thickness: m is proportional to A ∴ m1 = m m2 = m
4 4
(a) I AA′ = ( I AA′ )1 + ( I AA′ )2
 1  3  2  3  b 2   1  1  2  1  3  2 
=   m  b +  m    +   m  b +  m  b  
12  4   4  2   12  4   4  2  
3 3 1 9
= mb 2  + + + 
 48 16 48 16 
5 2
I AA′ = mb
6
(b) Have I AA′ = I x + my 2
2
5 2 3 
or Ix = mb − m  b 
6 4 
13 2
= mb
48
continued
Mass = m = ρV = ρ tA
m
A
1
A = bh
2
 1  b 3  1 3
(a) Axis AA′: I AA′, area = 2  h    = hb
 12 2
   48
m m 1 3 1
I AA′, mass = I AA′, area = ⋅ hb = mb 2
A 1 48 24
bh
2
1
I AA′ = mb 2
24
1 3
Axis BB′: I BB′, area = bh
36
m m 1 3 1
I BB′, mass = I BB′, area = ⋅ bh = mh 2
A 1 36 18
bh
2
1
I BB′ = mh 2
18
(b) Axis CC′:
Eq. (9.38): I CC ′ = I AA′ + I BB′
1 1 m
=
24
mb 2 +
18
mh 2 I CC ′ =
72
(
3b 2 + 4h 2 )
From Prob. 9.117:

1
I AA′ = mb 2
24
1
I BB′ = mh 2
18
Note that AA′ and BB′ are centroidal axes.

1
Hence I DD′ = I AA′ + md 2 = mb 2 + md 2
24
I DD′ =
24
(
m 2
)
b + 24d 2
1
I EE ′ = I BB′ + md 2 = mh 2 + md 2
18
I EE ′ =
18
(
m 2
)
h + 18d 2
First note mass = m = ρV = ρ tA

 1 
= ρ t ( 2a )( a ) + ( 2a )( a ) 
 2 
= 3ρ ta 2
Also I mass = ρ tI area
m
= I area
3a 2
(a) Now I x, area = ( I x )1, area + ( I x )2, area
1 1
= ( 2a )( a )3 + ( 2a )( a )3
3 12
5 4
= a
6
m 5
Then I x, mass = 2
× a4
3a 6
5
or I x, mass = ma 2
18
(b) Have
I z, area = ( I z )1, area + ( I z )2, area
1 2
1 3 3 1  1  
=  ( a )( 2a )  +  ( a )( 2a ) + ( 2a )( a )  2a + × 2a  
3   36 2  3  
= 10a 4
m
Then I z, mass = × 10a 4
3a 2
10 2
= ma
3
Finally, I y, mass = I x, mass + I z, mass
5 10 2
= ma 2 + ma
18 3
65 2
= ma
18
or I y, mass = 3.61ma 2
First locate the centroid C

1
X ΣA = ΣxA: ( ) 

( )3

X 2a 2 + a 2 = a 2a 2 +  2a + × 2a  a 2

( )
14
or X = a
9
1  1 
Z ΣA = ΣzA: (  2 
) 3 
( )
Z 2a 2 + a 2 =  a  2a 2 +  a  a 2 ( )
4
or Z = a
9
(a) Have (
I y, mass = I CC ′, mass + m X 2 + Z 2 )
65 2
I y, mass = ma
18
65 2  14 2  4 2 
Then I cc′, mass = ma − m  a  +  a  
18  9   9  
or I cc′ = 0.994 ma 2
( )
2
(b) Have I x, mass = I BB′, mass + m Z
2
and I AA′, mass = I BB′, mass + m (1.5a )
 2
2 4  
Then I AA′, mass = I x, mass + m (1.5a ) −  a  
  9  

5
I x, mass = ma 2
18
 2
5 2 4  
Then I AA′, mass = ma 2 + m (1.5a ) −  a  
18   9  
or I AA′ = 2.33ma 2
b
At x = a, y = b: b = ka 2 or k =
a2
b 2
Then y = x
a2
Now ( )
dm = ρ π r 2 dx
2
 b 
= πρ  2 x 2  dx
a 
b2 a 4
Then m = πρ ∫ x dx
a4 0
a
1 b2
= πρ 4 x5
5 a 0
1 5m
= πρ ab 2 or πρ =
5 ab 2
2 2
1  1 b    b  
Now d I x =  r 2  dm =  2 x 2  πρ  2 x 2  dx 
2  2 a    a  
5m 1 b 2 4 b 2 4 5 b2 8
= × x × x dx = m x dx
ab 2 2 a 4 a4 2 a9
a
5 b2 a 5 b2 1
Then.. I x = m 9 ∫0 x8dx = m 9 × x9
2 a 2 a 9 0
5
or I x = mb 2
18
r1 = 2 r2 ∴a = L
Now m = ρV
π 2 π 2
= ρ  ( 2L )( 2r2 ) − ( L )( r2 ) 
3 3 
7π
= ρ Lr22
3
3 m
or πρ =
7 Lr22
r −r
Now r = 2 1 x + r1
L
 x
= r2  2 − 
 L 
Have dI z = dI z′ + x 2dm
1
= ( dm ) r 2 + x 2dm
4
Where dm = ρ dV
(
= ρ π r 2dx )
1 
∴ dI z = πρ  r 4 + r 2 x 2  dx
 4 
 1   4 2
x    x   
= πρ   r2  2 −   + x 2  r2  2 −   
 4   L    L  

4
3 m 2 L1 2  2 x x2 
Then Iz =
7 Lr22
( )
r2 ∫0  r2 
 4 
2 −
x

L
+ x 
 4 − 4 +   dx
L L2  

L
5
3 m 1 2  1   x 4 x 4 1 x5 
=  r2   ( − L )  2 −  + x3 − + 
7 L  4  5   L 3 L 5 L2 
0
m
Iz =
140
( )
93r22 + 32L2
3 1
At x = 2a 2a = k ( 2a ) or k =
4a 2
1 3
Then y= x
4a 2
Now dm = ρ π r 2dx ( )
2
 1  πρ 6
= πρ  2 x3  dx = x dx
 4a  16a 4
πρ 2a 6
Then m= ∫a x dx
16a 4
2a
πρ 1 πρ  127
= 4
x 7
= 
4  ( 2a )7 − ( a )7  = πρ a3
16a 7 a 112a 112
112m
or πρ =
127a3
2
1  1 1   πρ 6 
(a) Now d I x =  r 2  dm =  2 x3   4
x dx 
 2  2  4a   16a 
1 6 112m x6 7m
= 4
x × 3
× 4
dx = 11
x12dx
32a 127a 16a 4064a
Then
2a
7m 2a 12 7m 1 13
Ix = ∫ x dx = 4064a11 13 x
4064a11 a a
7m  57337 2
= ( 2a )13 − ( a )13  = ma = 1.0853ma 2
52832a11  52832
or I x = 1.085ma 2
continued
1  1 2  πρ 6
1  
(b) Have dI y =  r 2 + x 2  dm =   2 x3  + x 2  4
x dx
4   4  4a   16a
1 112m  1 12 
= 4
×  x + x8  dx
16a 127a3  64a 4 
2a
7m 2a  1 12  7m  1 1 
Then I y = 7 ∫a  4
x + x8  dx = 7 4
x13 + x9 
127a  64a  127a  832a 9 a
7m  1 13 1 9 1 13 1 9
4(
= 7 
2a ) + ( 2a ) − 4( )
a − (a) 
127a  832a 9 832a 9 
7m  8191 9 511 9 
= 7 
a + a  = 3.67211ma 2
127a  832 9 
or I y = 3.67 ma 2
For the element shown:

 y  y  ab
dm = ρ dV = ρ  a  b  dy = ρ 2 y 2dy
 h  h  h
2
1  y 1 b 2 2  ab  2 1 ab3 4
dIx′ =  b  dm = 2
y  ρ 2  y dy = ρ y dy
12  h  12 h  h  12 h 4
Parallel-axis theorem
2
1 y
dI x = dI x′ + d 2dm where d 2 = y 2 +  b 
2 h
1 ab3 4  1 y 2  ab
= ρ 4 y dy +  y 2 + b 2 2  ρ 2 y 2dy
12 h  4 h  h
 ρ ab3 ab 
=  4
+ ρ 2  y 4dy
3 h h 
 ρ ab3 ab  h ρ ab3h ρ abh3

I x = ∫ dI x =  4
+ ρ 2  ∫ 0 y 4dy = +
3 h h  15 5
1
For pyramid, m = ρv = ρ abh
3
1   b 2 3h 2  1
Thus I x =  ρ abh  
3  5
+
5 
 Ix =
5
( )
m b 2 + 3h 2
For the element shown:

 y  y  ab
dm = ρ  b  a  dy = ρ 2 y 2dy
 h  h  h
For thin plate:
dI y = dI x′′ + dI z′′
2 2
1 y  1 y  1
= 2 2 2
 b  dm +  a  dm = 2 b + a y dm
3 h  3 h  3h
( )
1  ρ ab 2
=
3h 2(  h
)
 ab
a 2 + b 2 y 2  ρ 2 y 2dy  =
 3h
4
a + b 2 y 4dy ( )
ρ ab ρ ab
I y = ∫ dI y =
3h 4 (a 2
+ b2 )∫ h
0
y 4dy =
15
(a 2
)
+ b2 h
1
For pyramid, m = ρV = ρ abh
3
1 1 1
I y =  ρ abh  a 2 + b 2
3 5
( ) Iy =
5
( )
m a 2 + b2
r 2 = y 2 + z 2 = kx :
a2
At x = h, r = a; a 2 = kh; k=
h
a2
Thus, r 2 = x
h
a2
Have dm = ρπ r 2dx = ρπ xdx
h
h a2 h
Then m = ∫ 0 dm = ρπ h ∫ 0 xdx
1
= ρπ a 2h
2
1 2  1 a2 
Now dI y = dI y′ + x 2dm = r dm + x 2dm =  x + x 2  dm
4 4 h 
2  a2
h h 1 a
So I y = ∫ 0 dI y = ∫ 0  x + x 2 ρπ xdx
4 h  h
a2 h  1 a2 2 
= ρπ ∫ 0
 x + x3  dx
h 4 h 
a 2  1 a 2 h3 h 4 
= ρπ  + 
h  4 h 3 4 
1
=
12
(
ρπ a 2h a 2 + 3h 2 )
1
Recall: m = ρπ a 2h
2
1 1
2 6
(
I y =  ρπ a 2h  a 2 + 3h 2 ) or (
I y = m a 2 + 3h 2 ) 6
Iy
And k y2 =
m
(
= a 2 + 3h 2 ) 6 or ky = (a 2
+ 3h 2 ) 6
1
 2 1 2 2
dy −
First note = −x  a 3 − x 3 
3
dx  
 
2 2 2 2
 dy  −
Then 1+   = 1 + x 3 a3 − x3 
 dx   
 
2
 a 3
= 
 x
2
 dy 
For the element shown dm = m′dL = m′ 1 +   dx
 dx 
1
 a 3
= m′   dx
x
1 a
1  2
3a3 3
Then ∫ 0a
m = ∫ dm = m′ 1 dx = m′a 3  x 3  = m′a
2   2
x3 0
1
2  
3
a
 2  a 3 
2
Now I x = ∫ y dm = ∫ 0  a − x   m′ 1 dx 
3 3
 
   x3 
 
1  2 4 1 2 5
= m′a 3 ∫ 0a  1 − 3a 3 x 3 + 3a 3 x − x 3  dx
a
 
 3 
x 
a
1 3 2 4 4 2 8
2 3 9 3 3 3 3 2 3 3
= m′a 3  a x − a x + a x − x 
 2 4 2 8 
0
 3 9 3 3 3
= m′a3  − + −  = m′a3
 2 4 2 8 8
1 2
or I x = ma
4
1
Symmetry implies I y = ma 2
4
continued
Alternative Solution
 1  1 5
2 2 a3 
I y = ∫ x dm = ∫ 0a ′ ′ a 3
x  m 1 dx  = m a ∫ 0 x dx
3
 x3 
 
a
1 8
3  3
= m′a 3 ×  x 3  = m′a3
8  8
 0
1 2
= ma
4
Also ( )
I z = ∫ x 2 + y 2 dm = I y + I x
1 2
or I z = ma
2
h
For line BC ζ =− x+h
a
2
h
= ( a − 2x )
a
1 
Also m = ρV = ρ t  ah 
2 
1
= ρ tah
2
2
1 2 ζ 
(a) Have dI x = ζ dm′ +   dm′
12 2
1 2
= ζ dm′
3
where dm′ = ρ tζ dx
a 1
Then I x = ∫ dI x = 2 ∫ 02 ζ 2 ( ρ tζ dx )
3
3
2 a h 
= ρ t ∫ 02  ( a − 2 x )  dx
3  a 
a
2 h3 1  1  4
= ρ t 3 ×  −  ( a − 2 x )  2
3 a 4 2  0
1 h3 4 4
=− ρ t 3 ( a − a ) − ( a ) 
12 a  
1
= ρ tah3
12
1 2
or I x = mh
6
continued
Now Iζ = ∫ x 2dm
a
and Iζ = ∫ x 2dm′ = 2 ∫ 02 x 2 ( ρ tζ dx )
a h 
= 2 ρ t ∫ 02 x 2  ( a − 2 x )  dx
 a 
a
h a 1 2
= 2 ρ t  x3 − x 4 
a 3 4 0
3 4
h a  a  1a
= 2ρ t    −   
a  3  2  4 2 
1 1
= ρ ta3h = ma 2
48 24
2
(b) Have I y = ∫ ry2dm = ∫  x 2 + (ζ sin θ )  dm
 
= ∫ x 2dm + sin 2 θ ∫ ζ 2dm
Now I x = ∫ ζ 2dm ⇒ I y = Iζ + I x sin 2 θ
1 1
= ma 2 + mh 2 sin 2 θ
24 6
m 2
or I y =
24
( )
a + 4h 2 sin 2 θ
(c) Have (
I z = ∫ rz2dm = ∫ x 2 + y 2 dm )
2
= ∫  x 2 + (ζ cosθ )  dm
 
= ∫ x 2dm + cos 2 θ ∫ ζ 2dm
= Iζ + I x cos 2 θ
1 1
= ma 2 + mh 2 cos 2 θ
24 6
m 2
or I z =
24
( )
a + 4h 2 cos 2 θ
Mass of cylindrical ring:

m = ρV
γ π 2 π 2
=  d 2 − d1  t
g4 4 
π γ
=
4 g
(d 2
2 − d12 t )
Now treat the wheel as a series of 4 concentric rings. (Note - the steel is treated as
a large ring minus two smaller rings.)
mwheel = ∑ mring
π 0.310 lb/in 3
=
4 32.2 ft/s 2 (
× 1.5 in. × 0.7 2 − 0.52 in 2 )
π 0.284 lb/in 3
+
4 32.2 ft/s 2
(
× 1.5 in. × 4.42 − 0.7 2 in 2 )
π 0.284 lb/in 3 1.1
−2 ×
4 32.2 ft/s 2
×
2
(
in. × 42 − 1.22 in 2 )
π 0.043 lb/in 3
+
4 32.2 ft/s 2
(
× 1.5 in. × 52 − 4.42 in 2 )
2
(
mwheel = 2.7221 × 10−3 + 196.072 × 10−3 − 110.945 × 10−3 + 8.8730 × 10−3 ) lbft⋅s
lb ⋅ s 2
= 96.722 × 10−3
ft
continued
For a cylindrical ring:

2 2
1  d2  1 d 
( I AA′ )ring = m2   − m1  1 
2  2  2  2
1π γt 2 2 1π γt 2 2
=  d2  d2 −  d1  d1
8 4 g  8 4 g 
π γt 4
=
32 g
(
d 2 − d14 )
π γt
=
32 g
(d 2
2 )(
− d12 d 22 + d12 )
1
=
8
(
mring d 22 + d12 )
Then:
I AA′ = ∑ ( I AA′ )ring
2
1 lb ⋅ s 2   1ft 
=  2.7221 × 10−3
8 ft 
2 2 2
(
 0.7 + 0.5 in ×  
 12 in. 
)
2
1 lb ⋅ s 2   1 ft 
+ 196.072 × 10−3
8 ft 
2 2 2
 4.4 + 0.7 in ×  ( 
 12 in. 
)
2 2
1 −3 lb ⋅ s   1 ft 
− 
8
110.945 × 10
ft 
2 2 2
 4 + 1.2 in ×  ( 
 12 in. 
)
2
1 lb ⋅ s 2  2  1 ft 
+  8.8730 × 10−3
8 ft 
2 2
 5 + 4.4 in ×  ( 
 12 in. 
)
(
= 1.74857 × 10−6 + 3.3785 × 10−3 − 1.67958 × 10−3 + 341.67 × 10−6 lb ⋅ ft ⋅ s 2 )
= 2.0423 × 10−3 lb ⋅ ft ⋅ s 2
I AA′ = 2.04 × 10−3 lb ⋅ ft ⋅ s 2
I AA′
And k AA′ =
m
2.04 × 10−3 lb ⋅ ft ⋅ s 2
=
96.722 × 10−3 lb ⋅ s 2/ft
= 0.145311 ft
k AA′ = 1.744 in.
First note for the cylindrical ring shown that

π π
m = ρV = ρ t ×
4
(d 2
2 )
− d12 =
4
(
ρ t d 22 − d12 )
and, using Figure 9.28, that
2 2
1 d  1 d 
I AA′ = m2  2  − m1  1 
2  2  2  2
1  π 2 2  π 2  2
=  ρ t × d 2  d 2 −  ρ t × d1  d1 
8  4   4  
1π  4
= (
4
 ρ t  d 2 − d1
8 4 
)
1π  2
= (
2 2 2
 ρ t  d 2 − d1 d 2 + d1
8 4 
)( )
1
=
8
(
m d12 + d 22 )
Now treat the roller as three concentric rings and, working from the
bronze outward, have
Have m=
π
4 {(8580 kg/m ) ( 0.0195 m ) ( 0.009 m )
3 2 2
− ( 0.006 m ) 

( ) 
2 2
+ 2770 kg/m 3 ( 0.0165 m ) ( 0.012 m ) − ( 0.009 m ) 

( ) 
2 2
+ 1250 kg/m 3 ( 0.0165 m ) ( 0.027 m ) − ( 0.012 m ) 
 }
π
=
4
[7.52895 + 2.87942 + 12.06563] × 10−3 kg
= 5.9132 × 10−3 kg + 2.26149 × 10 −3 kg
+ 9.47632 × 10−3 kg
= 17.6510 × 10−3 kg
continued
And I AA′ =
1
8
{( ) 2 2
5.9132 × 10−3 kg ( 0.006 ) + ( 0.009 )  m 2
 
(  ) 2 2
+ 2.26149 × 10−3 kg ( 0.009 ) + ( 0.012 )  m 2

(  ) 2 2
+ 9.47632 × 10−3 kg ( 0.012 ) + ( 0.027 )  m 2
 }
1
= ( 691.844 + 508.835 + 8272.827 )10−9 kg ⋅ m 2
8
= 1.18419 × 10−6 kg ⋅ m 2
or I AA′ = 1.184 × 10−6 kg ⋅ m 2
2 I AA′ 1.18419 × 10−6 kg m 2

Now k AA′ = =
m 17.6510 × 10−3 kg
= 67.08902 × 10−6 m 2
k AA′ = 8.19079 × 10−3 m
or k AA′ = 8.19 mm
Consider shell to be formed by removing hemisphere of radius r

from hemisphere of radius r + t.
For hemisphere:
2 2 1
I =
5
mr Area =
2
( )
4π r 2 = 2π r 2
1 4 3 2
m = ρV = ρ π r = ρπ r 3
2 3 3
2 2 3 2 4
Thus I =  ρπ r  r = ρπ r 5
53  15
For hemispherical shell:
4 5 4
I = ρπ ( r + t ) − r 5  = ρπ  r 5 + 5r 4t + 10r 3t 2 + ... − r 5 
15   15
Neglect terms with powers of t > 1,
4
I = ρπ r 4t
3
Mass of shell: ( )
m = ρV = ρ tA = ρ t 2π r 2 = 2 ρπ r 2t
(
I = 2 ρπ r 2t ) 23 r 2
=
2 2
3
mr I =
2 2
3
mr
Radius of gyration:
I 2
k2 = = r2 k = 0.816r
m 3
For solid cylinder:

1 2
I = ma m = ρV = ρπ a 2h
2
1
∴I = ρπ a 4h
2
For ring:
1 1 1
I AA′ =
2
ρπ a24h − ρπ a14h = ρπ h a24 − a14
2 2
( )
(
m = ρπ h a22 − a12 )
(a) By parallel-axis theorem
1
I BB′ = I AA′ + ma12 =
2
( ) (
ρπ h a24 − a14 + ρπ h a22 − a12 a12 )
1
I BB′ =
2
( )
ρπ h a24 + 2a22a12 − 3a14
(b) For Maximum I BB′ :

dI BB′ 1
da1
(
= ρπ h 4a22a1 − 12a13 = 0
2
)
1 2 1
a1 = 0; ( )
4 a22 − 3a12 = 0 a12 =
3
a2 a1 =
3
a2
(c) Maximum I BB′ :

 2 4
1 a  a  
I BB′ = ρπ h  a24 + 2a22  2  − 3  2  
2   3  3  
1  2 1 
= ρπ h  a24 + a24 − a24 
2  3 3 
1 4 
= ρπ h  a24 
2 3 
2
I BB′ = ρπ ha24
3
L L − 240
First note = or L = 720 mm
120 80
and m = ρ stV
1  π 2
Now m1 = ρ st  π a12h1  = × 7850 kg/m 3 × ( 0.120 m ) ( 0.720 m )
 3  3
= 85.230 kg
2  2 3
m2 = ρ st  π a23  = π × 7850 kg/m 3 × ( 0.090 m ) = 11.9855 kg
3  3
1  π 2
m3 = ρ st  π a32h3  = × 7850 kg/m 3 × ( 0.080 m ) ( 0.720 − 0.240 ) m
3  3
= 25.253 kg
Now Iy = Iy( )1 − ( I y )2 − ( I y )3
continued
( IGG′ )cup
(b) Have = 0.01
( I AA′ )cup
5 5 
or mcup a 2 = 0.01mcup  a 2 + 2la + l 2  ( From Part a )
12 3 
a
Now let ζ =
l
5 
Then 5ζ 2 = 0.12  ζ 2 + 2ζ + 1
3 
or 40ζ 2 − 2ζ − 1 = 0
2± ( −2 )2 − 4 ( 40 )( −1)
Then ζ =
2 ( 40 )
or ζ = 0.1851 and ζ = − 0.1351

a
∴ = 0.1851
l
Have
4
(a) dB = − d A = ( 0.33333 − d A ) ft
12
and I AA′ = I GG′ + md A2
I BB′ = I GG′ + md B2
Then (
I BB′ − I AA′ = m d B2 − d A2 )
2
= m ( 0.33333 − d A ) − d A2 
 
= m ( 0.11111 − 0.66666d A )
Then (1.26 − 0.6 ) × 10−3 lb ⋅ ft ⋅ s 2

0.40 lb
= ( 0.11111 − 0.66666d A ) ft 2
32.2 ft/s 2
or d A = 0.08697 ft
or d A = 1.044 in.
(b) I AA′ = I GG′ + md A2

or I GG′ = 0.6 × 10−3 lb ⋅ ft ⋅ s 2
0.4 lb 2
2(
− 0.08697 ft )
32.2 ft /s
= 0.50604 × 10−3 lb ⋅ ft ⋅ s 2
2 I GG′ 0.50604 × 10−3 lb ⋅ ft ⋅ s 2

Then kGG ′ = =
m 0.4 lb
32.2 ft/s 2
= 0.04074 ft 2
kGG′ = 0.20183 ft = 2.4219 in.
or kGG′ = 2.42 in.
π
(a) First note marm = ρVarm = ρ × d 2l
4
and dmcup = ρ dVcup
= ρ ( 2π a cosθ )( t )( adθ ) 

π
Then mcup = ∫ dmcup = ∫ 02 2πρ a 2t cosθ dθ
π
= 2πρ a 2t [sin θ ]02
= 2πρ a 2t
Now ( I AA′ )anem. = ( I AA′ )cups + ( I AA′ )arms
Using the parallel-axis theorem and assuming the arms are slender
rods, have
( I AA′ )anem. = 3 ( I GG′ )cup + mcup d AG

2 
 
2
+ 3  I arm + marm d AG 
arm 
 5  2  a   
2
= 3  mcup a 2 + mcup ( l + a ) +    
12   2   
1 2
l 
+3  marml 2 + marm   
 2  2  
5 
= 3mcup  a 2 + 2la + l 2  + marml 2
 3 
5  π
( ) 
= 3 2πρ a 2t  a 2 + 2la + l 2  +  ρ d 2l  l 2
3  4 
( )
  5 a2 a  d 2l 
or ( I AA′ )anem = πρ l 2 6a 2t  2 + 2 + 1 + 
 3 l l  4 
continued
First note m1 = ρV1 = ρ b 2 L
And m2 = ρV2 = ρ a 2 L
(a) Using Figure 9.28 and the parallel-axis theorem, have
I AA′ = ( I AA′ )1 − ( I AA′ )2
1 2
a 
12
2 2
(
=  m1 b + b + m1   
 2  
)
1 2
a 
(
−  m2 a 2 + a 2 + m2   
12
)
 2  
1 1   5 
( )
= ρ b2 L  b2 + a 2  − ρ a 2 L  a 2 
6 4   12 
( )
ρL
=
12
( 2b 4
+ 3b 2a 2 − 5a 4 )
ρL
Then
dI AA′
da
=
12
(
6b 2a − 20a3 = 0 )
3
or a=0 and a=b
10
d 2 I AA′ ρL 1
Also
da 2
=
12
( 2
)
6b 2 − 60a 2 = ρ L b 2 − 10a 2 ( )
Now, for
d 2 I AA′ 3 d 2 I AA′
a = 0, >0 and for a=b , <0
da 2 10 da 2
3
∴ ( I AA′ )max occurs when a=b
10
3
a = 84 = 46.009 mm
10
or a = 46.0 mm
continued
(b) From part (a)

2 4
ρ L  3  2 3  
( I AA′ )mass = 4
2b + 3b  b
 10 
− 5 b
 10  
12      

49 49
=
240
ρ Lb 4 =
240
(
2800 kg/m 3 ( 0.3 m )( 0.084 m )
4
)
= 8.5385 × 10−3 kg ⋅ m 2
or ( I AA′ )mass = 8.54 × 10−3 kg ⋅ m 2
2 ( I AA′ )mass
and k AA′ =
m
where
 2
 3   7
m = m1 − m2 = ρ L b − a ( 2 2
) = ρ L b −  b

2
 10
  =
 10
ρ Lb 2
   
Then
49
ρ Lb 4 7 2 7
2
k AA = 240 = b = (84 mm )2 = 2058 mm 2
′
7 2 24 24
ρ Lb
10
k AA′ = 45.3652 mm
or k AA′ = 45.4 mm
m = ρV
γ
= tA
g
3
490 lb/ft 3  1 ft 
Then: m1 = 2
× 0.08 in. × ( 3.6 in.)(1.2 in.) ×  
32.2 ft/s  12 in. 
lb ⋅ s 2
= 3.0435 × 10−3
ft
3
490 lb/ft 3 1  1 ft 
m2 = 2
× 0.08 in. × (1.8 in.)(1.2 in.) ×  
32.2 ft/s 2  12 in. 
lb ⋅ s 2
= 760.87 × 10−6
ft
3
490 lb/ft 3 π 2  1 ft 
m3 = 2
× 0.08 in. × (1.8 in.) ×  
32.2 ft/s 2  12 in. 
lb ⋅ s 2
= 3.5855 × 10−3
ft
Now I x = ( I x )1 + ( I x )2 + ( I x )3
2
1  2
−3 lb ⋅ s  2   1 ft 
I x =   3.0435 × 10  (1.2 in.)   
 3  ft    12 in. 
2
1 2
−6 lb ⋅ s   2
−6 lb ⋅ s 

2  1 ft 
+   760.87 × 10
18  ft 
2
( 2 2
)
 1.8 + 1.2 in +  760.87 × 10
ft 
2 2
 0.6 + 0.4 in   ( 
  12 in. 
)

2
 2
−3 lb ⋅ s   1  2   1 ft 
+  3.5855 × 10    (1.8 in.)   
 ft   4    12 in. 
( ) ( ) (
=  10.1450 × 10−6 + 1.37379 × 10−6 + 2.7476 × 10−6 + 20.168 × 10−6  lb ⋅ ft ⋅ s 2
  )
= 34.435 × 10−6 lb ⋅ ft ⋅ s 2
I x = 34.4 lb ⋅ ft ⋅ s 2
continued
Iy = Iy( )1 + ( I y )2 + ( I y )3
2
1  lb ⋅ s 2  2   1 ft 
=   3.0435 × 10−3 ( 3.6 in. )  
 3  ft    12 in. 
2
1 lb ⋅ s 2   2
−6 lb ⋅ s 

2  1 ft 
+   760.87 × 10−6
18  ft 
(1.8 in.
2
) 
+ 760.87 × 10
ft 
 1.8 2
+ (
0.6 2
in  ) 
  12 in. 

 2
−3 lb ⋅ s   1 16  2  2 
−3 lb ⋅ s   4 × 1.8 
2  2   1 ft 2
 (1.8 in.) +  3.5855 × 10
2
+  3.5855 × 10  −    + 1.8  in  
ft   2 9π 2  ft   3π     12 in. 
 
( ) ( ) (
=  91.305 × 10−6 + 0.95109 × 10−6 + 19.0218 × 10−6 + 25.805 × 10 −6 + 92.205 × 10−6  lb ⋅ ft ⋅ s 2
  )
= 232 × 10−6 lb ⋅ ft ⋅ s 2
I y = 232 × 10−6 lb ⋅ ft ⋅ s 2
I z = ( I z )1 + ( I z )2 + ( I z )3
2
1  lb ⋅ s 2  
2  1 ft 
=   3.0435 × 10−3
 3  ft 
 3.6(2
+ 1.2 2
in )
 
  12 in. 
2
1 lb ⋅ s 2   2
−6 lb ⋅ s 

2  1 ft 
+   760.87 × 10−6
18  ft 
(1.2 in.
2
) 
+ 760.87 × 10
ft 
 1.8 2
+(0.4 2
in  ) 
  12 in. 

2
1  lb ⋅ s 2  2  2
−3 lb ⋅ s  2   1 ft 
+   3.5855 × 10−3 (1.8 in. ) 
+ 3.5855 × 10 (1.8 in.)  
 4  ft   ft    12 in. 
( ) ( ) (
=  101.45 × 10−6 + 0.42271 × 10−6 + 17.9650 × 10−6 + 100.842 × 10−6  lb ⋅ ft ⋅ s 2
  )
= 221 × 10−6 lb ⋅ ft ⋅ s 2
I z = 221 × 10−6 lb ⋅ ft ⋅ s 2
To the Instructor:
The following formulas for the mass moment of inertia of thin plates and a half cylindrical shell are derived at
this time for use in the solutions of Problems 9.137–9.142.
Thin rectangular plate
( I x )m ( )m + md 2
= I x′
1  b  2  h  2 
=
12
( )
m b 2 + h 2 + m   +   
 2   2  
1
=
3
(
m b2 + h2 )
( I y )m = ( I y′ )m + md 2
2
1 b
= mb 2 + m  
12 2
1 2
= mb
3
I z = I z′( )m + md 2
2
1 h
= mh 2 + m  
12 2
1 2
= mh
3
Thin triangular plate

1 
Have m = ρV = ρ  bht 
 2 
1 3
and I z, area = bh
36
Then I z, mass = ρ tI z, area
1 3
= ρt × bh
36
1
= mh 2
18
continued
1
Similarly, I y, mass = mb 2
18
1
Now I x, mass = I y, mass + I z, mass =
18
(
m b2 + h2 )
Thin semicircular plate
π 
Have m = ρV = ρ  a 2t 
2 
π
And I y, area = I z, area = a4
8
Then I y, mass = I z , mass = ρ tI y, area
π
= ρt × a4
8
1 2
= ma
4
1 2
Now I x, mass = I y, mass + I z, mass = ma
2
1
Also I x, mass = I x′, mass + my 2 or I x′, mass = m 
2
1
And I z, mass = I z′, mass + my 2 or I z′, mass = m 
4
Thin quarter-circular plate 4a

y = z =
π  3π
Have m = ρV = ρ  a 2t 
4 
π
and I y, area = I z, area = a4
16
Then I y, mass = I z, mass = ρ tI y, area
π
= ρt × a4
16
1 2
= ma
4
continued
1 2
Now I x, mass = I y, mass + I z, mass = ma
2
Also (
I x, mass = I x′, mass + m y 2 + z 2 )
1 32  2
or I x′, mass = m  − 2
a
 2 9π 
and I y, mass = I y′, mass + mz 2
1 16  2
or I y′, mass = m  − 2
a
 4 9π 
First compute the mass of each component.

Have m = ρ stV = ρ st tA
( )
m1 = 7850 kg/m 3 ( 0.003 m )( 0.70 m )( 0.780 m ) = 12.858 kg
 π  2
( )
m2 = 7850 kg/m 3 ( 0.003 m )   ( 0.39 m )  = 5.6265 kg
 2  
 1  
( )
m3 = 7850 kg/m 3 ( 0.003 m )   ( 0.780 m )( 0.3 m )  = 2.7554 kg
2
  
Using Fig. 9.28 for component and the equations derived above for components and have
I x = ( I x )1 + ( I x )2 + ( I x )3
1 2
2  0.78   2
= (12.858 kg )  ( 0.78 ) +   m
12  2  
 1 16  2  4 × 0.39 
2 
2  2
+ ( 5.6265 kg )  − 2 (
0.39 ) 
+   + ( 0.39 )   m
 2 9π   3π   
1 2 2  0.78 2  0.30 2   2
+ ( 2.7554 kg )  ( 0.78 ) + ( 0.30 )  +  +   m
18    3   3   

= ( 2.6076 + 1.2836 + 0.3207 ) kg ⋅ m 2
= 4.2119 kg ⋅ m 2
or I x = 4.21 kg ⋅ m 2
continued
And
Iy = Iy( )1 + ( I y )2 + ( I y )3
1 2 2 1 2 2 
= (12.858 kg )  ( 0.7 ) + ( 0.78 )  + ( 0.7 ) + ( 0.78)   m 2
12   4 
1 2 2
+ ( 5.6265 kg )  ( 0.39 ) + ( 0.39 )  m 2
 4 
 1 2  2  0.78    4
2
+ ( 2.7554 kg )  ( 0.78 ) + ( 0.7 ) +    m
18   3   

= ( 4.7077 + 1.0697 + 1.6295 ) kg ⋅ m 2
= 7.4069 kg ⋅ m 2
or I y = 7.41 kg ⋅ m 2
And
I z = ( I z )1 + ( I z )2 + ( I z )3
 2 1 1 
= (12.858 kg ) ( 0.7 )  +  m 2
  12 4  
1 2
+ ( 5.6265 kg )  ( 0.39 )  m 2
 4 
 1 2  2  0.30    2
2
+ ( 2.7554 kg )  ( 0.3) + ( 0.70 ) +    m
18   3   

= ( 2.1001 + 0.21395 + 1.39145 ) kg ⋅ m 2 = 3.7055 kg ⋅ m 2
or I z = 3.71 kg ⋅ m 2
t = 2 mm
ρ = 7850 kg/m3
Part : ( )
m1 = ρV = 7850 kg/m 3 ( 0.08 m )( 0.1 m )( 0.002 m ) = 0.1256 kg
1
I x = I x + md 2 = ( 0.1256 kg )( 0.08 m )2 + ( 0.1256 kg ) ( 0.1 m )2 + ( 0.04 m )2 
12
( )
= 66.99 × 10−6 + 1.457 × 10−3 kg ⋅ m 2 = 1.524 × 10 −3 kg ⋅ m 2
1
I y = I y + md 2 = ( 0.1256 kg )( 0.1 m )2 + ( 0.1256 kg ) ( 0.05 m )2 + ( 0.1 m )2 
12
( )
= 0.1047 × 10−3 + 1.57 × 10−3 kg ⋅ m 2 = 1.675 × 10−3 kg ⋅ m 2
1
I z = I z + md 2 = ( 0.1256 kg ) ( 0.1 m )2 + ( 0.08 m )2  + ( 0.1256 kg ) ( 0.05 m )2 + ( 0.04 m )2 
12
( )
= 0.1717 × 10−3 + 0.515 × 10−3 kg ⋅ m 2 = 0.687 × 10−3 kg ⋅ m 2
Part : m2 = ρV = ( 7850 kg/m ) ( 0.2 m )( 0.2 m )( 0.002 m ) = 0.628 kg

3
1 1
Ix = ma 2 = ( 0.628 kg )( 0.2 m )2 = 2.093 × 10−3 kg ⋅ m 2
12 12
continued
1 1
Iy =
12
(
m a2 + b2 =
12
)
( 0.628 kg ) ( 0.2 m )2 + ( 0.2 m )2  = 4.187 × 10−3 kg ⋅ m 2
1 1
Iz = mb 2 = ( 0.628 kg )( 0.2 m )2 = 2.093 × 10−3 kg ⋅ m 2
12 12
Part : Same values as Part
Total mass moment of inertia:
( )
I x = 2 1.524 × 10−3 kg ⋅ m 2 + 2.093 × 10−3 kg ⋅ m 2 I x = 5.14 × 10−3 kg ⋅ m 2
( )
I y = 2 1.675 × 10−3 kg ⋅ m 2 + 4.187 × 10−3 kg ⋅ m 2 I y = 7.54 × 10−3 kg ⋅ m 2
( )
I z = 2 0.687 × 10−3 kg ⋅ m 2 + 2.093 × 10−3 kg ⋅ m 2 I z = 3.47 × 10−3 kg ⋅ m 2
First compute the mass of each component

Have m = ρV = ρ At
Now ( )
m1 = 7530 kg/m 3 ( 0.002 m )( 0.045 m )( 0.070 m ) = 0.047439 kg
m2 = ( 7530 kg/m ) ( 0.002 m )( 0.045 m )( 0.020 m ) = 0.013554 kg

3
1
( )
m3 = 7530 kg/m 3 ( 0.002 m ) ×
2
( 0.04 m )( 0.095 m ) = 0.028614 kg
Using Fig. 9.28 for components and and the equations derived above for components , have
I x = ( I x )1 + ( I x )2 + ( I x )3
1 2 1 2 2 2 
= ( 0.047439 kg )  ( 0.07 )  m 2 + ( 0.013554 kg )  ( 0.020 ) + ( 0.07 ) + ( 0.01)   m 2
3  12  
1 2 2 1 2 2 
+ ( 0.028614 kg )  ( 0.095 ) + ( 0.04 )  + ( 2 × 0.095) + ( 0.040 )   m 2
18   9  
= ( 0.077484 + 0.068222 + 0.136751) × 10−3  kg ⋅ m 2 = 0.282457 × 10−3 kg ⋅ m 2
or I x = 0.2825 × 10−3 kg ⋅ m 2
continued
continued Iy = Iy ( )1 + ( I y )2 + ( I y )3
1 2  2 2  1 
= ( 0.047439 kg )  ( 0.045 )  m 2 + ( 0.013554 kg )  ( 0.045 ) + ( 0.02 )     m 2
3      3 
1 2 2 1 2
+ ( 0.028614 kg )  ( 0.04 ) + ( 0.045 ) + ( 0.04 )  m 2
 18 9 
= ( 0.03202 + 0.010956 + 0.065574 ) × 10−3  kg ⋅ m 2 = 0.10855 × 10−3 kg ⋅ m 2
or I y = 0.1086 × 10−3 kg ⋅ m 2
I z = ( I z )1 + ( I z )2 + ( I z )3
 2 2  1   21 2
= ( 0.047439 kg )  ( 0.045 ) + ( 0.070 )     m 2 + ( 0.013554 kg ) ( 0.045 )   + ( 0.070 )  m 2
   3
   3
  
1 2
2 2  
+ ( 0.028614 kg )  ( 0.095 ) + 0.0452 +  0.095   m 2
18 3  
= ( 0.0109505 + 0.075564 + 0.187064 ) × 10−3  kg ⋅ m 3
= 0.37213 × 10−3 kg ⋅ m 2
or I z = 0.372 × 10−3 kg ⋅ m 2
t = 0.1 in.
γ st = 490 lb/ft 3
γ st
Have m = ρstV = tA
g
490 lb/ft 3  0.1 
m= ×  ft × A
32.2 ft/s 2  12 
 lb ⋅ s 2 2 
=  0.126812 ⋅ ft  A
 ft 
 lb ⋅ s 2 2   16 12  2 lb ⋅ s 2
Then m1 =  0.126812 ⋅ ft   ×  ft = 0.169083
 ft   12 12  ft
 lb ⋅ s 2 2   16 9  2 lb ⋅ s 2
m2 =  0.126812 ⋅ ft   ×  ft = 0.126812
 ft   12 12  ft
 lb ⋅ s 2 2   1 12 9  2 lb ⋅ s 2
m3 =  0.126812 ⋅ ft   × ×  ft = 0.047555
 ft   2 12 12  ft
2
 lb ⋅ s 2 2   π  5   2 lb ⋅ s 2
m4 =  0.126812 ⋅ ft      ft = 0.034583
 ft   2  12   ft
Using Fig. 9.28 for components and and the equations derived previously for components and ,
have
I x = ( I x )1 + ( I x )2 + ( I x )3 − ( I x )4
2
1 lb ⋅ s 2   12 
Where ( I x )1 =  0.169083   ft  = 0.056361 lb ⋅ ft ⋅ s
2
3 ft   12 
2
1 lb ⋅ s 2   9 
( I x )2 =  0.126812  ft  = 0.023777 lb ⋅ ft ⋅ s 2
3  ft   12 
lb ⋅ s 2   1  12   3    2
2 2 2 2
  9    4 
( I x )3 =  0.047555     +    +   +     ft
 ft  18  12   12    12   12   

continued
= 0.0123841 lb ⋅ ft ⋅ s 2
2
1 lb ⋅ s 2   5 
( I x )4 =  0.034583  ft  = 0.00150100 lb ⋅ ft ⋅ s 2
4 ft   12 
Then I x = ( 0.056361 + 0.023777 + 0.0123841 − 0.00150100 ) lb ⋅ ft ⋅ s 2
I x = 91.0 × 10−3 lb ⋅ ft ⋅ s 2
Iy = Iy( )1 + ( I y )2 + ( I y )3 − ( I y )4
2 2
1 lb ⋅ s 2   16   12   2
Where ( )1
Iy =  0.169083
3
   +    ft = 0.156558 lb ⋅ ft ⋅ s
ft   12  12
  
2
2
1 lb ⋅ s 2   16 
( I y )2 =  0.126812
3
  ft  = 0.075148 lb ⋅ ft ⋅ s
ft   12 
2
 2   1  12 2  4 2  2
( I y )3 =  0.047555 lbft⋅ s     +    ft = 0.0079258 lb ⋅ ft ⋅ s
 18  12   12  
2
  
 2   1 2  8  2  4 5   2 
2
( I y )4 =  0.034583 lbft⋅ s   −
16  5 
2 
ft  +    +  ×   ft 
 3π 12   
   2 9π  12   12 
= 0.0183722 lb ⋅ ft ⋅ s 2
Then I y = ( 0.156558 + 0.075148 + 0.0079258 − 0.0183722 ) lb ⋅ ft ⋅ s 2
I y = 221 × 10−3 lb ⋅ ft ⋅ s 2
I z = ( I z )1 + ( I z )2 + ( I z )3 − ( I z )4
2
1 lb ⋅ s 2   16 
Where ( I z )1 =  0.169083   ft  = 0.100197 lb ⋅ ft ⋅ s
2
3 ft   12 
2 2
1 lb ⋅ s 2   16   9  2
( I z )2 =  0.126812    +    ft = 0.098925 lb ⋅ ft ⋅ s
2
3 ft   12   12  
2 2
 lb ⋅ s 2   1  9   3  2
( z )3 
I = 0.047555     +    ft = 0.0044583 lb ⋅ ft ⋅ s
2
 ft 18
    12 12
  
2 2
 lb ⋅ s 2   1  5   8  
( I z )4 =  0.034583    ft  +  ft   = 0.0168712 lb ⋅ ft ⋅ s
2
 ft  4  12   12  

Then I z = ( 0.100197 + 0.098925 + 0.0044583 − 0.0168712 ) lb ⋅ ft ⋅ s 2
I z = 186.7 × 10−3 lb ⋅ ft ⋅ s 2
Have m = ρcuV = ρcu tA
Then ( )
m1 = m2 = 8940 kg/m 3 ( 0.0008 m )(1.2 m )( 0.15 m )
= 1.28736 kg
Using Fig. 9.28 for components and , have
I x = ( I x )1 + ( I x )2 and ( I x )1 = ( I x )2
1 2
Then I x = 2  (1.28736 kg )( 0.15 m )  = 0.0193104 kg ⋅ m 2
3 
I x = 19.31 × 10−3 kg ⋅ m 2
Also Iy = Iy( )1 + ( I y )2
Where ( I y )1 = 13 (1.28736 kg ) (1.2 m )2 + ( 0.15 m )2  = 0.62759 kg ⋅ m 2
and ( I y )2 = ∫ ry2 dm
2
ry2 = x 2 + z 2 = x 2 + (ζ cos 30° )
dm = ρ dV = ρ cu tdζ dx
Then ( I y )2 = ρcu t ∫ 0L ∫ 0a ( x2 + ζ 2 cos2 30°) dζ dx

continued
L 1 
= ρcu t ∫ 0  ax 2 + a3 cos 2 30°  dx
 3 
1
=
3
(
ρcu t aL3 + a3L cos2 30° ) where V = aLt
1
=
3
(
m2 L2 + a 2 cos 2 30° )
1
= (1.28736 kg ) (1.2 m )2 + ( 0.15 m )2 cos2 30° = 0.62517 kg ⋅ m 2
3
Thus I y = ( 0.62759 + 0.62517 ) kg ⋅ m 2
I y = 1.253 kg ⋅ m 2
Also I z = ( I z )1 + ( I z )2
1
Where ( I z )1 = (1.28736 kg )(1.2 m )2 = 0.61793 kg ⋅ m 2
3
and ( I z )2 = ∫ rz2dm
2
rz2 = x 2 + y 2 = x 2 + (ζ sin 30° )
dm = ρ dV = ρ cu tdζ dx
Then ( I z )2 L a
( )
= ρcu t ∫ 0 ∫ 0 x 2 + ζ 2 sin 2 30° dζ dx
L 1 
= ρcu t ∫ 0  ax 2 + a3 sin 2 30°  dx
 3 
1
=
3
(
ρcu t aL3 + a3 L sin 2 30° ) where V = aLt
1
=
3
(
m2 L2 + a 2 sin 2 30° )
1
= (1.28736 kg ) (1.2 m )2 + ( 0.15 m )2 sin 2 30°
3
= 0.62035 kg ⋅ m 2
Thus I z = ( 0.61793 + 0.62035 ) kg ⋅ m 2
I z = 1.238 kg ⋅ m 2
γ 0.284 lb/in 3
Have m = ρV = V = ×V
g 32.2 ft/s 2
( )
= 0.0088199 lb ⋅ s 2/ft ⋅ in 3 V
( )
2
Then m1 = 0.0088199 lb ⋅ s 2 /ft ⋅ in 3 π ( 4 ) ( 2 )  in 3 = 0.88667 lb ⋅ s 2 /ft
 
( ) 2
m2 = 0.0088199 lb ⋅ s 2/ft ⋅ in 3 π (1) ( 3)  in 3 = 0.083126 lb ⋅ s 2/ft
 
( ) 2
m3 = 0.0088199 lb ⋅ s 2 /ft ⋅ in 3 π (1) ( 2 )  in 3 = 0.055417 lb ⋅ s 2/ft
 
Using Fig. 9-28 and the parallel theorem, have
(a)
I x = ( I x )1 + ( I x )2 − ( I x )3
2
1  1 ft 
( 
)
12 
2 2

2
= 0.88667 lb ⋅ s 2 /ft  3 ( 4 ) + ( 2 )  + (1)  in 2 × 


 12 in. 
2
1  1 ft 
( 
)
12 
2 2

2
+ 0.083126 lb ⋅ s 2 /ft  3 (1) + ( 3)  + (1.5 )  in 2 × 


 12 in. 
2
1  1 ft 
( 
)
12 
2 2

2
− 0.055417 lb ⋅ s 2 /ft  3 (1) + ( 2 )  + (1)  in. × 


 12 in. 
= 0.034106 lb ⋅ ft ⋅ s 2
or I x = 0.0341 lb ⋅ ft ⋅ s 2
continued
(b) Iy = Iy ( )1 + ( I y )2 − ( I y )3
2
1  1 ft 
( )
2
2
= 0.88667 lb ⋅ s 2 /ft  ( 4 )  in 2 × 


 12 in. 
2
1 2  1 ft 
( 2
) 2
+ 0.083126 lb ⋅ s 2 /ft  (1) + ( 2 )  in 2 × 


 12 in. 
2
1 2  1 ft 
( 2
) 2
− 0.055417 lb ⋅ s 2 /ft  (1) + ( 2 )  in 2 × 


 12 in. 
= 5.0125 × 10−2 lb ⋅ ft ⋅ s 2
or I y = 0.0501 lb ⋅ ft ⋅ s 2
(c) I z = ( I z )1 + ( I z )2 − ( I z )3
2
1  1 ft 
( ) 2 2 2
= 0.88667 lb ⋅ s 2 /ft  3 ( 4 ) + ( 2 )  + (1)  in 2 × 
12   

 12 in. 
2
1  1 ft 
( ) 2 2 2 2 
+ 0.083126 lb ⋅ s 2 /ft  3 (1) + ( 3)  + ( 2 ) + (1.5 )   in 2 × 
12     
 12 in. 
2
1  1 ft 
( ) 2 2 2 2 
− 0.055417 lb ⋅ s 2 /ft  3 (1) + ( 2 )  + ( 2 ) + (1)   in 2 × 
12     
 12 in. 
= 0.034876 lb ⋅ ft ⋅ s 2
or I z = 0.0349 lb ⋅ ft ⋅ s 2
Have m = ρsteel V
Then m1 = 7850 kg/m 3 ( 0.200 × 0.120 × 0.600 ) m 3
= 113.040 kg
m2 = 7850 kg/m 3 × ( 0.200 × 0.080 × 0.360 ) m 3
= 45.216 kg
π 2 
m3 = 7850 kg/m 3 ×  ( 0.100 ) ( 0.120 )  m 3
2 
= 14.7969 kg
2
m4 = 7850 kg/m 3 × π ( 0.050 ) ( 0.120 )  m 3
 
= 7.3985 kg
Using Figure 9.28 for components and and the equations derived above for components and , have
Now Iy = Iy( )1 + ( I y )2 + ( I y )3
 1  0.600 2  0.200 2   2
where ( )1
Iy
2 2
= (113.040 kg )  ( 0.600 ) + ( 0.200 )  + 
  2 
+   m
12    2   
= 15.0720 kg ⋅ m 2
continued
 1  0.360 2  0.200 2   2
( )2
Iy
2 2
= ( 45.216 kg )  ( 0.360 ) + ( 0.200 )  + 
  2 
+   m
12    2   
= 2.5562 kg ⋅ m 2
  1 16  2   4 × 0.100    2
2
( )3
Iy = (14.7969 kg )   − 2 ( 0.100 )  +  ( 0.100 ) 2
+  0.600 +
3π
  m
  2 9π       
= 6.3024 kg ⋅ m 2
( I y )4 = ( 7.3985 kg )  12 ( 0.050 )2  + ( 0.100)2 + ( 0.600 )2   m 2

 
= 2.7467 kg ⋅ m 2
Then I y = (15.0720 + 2.5562 + 6.3024 − 2.7467 ) kg ⋅ m 2
= 21.1839 kg ⋅ m 2
or I y = 21.2 kg ⋅ m 2
continued
To the Instructor:
The following formulas for the mass moment of inertia of a semicylinder

are derived at this time for use in the solutions of Problems 9.144–9.147.
From Figure 9.28
1
Cylinder: ( I x ) cyl = mcyla 2
2
( I y )cyl = ( I z )cyl = 121 mcyl (3a2 + L2 )

Symmetry and the definition of the mass moment of inertia I = ∫ r 2dm ( )
imply
1
( I )semicylinder = (I )
2 cylinder
11 2
∴ ( I x )sc =  mcyla 
2 2 
and ( I y )sc = ( I z )sc = 12 121 mcyl ( 3a2 + L2 )

1
However, msc = mcyl
2
1
Thus, ( I x )sc = msca 2
2
and ( I y )sc = ( I z )sc = 121 msc ( 3a2 + L2 )

Also, using the parallel axis theorem find
1 16  2
I x′ = msc  − a
 2 9π2 
 1 16  2 1 2
I z′ = msc  − 2
a + L
 4 9π  12 
where x′ and z′ are centroidal axes.
See machine elements shown in Problem 9.144

Also note m1 = 113.040 kg
m2 = 45.216 kg
m3 = 14.7969 kg
m4 = 7.3985 kg
Using Fig. 9.28 for components and and the equations derived above for components and , have
Now I z = ( I z )1 + ( I z )2 + ( I z )3 − ( I z )4
1  2 2 
where ( I z )1 = (113.040 kg )  ( 0.200 )2 + ( 0.120 )2  +  0.200  +  0.120    m 2
     
12   2   2   
= 2.0498 kg ⋅ m 2
1 2 2 2 2 
( I z )2 = ( 45.216 kg )  ( 0.200 ) + ( 0.080 )  + ( 0.100 ) + ( 0.160 )   m 2
12    
= 1.78453 kg ⋅ m 2
1 
( I z )3 = (14.7969 kg )  
2 2 2 2 
3 ( 0.100 ) + ( 0.120 )  + ( 0.100 ) + ( 0.060 )   m 2
12    
= 0.25599 kg ⋅ m 2
1 2 2 2 2 
( I z )4 = ( 7.3985 kg )  3 ( 0.050 ) + ( 0.120 )  + ( 0.100 ) + ( 0.060 )   m 2
12    
= 0.114122 kg ⋅ m 2
Then I z = ( 2.0498 + 1.78453 + 0.25599 − 0.114122 ) kg ⋅ m 2
= 3.97629 kg ⋅ m 2
or I z = 3.98 kg ⋅ m 2
m = ρV
γ
= V
g
0.100 lb/in 3
m1 = ( 4 in.)(1 in.)( 3 in.)
32.2 ft/s 2
lb ⋅ s 2
= 37.267 × 10−3
ft
0.100 lb/in 3
m2 = ( 2 in.)(1.2 in.)( 3 in.)
32.2 ft/s 2
lb ⋅ s 2
= 22.360 × 10−3
ft
0.100 lb/in 3 π 2
m3 = 2
× ( 0.9 in.) ( 2 in.)
32.2 ft/s 2
lb ⋅ s 2
= 7.9028 × 10−3
ft
0.100 lb/in 3 π 2
m4 = 2
× ( 0.5 in.) ( 3 in.)
32.2 ft/s 2
lb ⋅ s 2
= 3.6587 × 10−3
ft
continued
Have
I z = ( I z )1 + ( I z )2 + ( I z )3 + ( I z )4
2
1 2
−3 lb ⋅ s  2  2
−3 lb ⋅ s  2

2  1 ft 
=   37.267 × 10
12  ft 
2
(2
)
 4 + 1 in +  37.267 × 10
ft 
2
 2 + 0.5 in   ( 
  12 in. 
)

2
1 lb ⋅ s 2  2  2
−3 lb ⋅ s  2

2  1 ft 
+   22.360 × 10−3
12  ft 
 2 + 1.2 2
(in 2
+ )
 22.360 × 10
ft 
 1 + 1.6 2
in(  
  12 in. 
)

 lb ⋅ s 2   1 16  2 1 2
2 (
+  7.9028 × 10−3   − 0.9 in.) + ( 2 in.) 
 ft   4 9π  12 
2
4 × 0.9  2    1 ft 
2  2
 −3 lb ⋅ s  2 
+  7.9028 × 10  (1 in.) +  2.2 +  in   
 ft    3π     12 in. 
 lb ⋅ s 2   1 16  2
2 (
+  3.6587 × 10−3   − 0.5 in.)
 ft   2 9π 
2
4 × 0.5  2    1 ft 
2  2
 −3 lb ⋅ s  2 
+  3.6587 × 10  ( 3.5 in.) + 1 +  in   
 ft    3π     12 in. 
( ) (
=  1.46653 × 10−3 + 70.393 × 10−6 + 552.79 × 10−6
 )
( ) (
+ 21.400 × 10−6 + 420.75 × 10−6 + 2.0318 × 10−6 + 348.58 × 10−6  lb ⋅ ft ⋅ s 2
 )
= 2.88 × 10−3 lb ⋅ ft ⋅ s 2
I z = 2.88 × 10−3 lb ⋅ ft ⋅ s 2
δ st
Have m = ρst V = V
g
3
490 lb/ft 3  1 ft 
Then m1 = 2
× ( 3 × 1 × 4 ) in 3 ×  
32.2 ft/s  12 in. 
= 105.676 × 10−3 lb ⋅ s 2 /ft

3
490 lb/ft 3  1 ft 
m2 = 2
× (1.5 × 1 × 2 ) in 3 ×  −3 2
 = 26.419 × 10 lb ⋅ s /ft
32.2 ft/s  12 in. 
3
490 lb/ft 3  π 2   1 ft 
m3 = 2
×  ( 0.5 ) × 1.5 in 3 ×  −3 2
 = 5.1874 × 10 lb ⋅ s /ft
32.2 ft/s 2   12 in. 
3
490 lb/ft 3  π 2   1 ft 
m4 = 2
×  (1.4 ) × 0.4  in 3 ×  
32.2 ft/s 2   12 in. 
= 10.8491 × 10−3 lb ⋅ s 2/ft

(a) Using Fig. 9.28 for components and and the equations derived above for components and ,
have
I x = ( I x )1 + ( I x )2 + ( I x )3 − ( I x )4
 1  1 2  4 2  2  1 ft 2 
where ( I x )1 = (105.676 × 10 −3
)  2 2
lb ⋅ s /ft  (1) + ( 4 )  +   +    in × 
2
 
12    2   2    12 in.  
 
= 4.1585 × 10−3 lb ⋅ ft ⋅ s 2
2
1  1 ft 
( I x )2 ( ) 2 2 2 2 
= 26.419 × 10−3 lb ⋅ s 2 /ft  (1) + ( 2 )  + ( 0.5) + ( 5)   in 2 × 
12     
 12 in. 
= 4.7089 × 10−3 lb ⋅ ft ⋅ s 2
continued
  1 2
4 × 0.5    2  1 ft 
 2
16  2
( I x )3 (
= 5.1874 × 10 −3 2
lb ⋅ s /ft   −)2 9π 2 
2 
 ( 0.5 )  + ( 0.5 ) +  6 +    in × 
3π   

 12 in. 
     
= 1.40209 × 10−3 lb ⋅ ft ⋅ s 2
2
1  1 ft 
( I x )4 ( 2
) 2 
(
= 10.8451 × 10−3 lb ⋅ s 2 /ft  3 (1.4 ) + ( 0.4 )  + 22 + 0.82  in 2 × 
12   
) 
 12 in. 
= 0.38736 × 10−3 lb ⋅ ft ⋅ s 2
Then I x = ( 4.1585 + 4.7089 + 1.40209 − 0.38736 ) × 10−3  lb ⋅ ft ⋅ s 2
= 9.8821 × 10−3 lb ⋅ ft ⋅ s 2
or I x = 9.88 × 10−3 lb ⋅ ft ⋅ s 2
(b) Have Iy = Iy ( )1 + ( I y )2 + ( I y )3 − ( I y )4
where
 1 2
 3 2  4 2    1 ft 
( )1 (
Iy
2
) 2
= 105.676 × 10−3 lb ⋅ s 2 /ft  ( 3) + ( 4 )  +   +     in 2 ×  
12    2 
  2     12 in. 
= 6.1155 × 10−3 lb ⋅ ft ⋅ s 2
2
1  1 ft 
( I y )2 = ( 26.419 × 10 −3
) 2 2 2 2 
lb ⋅ s /ft  (1.5 ) + ( 2 )  + ( 0.75 ) + ( 5 )   in 2 × 
2
12     
 12 in. 
= 4.7854 × 10−3 lb ⋅ ft ⋅ s 2
  1 2
4 × 0.5    2  1 ft 
 2
16  1 2
( I y )3 = (5.1874 × 10 −3 2
)
lb ⋅ s /ft   −
4 9π 2 
2
12
2 
 ( 0.5 ) + (1.5 )  + ( 0.75 ) +  6 +    in × 
3π   

       12 in. 
= 1.41785 × 10−3 lb ⋅ ft ⋅ s 2
  1 2  2
16  2  4 × 1.4  2  2  1 ft 
( I y )4 = (10.8451 × 10 −3 2
lb ⋅ s /ft   −)  (1.4 )  +  3 −
2 9π 2  3π 
 + ( 2 )   in ×  
       12 in. 
= 0.78438 × 10−3 lb ⋅ ft ⋅ s 2
continued
Then I y = ( 6.1155 + 4.7854 + 1.41785 − 0.78438 ) × 10−3  lb ⋅ ft ⋅ s 2
= 11.5344 × 10−3 lb ⋅ ft ⋅ s 2
or I y = 11.53 × 10−3 lb ⋅ ft ⋅ s 2
(c) Have I z = ( I z )1 + ( I z )2 + ( I z )3 − ( I z )4
where
 1  3 2  1 2   2  1 ft 2
( I z )1 = (105.676 × 10 −3 2
)  2 2
lb ⋅ s /ft  ( 3) + (1)  +   +     in ×  
12    2   2     12 in. 
 
= 2.4462 × 10−3 lb ⋅ ft ⋅ s 2
 1  1.5 2  1 2   2  1 ft 2
( z )2
I = (
26.419 × 10 −3
lb ⋅ s 2
/ft )
 ( )1.5
2
+ 1
2
( )    +     in × 
+ 
12  2   2     12 in. 
= 0.198754 × 10−3 lb ⋅ ft ⋅ s 2
2
1  1 ft 
( I z )3 (
= 5.1874 × 10 −3 2
)12 
2 2
 
2 2 
lb ⋅ s /ft  3 ( 0.5 ) + (1.5)  + ( 0.75) + ( 0.5 )   in 2 × 
 
 12 in. 
= 0.038275 × 10−3 lb ⋅ ft ⋅ s 2
  1 2  2
16  1 2  4 × 1.4  2  2  1 ft 
( I z )4 (
= 10.8451 × 10 −3 2
)
lb ⋅ s /ft   −
4 9π 2 
2
 (1.4 ) + ( 0.4 )  +  3 −
12 3π 
 + ( 0.8 )   in ×  
 12 in. 
     
= 0.49543 × 10−3 lb ⋅ ft ⋅ s 2
Then I z = ( 2.4462 + 0.198754 + 0.038275 − 0.49543) × 10 −3  lb ⋅ ft ⋅ s 2
= 2.1878 × 10−3 lb ⋅ ft ⋅ s 2 or I z = 2.19 × 10−3 lb ⋅ ft ⋅ s 2

Have m = ρL
Then m1 = ( 0.049 kg/m )  2π ( 0.32 m ) 
= 0.09852 kg
m2 = m3 = m4 = m5
= ( 0.049 kg/m )( 0.160 m ) = 0.00784 kg
Using the equation given above and the parallel axis theorem, have
I x = ( I x )1 + ( I x )2 + ( I x )3 + ( I x )4 + ( I x )5
 1  2  1  2
= ( 0.09852 kg )   ( 0.32 m )  + ( 0.00784 kg )   ( 0.160 m ) 
 2    3  
+ ( 0.00784 kg ) 0 + ( 0.160 m ) 
2
 
 1 
+ ( 0.00784 kg )   ( 0.16 m ) + ( 0.08 m ) + ( 0.32 m ) 
2 2 2
  12  
1
+ ( 0.00784 kg )  ( 0.16 m ) + ( 0.16 m ) + ( 0.32 m − 0.08 m ) 
2 2 2
12 
= ( 5.0442 + 0.06690 + 0.2007 + 0.86972 + 0.66901) × 10−3  kg ⋅ m 2
= 6.8505 × 10−3 kg ⋅ m 2 or I x = 6.85 × 10−3 kg ⋅ m 2
continued
Have Iy = (Iy ) + (Iy ) + (Iy ) + (Iy ) + (Iy )

1 2 3 4 5
where (I ) = (I )
y 2 y 4 and (I ) = (I )
y 3 y 5
I y = ( 0.09852 kg ) ( 0.32 m )  + 2 ( 0.00784 kg ) 0 + ( 0.32 m ) 

2 2
Then
   
1 2
+ 2 ( 0.00784 kg )  ( 0.16 m ) + ( 0.24 m ) 
2
12 
= 10.088 + 2 ( 0.80282 ) + 2 ( 0.46831)  × 10−3 kg ⋅ m 2
= 12.6303 × 10−3 kg ⋅ m 2
or I y = 12.63 × 10−3 kg ⋅ m 2
By symmetry Iz = Ix or I z = 6.85 × 10−3 kg ⋅ m 2
continued
To the Instructor:
The following formulas for the mass moment of inertia of wires are derived or summarized at this time for use
in the solutions of Problems 9.148–9.150.
Slender Rod
1
Ix = 0 I y′ = I z′ = mL2 (Fig. 9.28)
12
1 2
I y = Iz = mL (Sample Problem 9.9)
3
Circle
Have I y = ∫ r 2dm = ma 2
Now Iy = Ix + Iz
And symmetry implies Ix = Iz

1 2
∴ Ix = Iz = ma
2
Semicircle
Following the above arguments for a circle, have
1 2
I x = Iz = ma I y = ma 2
2
Using the parallel-axis theorem
2a
I z = I z′ + mx 2 x=
π
1 4 
or I z′ = m  − 2  a 2
2 π 
Have m = ρV = ρ AL
Then
( ) 2
m1 = m2 = 7850 kg/m 3 π ( 0.0015 m )  × (π × 0.36 m )
 
m2 = m1 = 0.062756 kg
( ) 2
m3 = m4 = 7850 kg/m 3 π ( 0.0015 m )  × ( 0.36 m )
 
= 0.019976 kg
Using the equations given above and the parallel axis theorem, have
I x = ( I x )1 + ( I x )2 + ( I x )3 + ( I x )4
where ( I x )3 = ( I x ) 4
Then
1 2 1 2 2
I x = ( 0.062756 kg )  ( 0.36 m )  + ( 0.062756 )  ( 0.36 m ) + ( 0.36 m ) 
2  2 
1 2 2 2
+ 2 ( 0.019976 kg )  ( 0.36 m ) + ( 0.18 m ) + ( 0.36 m ) 
 12 
=  4.06659 + 12.19977 + 2 ( 3.45185 )  × 10−3 kg ⋅ m 2
= 23.1701 × 10−3 kg ⋅ m 2
or I x = 23.2 × 10−3 kg ⋅ m 2
Have Iy = Iy ( )1 + ( I y )2 + ( I y )3 + ( I y )4
where ( I y )1 = ( I y )2 and ( I y )3 = ( I y )4
continued
` Then
2 2
I y = 2 ( 0.062756 kg ) ( 0.36 m )  + 2 ( 0.019976 kg ) 0 + ( 0.36 m ) 
   
( ) (
= 2 8.13318 × 10−3 kg ⋅ m 2 + 2 2.58889 × 10−3 kg ⋅ m 2 )
= 21.44414 × 10−3 kg ⋅ m 2
or I y = 21.4 × 10−3 kg ⋅ m 2
Have
I z = ( I z )1 + ( I z )2 + ( I z )3 + ( I z )4
where ( I z )3 = ( I z )4
Then
1 2
I z = ( 0.062756 kg )  ( 0.36 m ) 
2 
 1 2
4  2  2 × 0.36 m  2
+ ( 0.062756 kg )  − 2  ( 0.36 m ) +   + ( 0.36 m ) 
 2 π   π  
1 2
+ 2 ( 0.019976 kg )  ( 0.36 m ) 
 3 
=  4.06659 + 12.1998 + 2 ( 0.86296 )  10−3 kg ⋅ m 2
= 17.9923 × 10−3 kg ⋅ m 2
or I z = 17.99 × 10−3 kg ⋅ m 2
First compute the mass of each component. Mass of each component is

indentical
m=
( m/L ) L
g
Have =
( 0.041 lb/ft )(1.5 ft )
32.2 ft/s 2
= 0.00190994 lb ⋅ s 2 /ft
Using the equations given above and the parallel axis theorem, have
( I x )1 = ( I x )3 = ( I x )4 = ( I x )6 and ( I x ) 2 = ( I x )5
Then I x = 4 ( I x )1 + 2 ( I x )2
1
( ) 2
I x = 4 0.00190994 lb ⋅ s 2 /ft  (1.5 ft ) 
3 
( ) 2
+ 2 0.00190994 lb ⋅ s 2/ft 0 + (1.5 ft ) 
 
= 0.0143246 lb ⋅ ft ⋅ s 2
or I x = 14.32 × 10−3 lb ⋅ ft ⋅ s 2
Now ( I y )1 = 0 ( I y )2 = ( I y )6 ( I y )4 = ( I y )5
continued
Then
Iy = 2 Iy( )2 + ( I y )3 + 2 ( I y )4
   1  2
( ) 2
= 0.0019094 lb ⋅ s 2 /ft   2   (1.5 ft )  + 0 + (1.5 ft ) 
3  
    
1 2 2 2 
+ 2  (1.5 ft ) + (1.5 ft ) + ( 0.75 ft )  
 12 
= 0.0019094 (1.5 + 2.25 + 6 ) lb ⋅ ft ⋅ s 2 = 0.0186219 lb ⋅ ft ⋅ s 2
I y = 18.62 × 10−3 lb ⋅ ft ⋅ s 2
By symmetry Iz = I y
I z = 18.62 × 10−3 lb ⋅ ft ⋅ s 2
m1 = 105.676 × 10−3 lb ⋅ s 2 /ft m3 = 5.1874 × 10 −3 lb ⋅ s 2/ft
m2 = 26.419 × 10−3 lb ⋅ s 2/ft m4 = 10.8451 × 10 −3 lb ⋅ s 2/ft
First note that symmetry implies I x′y′ = I y′z ′ = I z ′x′ = 0 for each component
0
Now I uv = I u′v′ + mu v = mu v
so that ( Iuv )body = Σmu v
 1.5  0.5   0.75  0.5 

Then (
I xy = Σmx y = 105.676 × 10−3 lb ⋅ s 2 /ft  )
ft 
 12  12 
(
ft  + 26.419 × 10−3 lb ⋅ s 2 /ft 
 12
ft  )
ft 
 12 
(
+ 5.1874 × 10 −3 lb ⋅ s 2 /ft )
 0.75  0.5 
ft  ft 
 12  12 
 4 × 1.4 in.   1 ft    0.8 

( )
− 10.8451 × 10−3 lb ⋅ s 2 /ft  3 in. −
3π
   ft 
  12 in.    12 

= ( 550.40 + 68.799 + 13.5089 − 144.952 ) × 10−6 lb ⋅ ft ⋅ s 2
= 487.76 × 10−6 lb ⋅ ft ⋅ s 2
or I xy = 0.488 × 10−3 lb ⋅ ft ⋅ s 2
continued

lb ⋅ s 2
m1 = 37.267 × 10−3
ft
lb ⋅ s 2
m2 = 22.360 × 10−3
ft
lb ⋅ s 2
m3 = 7.9028 × 10−3
ft
lb ⋅ s 2
m4 = 3.6587 × 10−3
ft
Have I uv = I u′v′ + mu v
Symmetry implies I x′y′ = I y′z ′ = I z ′x′ = 0
for each element.
∴ I uv = ∑ miui v i
Then:
2
 lb ⋅ s 2   1 ft 
I xy =  37.267 × 10−3  ( 2 in.)( 0.5 in.)  
 ft   12 in. 
2
 lb ⋅ s 2   1 ft 
+  22.360 × 10−3  (1 in.)(1.6 in.)  
 ft   12 in. 
2
 lb ⋅ s 2   4 × 0.9   1 ft 
+  7.9028 × 10−3  (1 in.)  2.2 +  in. ×  
 ft   3π   12 in. 
2
 lb ⋅ s 2   4 × 0.5   1 ft 
+  3.6587 × 10−3  ( 3.5 in.) 1 +  in. ×  
 ft   3π   12 in. 
continued
(
= 258.80 × 10−6 + 248.44 × 10−6 + 141.700 × 10−6 + 107.80 × 10−6 lb ⋅ ft ⋅ s 2 )
= 757 × 10−6 lb ⋅ ft ⋅ s 2
I xy = 757 × 10−6 lb ⋅ ft ⋅ s 2
2
 lb ⋅ s 2   1 ft 
I yz =  37.267 × 10−3  ( 0.5 in.)(1.5 in.)  
 ft   12 in. 
2
 lb ⋅ s 2   1 ft 
+  22.360 × 10−3  (1.6 in.)(1.5 in.)  
 ft   12 in. 
2
 lb ⋅ s 2   4 × 0.9   1 ft 
+  7.9028 × 10−3   2.2 +  in. × (1.5 in.)  
 ft   3π   12 in. 
2
 lb ⋅ s 2   4 × 0.5   1 ft 
+  3.6587 × 10−3  1 +
  in. × (1.5 in.) ×  
 ft   3π   12 in. 
(
= 194.099 × 10−6 + 372.67 × 10−6 + 212.55 × 10−6 + 46.199 × 10 −6 lb ⋅ ft ⋅ s 2 )
−6 2
= 826 × 10 lb ⋅ ft ⋅ s
I yz = 826 × 10−6 lb ⋅ ft ⋅ s 2
2
 lb ⋅ s 2   1 ft 
I zx =  37.267 × 10−3  (1.5 in.)( 2 in.)  
 ft   12 in. 
2
 lb ⋅ s 2   1 ft 
+  22.360 × 10−3  (1.5 in.)(1 in.)  
 ft   12 in. 
2
 lb ⋅ s 2   1 ft 
+  7.9028 × 10−3  (1.5 in.)(1 in.)  
 ft   12 in. 
2
 lb ⋅ s 2   1 ft 
+  3.6587 × 10−3  (1.5 in.)( 3.5 in.)  
 ft   12 in. 
(
= 776.40 × 10−6 + 232.92 × 10−6 + 82.321 × 10−6 + 133.390 × 10−6 lb ⋅ ft ⋅ s 2 )
= 1.225 × 10−3 lb ⋅ ft ⋅ s 2
I zx = 1.225 × 10−3 lb ⋅ ft ⋅ s 2
Have m = ρalV
 kg 
Then m1 =  2700 3  ( 0.350 × 0.100 × 0.030 ) m 3
 m 
= 2.8350 kg
 kg 
m2 =  2700 3  ( 0.200 × 0.100 × 0.050 ) m 3
 m 
= 2.7000 kg
 kg  2
m3 =  2700 3  π ( 0.025 ) × 0.100  m3
 m   
= 0.53014 kg
First note that symmetry implies I x′y′ = I y′z ′ = I z ′x′ = 0 for each component
Now I uv = I u ′v′ + mu v
where I u′v′ = 0
I xy = Σmx y = ( 2.8350 kg )( 0.175m )( 0.050 m )
+ ( 2.7000 kg )( 0.100 m )( 0.050 m ) − ( 0.53014 kg )( 0.080 m )( 0.050 m )
= ( 24.806 + 13.500 − 2.1206 ) × 10 −3 kg ⋅ m 2 = 36.1854 × 10 −3 kg m 2
or I xy = 36.2 × 10−3 kg ⋅ m 2
I yz = Σmy z = ( 2.8350 kg )( 0.050 m )( 0.015m )
+ ( 2.7000 kg )( 0.050 m )( 0.055m ) − ( 0.53014 kg )( 0.050 m )( 0.040 m )

= ( 2.1263 + 7.4250 − 1.06028 ) × 10−3 kg ⋅ m 2 = 8.49102 × 10 −3 kg ⋅ m 2
or I yz = 8.49 × 10−3 kg ⋅ m 2
continued
I zx = Σmz x = ( 2.8350 kg )( 0.015m )( 0.175m )
+ ( 2.7000 kg )( 0.055m )( 0.100 m ) − ( 0.53014 kg )( 0.040 m )( 0.080 m )
= ( 7.4419 + 14.850 − 1.69645 )10−3 kg ⋅ m 2 = 20.59545 × 10 −3 kg ⋅ m 2
or I zx = 20.6 × 10−3 kg ⋅ m 2
Have m = ρV
Then ( )
m1 = 2700 kg/m 3 ( 0.118 × 0.036 × 0.044 ) m 3 = 0.50466 kg
π
( 2
) 2 
m2 = 2700 kg/m 3  ( 0.022 ) × 0.036  m 3 = 0.07389 kg

( )
m3 = 2700 kg/m 3 ( 0.028 × 0.022 × 0.024 ) m 3 = 0.03992 kg
Now observe that I x′y′ , I y′z ′ and I z′x′ are zero because of symmetry
 4 × 0.022 
Now x2 = −  0.118 +  m = −0.12734 m
 3π 
 0.022 
y3 =  0.036 −  m = 0.025 m
 2 
m, kg x, m y, m z, m mx y kg ⋅ m 2 my z kg ⋅ m 2 mz x kg ⋅ m 2
1 0.50466 −0.059 0.018 0.022 −0.53595 × 10−3 0.19985 × 10 −3 −0.65505 × 10−3

2 0.07389 −0.12734 0.018 0.022 −0.16932 × 10−3 0.02926 × 10 −3 −0.20695 × 10 −3
3 0.03992 − 0.014 0.025 0.026 −0.01397 × 10−3 0.02594 × 10 −3 −0.01453 × 10 −3
continued
And
0
(
I xy = Σ I x′y′ + mx y )
0
(
I yz = Σ I y′z′ + my z )
0
I zx = Σ ( I z′x′ + mx z )
Finally ( )1 + ( I xy )2 − ( I xy )3 = −0.6913 × 10−3 kg ⋅ m 2

I xy = I xy
or I xy = −0.691 × 10−3 kg ⋅ m 2
( )1 + ( I yz )2 − ( I yz )3 = 0.20317 × 10−3 kg ⋅ m 2
I yz = I yz
or I yz = 0.203 × 10−3 kg ⋅ m 2
I zx = ( I zx )1 + ( I zx )2 − ( I zx )3 = −0.84747 × 10−3 kg ⋅ m 2
or I zx = −0.848 × 10−3 kg ⋅ m 2
Have m = ρV
= ρ tA
 kg 
Then m1 =  7860 3  ( 0.003 m )( 0.2 × 0.090 ) m 2
 m 
= 424.44 × 10−3 kg
 kg  π 2
m2 =  7860 3  ( 0.003 m ) × ( 0.045 m )
 m  2
= 75.005 × 10−3 kg
Now I uv = I u′v′ + m u v
Symmetry implies I x′y′ = I y′z ′ = I z ′x′ = 0 for both elements.
∴ Iuv = ∑ miui v i
Then ( ) ( )
I xy = 424.44 × 10−3 kg ( 0.050 m )( 0.045 m ) + 75.005 × 10 −3 kg ( − 0.050 m )( 0.045 m )
(
= 954.99 × 10−6 − 168.761 × 10−6 kg ⋅ m 2 )
= 786 × 10−6 kg ⋅ m 2
I xy = 786 × 10−6 kg ⋅ m 2
continued
 4 × 0.045 
( ) (
I yz = 424.44 × 10−3 kg ( 0.045 m )( 0 ) + 75.005 × 10−3 kg ( 0.045 m ) 

)
3π
m

= 64.5 × 10−6 kg ⋅ m 2
I yz = 64.5 × 10−6 kg ⋅ m 2
 4 × 0.045 
( ) (
I zx = 424.44 × 10−3 kg ( 0 )( 0.050 m ) + 75.005 × 10−3 kg 
 3π
)
m  ( − 0.050 m )

= − 71.6 × 10−6 kg ⋅ m 2 I zx = − 71.6 × 10−6 kg ⋅ m 2

Have m = ρstV = ρst tA
Then m1 = ( 7860 kg/m 3 ) ( 0.003)( 0.08 )( 0.09 )  m 3
= 0.169776 kg
 1 
m2 = 7860 kg/m 3 ( 0.003)  × 0.09 × 0.036   m 3
 2 
= 0.03820 kg
Now observe that
(I ) = (I ) = (I )
x′y ′
1
y ′z ′
1
z ′x′
1
=0
(I ) = (I )
y ′z ′
2
z ′x′
2
=0
From Sample Problem 9.6 ( I x′y′ )2,area = − 721 b22 h22

 1 1
Then (I )
x′y ′ 2 ( )
= ρ sT t I x′y′
2,area  72

= ρst t  − b22 h22  = − m2 b2 h2
 36
 0.09 
Also x1 = y1 = z2 = 0 x2 =  −0.045 +  m = −0.015 m
 3 
continued
Finally
 1
( )
I xy = Σ I xy + mx y = ( 0 + 0 ) +  − ( 0.03820 kg )( 0.09 m )( 0.036 m )
 36
 0.036 m  
+ ( 0.03820 kg )( −0.015 m )  
 3 
( )
= −3.4379 × 10−6 − 6.876 × 10−6 kg ⋅ m 2 = −10.3139 × 10−6 kg ⋅ m 2
or I xy = −10.31 × 10−6 kg ⋅ m 2
And ( )
I yz = Σ I y′z ′ + m y z = ( 0 + 0 ) + ( 0 + 0 ) = 0 or I yz = 0
I zx = Σ ( I z ′x′ + m z x ) = ( 0 + 0 ) + ( 0 + 0 ) = 0 or I zx = 0

Have m = ρstV = ρst tA
Then m1 = ( 7860 kg/m3 ) ( 0.003)( 0.7 )( 0.78 )  m 3 = 12.875 kg
 π 
m2 = ( 7860 kg/m 3 ) ( 0.003)  × 0.392   m 3 = 5.6337 kg
  2 
 1 
m3 = ( 7860 kg/m 3 ) ( 0.003)  × 0.78 × 0.3   m 3 = 2.7589 kg
 2 
Now observe that because of symmetry the centroidal products of inertia
of components and are zero and I x′y′ ( )3 = ( I z′x′ )3 = 0
Also ( I y′z′ )3,mass = ρstt ( I y′z′ )3,area
Using the results of Sample Problem 9.6 and noting that the orientation of
the axes corresponds to a 90° rotation, have
( I y′z′ )3,area = 721 b32h32

Then
( I y′z′ )3 = ρstt  721 b32h32  = 361 m3b3h3

4 × 0.39 m
Also y1 = x2 = 0 y2 = = 0.16552 m
3π
Finally ( )
I xy = Σ I x′y′ + mx y = ( 0 + 0 ) + ( 0 + 0 )
  − 0.3m  
+ 0 + ( 2.7589 kg ) ( 0.7 m )    = −0.19312 kg ⋅ m
2
  3 
or I xy = −0.1931 kg ⋅ m 2
continued
(
I yz = Σ I y′z′ + my z )
= ( 0 + 0 ) + 0 + ( 5.6337 kg ) ( 0.16552 m )( 0.39 m ) 
1  −0.3 m  0.78 m  
+ ( 2.7589 kg )  ( 0.78 m )( 0.3 m ) +   
 36  3  3  
= ( 0.36367 + 0.017933 − 0.07173) kg ⋅ m 2 = 0.30987 kg ⋅ m 2
or I yz = 0.310 kg ⋅ m 2
( )
I zx = Σ I z ′x′ + mz x =  0 + (12.875 kg ) ( 0.35 m )( 0.39 m ) 
  0.78 m  
+ ( 0 + 0 ) + 0 + ( 2.7589 kg )   ( 0.7 m ) 
  3  
= (1.75744 + 0.50212 ) kg ⋅ m 2 = 2.25956 kg ⋅ m 2
or I zx = 2.26 kg ⋅ m 2
γ st
First note m = ρstV = tA
g
3
 490 lb/ft 3   1ft 
Then m1 =  2 (
0.08 in.) ( 6 × 3.6 ) in 2   
 32.2 ft/s   12in. 
= 15.2174 × 10−3 lb ⋅ s 2 /ft

3
 490 lb/ft 3  π 2   1 ft 
m2 =  2 (
0.08 in.)  (1.8 in.)   
 32.2 ft/s  2   12 in. 
= 3.5855 × 10−3 lb ⋅ s 2 /ft

3
 490 lb/ft 3  π 2   1 ft 
m3 =  2 (
0.08 in.)  ( 3.6 in.)   
 32.2 ft/s  4   12 in. 
= 7.1710 × 10−3 lb ⋅ s 2 /ft
Note that symmetry implies ( I x′y′ )1,2 = ( I y′z′ )1,2 = ( I z′x′ )1,2 = 0
(I ′ ′ ) = (I ′ ′ )
xy
3
yz
3
=0
Now I uv = I u′v′ + mu v
continued
Thus I xy = Σmx y
= m1x1 y1 − m2 x2 y2 + m3 x3 y3
0
 0.6  1.8 
= (15.2174 × 10−3 lb ⋅ s 2 /ft )  − ft  ft 
 12  12 
 4 × 1.8  1 ft   1.8 
− ( 3.5855 × 10−3 lb ⋅ s 2/ft )  2.4 −  in. ×  ft 
 3π  12 in.   12 
= ( −114.131 − 73.326 ) × 10−6 lb ⋅ ft ⋅ s 2 or I xy = −187.5 × 10−6 lb ⋅ ft ⋅ s 2

0 0 0
Now I yz = Σmy z = m1 y1 z1 − m2 y2 z2 + m3 y3 z3 or I yz = 0
Also I zx = ( I zx )1 − ( I zx )2 + ( I zx )3
0 0
= m1 z1x1 − m2 z2x2 + ( I zx )3
Now determine ( I zx )3
0
Have ( dI zx )3 = ( dI z′x′ )3 + z x dm
 x  γ 
= ( z )  −   st t x dz 
 2  g 
1 γ st
=−
2 g
(
tz a32 − z 2 dz )
γ st  π 
Now m3 = t  a32 
g 4 
γ st 4m3
or t =
g π a32
a
2m3 a 2 2m  1 1 
Therefore, ( I zx )3 =− 2 ∫0
π a3
( )
a3 z − z 3 dz = − 23  a32 z 2 − z 4 
π a3  2 4 0
1
=− m3a32
2π
2
1  3.6 
Finally I zx = −
2π
(
7.1710 × 10−3 lb ⋅ s 2 /ft  ft 
 12 
) or I zx = −102.7 × 10−6 lb ⋅ ft ⋅ s 2
wL
Have m=
g
w 3 
Then m1 = π × a 
g 2 
3π wa
=
2 g
w
m2 = ( 2a )
g
wa
=2
g
w
m3 = (π × a )
g
wa
=π
g
Symmetry implies I x′y′ = I y′z ′ = I z ′x′ = 0 for each element.
∴ Iuv = ∑ miui v i
 3π wa   3  2 3   wa  2 
Then I xy =    a  × a  +  π  ( 3a )  × a 
 2 g   2  π 2   g  π 
3
wa  27  w 3
=  + 6 I xy = 12.75 a
g  4  g
 3π wa   2 3   wa   2 × a 
I yz =    × a  ( 2a ) +  π  (− a)
 2 g  π 2   g  π 
wa3 wa3
= (9 − 2) I yz = 7
g g
 3π wa   3   wa   wa 
I zx =   ( 2a )  a  +  2  ( a )( 3a ) +  π  ( − a )( 3a )
 2 g  2   g   g 
wa3  9π  w 3
=  + 6 − 3π  I zx = 1.5 a (π + 4 )
g  2  g
First compute the mass of each component. Have

W 1
m= = wL
g g
w w
Then m1 = ( 2π × a ) = 2π a
g g
w w
m2 = (a) = a
g g
w w
m3 = ( 2a ) = 2 a
g g
w 3  w
m4 =  2π × a  = 3π a
g 2  g
Now observe that the centroidal products of inertia, I x′y′ , I y′z ′ , and I z′x′ , of each component are zero because
of symmetry.
continued
y z mx y my z mz x
m x
w −a w 3 w 3 w 3
1 2π a 2a a 4π a −2π a −4π a
g g g g
w 1 w 3
a a 0 a
2 2a 2 0 0
g g
w a w 3
3 2 a 2a 0 0 0 4 a
g g
w 3 w 3 w 3 w 3
3π a − a 2a −9π a −9π a 12π a
4
g
2a 2 g g g
w w 3 w
Σ (1 − 5π ) a3 −11π a 4 (1 + 2π ) a3
g g g
0 w 3
Then (
I xy = Σ I x′y′ + mx y ) or I xy =
g
a (1 − 5π )
w 3
I yz = Σ I y′z0′ + my z
( ) or I yz = −11π a
g
w 3
(
I zx = Σ I z′x0′ + mz x ) or I zx = 4
g
a (1 + 2π )
γ γ
First note m = ρV = V = AL
g g
Specific weight of aluminium = 0.10 lb/in 3 = 172.8 lb/ft 3

2
172.8 lb/ft 3  π  0.075  
Then m=   ft  L
32.2 ft/s 2  4  12  
( )
= 0.16464 × 10−3 L lb ⋅ s 2/ft 2
Now L1 = L4 = 12.5 in. = 1.04167 ft
m1 = m4 = 0.17150 × 10−3 lb ⋅ s 2 /ft
L2 = L5 = 9 in. = 0.75 ft
m2 = m5 = 0.12348 × 10−3 lb ⋅ s 2 /ft
L3 = L6 = 15 in. = 1.25 ft
m3 = m6 = 0.20580 × 10−3 lb ⋅ s 2 /ft
and I x′y′ = I y′z ′ = I z ′x′ = 0
continued
m, lb ⋅ s 2 /ft x , ft y , ft z , ft mx y, lb⋅ft ⋅s2 my z , lb ⋅ ft ⋅ s 2 m z x , lb ⋅ ft ⋅ s 2

1 0.17150 × 10−3 0.75 0.5208 0 0.06699 × 10−3 0 0
2 0.12348 × 10−3 0.375 1.04167 0 0.04823 × 10−3 0 0
3 0.20580 × 10−3 0 1.04167 0.625 0 0.13398 × 10−3 0
4 0.17150 × 10−3 0 0.5208 1.25 0 0.111646 × 10−3 0
5 0.12348 × 10−3 0.375 0 1.25 0 0 0.05788 × 10−3

6 0.20580 × 10−3 0.75 0 0.625 0 0 0.09647 × 10−3
Σ 0.11522 × 10−3 0.24563 × 10−3 0.15435 × 10−3
0
I xy = Σ ( I x′y′ + mx y ) = 0.115222 × 10−3 lb ⋅ ft ⋅ s 2
or I xy = 0.1152 × 10−3 lb ⋅ ft ⋅ s 2
I yz = Σ ( I y′z ′ + )
0 my z = 0.24563 × 10−3 lb ⋅ ft ⋅ s2
or I yz = 0.246 × 10−3 lb ⋅ ft ⋅ s 2
I zx = Σ ( I z ′x′ +0 mz x ) = 0.15435 × 10−3 lb ⋅ ft ⋅ s 2
or I zx = 0.1543 × 10−3 lb ⋅ ft ⋅ s 2
mring = 2π ( 0.5 m )(1.8 kg/m ) = 5.655 kg
mrod = ( 0.8 m )(1.8 kg/m ) = 1.44 kg
For each ring x = z = 0 and I x′y′ = I y′z′ = I z′x′ = 0, thus the mass product of inertia of the rings is
zero with respect to each pair of coordinate axes.
For each rod:
Since each rod lies in the x-y plane, I yz = I zx = 0
Thus for entire wire figure I yz = I zx = 0
(
I xy = ∑ I x′y′ + m x y ) where I x′y′ = 0
Hence I xy = ∑ mx y
= (1.44 kg )( − 0.5 m )( 0.4 m ) + (1.44 kg )( 0.5 m )( − 0.4 m )

= − 0.576 kg ⋅ m 2
I xy = − 0.576 kg ⋅ m 2
Have I xy = ∫ xydm I yz = ∫ yzdm I zx = ∫ zxdm (9.45)
and x = x′ + x y = y′ + y z = z′ + z (9.31)
Consider I xy = ∫ xydm
Substituting for x and for y

I xy = ∫ ( x′ + x )( y′ + y ) dm
= ∫ x′y′dm + y ∫ x′dm + x ∫ y′dm + x y ∫ dm
By definition I x′y′ = ∫ x′y′dm
and ∫ x′dm = mx ′
∫ y′dm = my ′
However, the origin of the primed coordinate system coincides with the mass center G, so that
x ′= y ′= 0
∴ I xy = I x′y′ + mx y Q.E.D.
The expressions for I yz and I zx are obtained in a similar manner.
(a) First divide the tetrahedron into a series of thin vertical slices of
thickness dz as shown.
a  z
Now x=− z + a = a 1 − 
c  c 
b  z
and y = − z + b = b 1 − 
c  c
The mass dm of the slab is
2
1  1  z
dm = ρ dV = ρ  xydz  = ρ ab 1 −  dz
2  2  c
c
2  c  3
1 c
 z 1 z 
Then m = ∫ dm = ∫ ρ ab 1 −  dz = ρ ab  − 1 −  
02  c 2  3  c  
0
1
= ρ abc
6
Now dI zx = dI z′x′ + z EL xEL dm
where dI z′x′ = 0 ( symmetry )
1 1  z
and z EL = z xEL = x = a 1 − 
3 3  c
2
c
1  z   1  z 
Then I zx = ∫ dI zx = ∫ z  a 1 −    ρ ab  1 −  dz 
0 3  c    2  c 
1 2 c z2 z3 z 4 
= ρ a b∫ 0  z − 3 + 3 2 − 3  dz
6  c c c 
c
m 1 z3 3 z 4 1 z5 
= a  z2 − + − 
c 2 c 4 c 2 5 c3  0
1
or I zx = mac
20
continued
(b) Because of the symmetry of the body, I xy and I yz can be deduced

by considering the circular permutation of ( x, y, z ) and ( a, b, c ) .
Thus
1
I xy = mab
20
1
I yz = mbc
20
Alternative solution for part a
First divide the tetrahedron into a series of thin horizontal slices of
thickness dy as shown.
a  y
Now x=− y + a = a 1 − 
b  b 
c  y
and z =− y + c = c 1 − 
b  b
The mass dm of the slab is
2
1  1  y
dm = ρ dV = ρ  xzdy  = ρ ac 1 −  dy
2  2  b
Now dI zx = ρ tdI zx, Area
where t = dy
1 2 2
and dI zx, Area = x z from the results of Sample Problem 9.6
24
 1   2
y   
2
y   
Then dIzx = ρ ( dy )   a 1 −   c 1 −   
 24   b    b  

4 4
1  y 1m  y
= ρ a 2c 2 1 −  dy = ac 1 −  dy
24  b 4 b  b
4
1m 
b y
Finally I zx = ∫ dI zx =∫ 0
ac 1 −  dy
4b  b
b
5
1 m  b  y 
= ac  −  1 −  
4 b  5  b  0
1
or I zx = mac
20
continued
Alternative solution for part a

The equation of the included face of the tetrahedron is
x y z
+ + =1
a b c
 x z
so that y = b 1 − − 
 a c
For an infinitesimal element of sides dx, dy, and dz
dm = ρ dV = ρ dydxdz
 z
From part a x = a 1 − 
 c
Now
I zx = ∫ zxdm = ∫ 0 ∫ 0 ( ) b(1− ax − cz ) zx ( ρ dydxdz )

c a 1− cz
∫0
= ρ∫0 ∫0 ( ) zx b (1 −
a 1− cz
c

x
a
− z
c ) dxdz
(
a 1− cz )
c 1 1 x3 1 z 2 
2
= ρ b∫ 0 
z x − − x  dz
2 3 a 2 c 0
2 3 2
c 1  z 1 3 z 1 z 2 z 
= ρ b∫ 0 z  a 2 1 −  − a 1 −  − a 1 −   dz
 2  c 3a  c 2c  c  
3
c 1 2  z
= ρ b∫ 0 a z 1 −  dz
6  c
1 2 c z2 z3 z 4 
= ρ a b∫ 0  z − 3 + 3 2 − 3  dz
6  c c c 
c
m 1 z3 3 z 4 1 z5 
= a  z2 − + − 
c 2 c 4 c 2 5 c3  0
1
or I zx = mac
20
1 2
From Figure 9.28 Iy = ma
2
and using the parallel-axis theorem
2
1 h 1
Ix = Iz =
12
( )
m 3a 2 + h 2 + m   =
2 12
m 3a 2 + 4h 2 ( )
Symmetry implies I xy = I yz = I zx = 0
For convenience, let point A lie in the yz plane. Then

1
λOA = ( hj + a k )
h + a2
2
With the mass products of inertia equal to zero, Equation (9.46) reduces
to
0
I OA = I xλx2 + I yλ y2 + I z λz2
2 2
1  h  1  a 
= ma 2 
2  2 2
 +
12
(
m 3a 2 + 4h 2 ) 
2 2

 h +a   h +a 
1 10h 2 + 3a 2
or I OA = ma 2 2
12 h + a2
Note: For point A located at an arbitrary point on the perimeter of the top
surface, λOA is given by
1
λOA = ( a cos φ i + hj + a sin φ k )
h2 + a 2
which results in the same expression for I OA
2
3  2 2 9
First note that dOA =  a  + ( −3a ) + ( 3a ) = a
 2  2
1 3  1
Then λ OA = ai − 3aj + 3ak  = ( i − 2 j + 2k )
9  2  3
a
2
For a rectangular coordinate system with origin at point A and axes aligned with the given x, y, z axes, have
(using Figure 9.28)
3 1 2 2 3
Ix = Iz = m  a + ( 3a )  Iy = ma 2
5 4  10
111 2
= ma
20
Also, symmetry implies I xy = I yz = I zx = 0
With the mass products of inertia equal to zero, Equation (9.46) reduces to
I OA = I xλx2 + I yλ y2 + I z λz2
2 2 2
111 2  1  3  2 111 2  2 
= ma   + ma 2  −  + ma  
20 3
  10  3  20 3
193 2
= ma
60
or I OA = 3.22ma 2

0.284 lb/in 3
Have m = ρstV =
32.2 ft/s 2 (
V = 0.008819 lb ⋅ s 2 /ft ⋅ in 3 V )
Then
m1 = 0.008819 lb ⋅ s 2 /ft ⋅ in 3 π ( 4 in.) ( 2 in.)  = 0.88667 lb ⋅ s 2 /ft

2
 
m2 = 0.008819 lb ⋅ s 2 /ft ⋅ in 3 π (1 in.) ( 3 in.)  = 0.083125 lb ⋅ s 2 /ft

2
 
m3 = 0.008819 lb ⋅ s 2 /ft ⋅ in 3 π (1 in.) ( 2 in.)  = 0.055417 lb ⋅ s 2 /ft

2
 
Symmetry implies I yz = I zx = 0 ( I xy )1 = 0
and ( I x′y′ )2 = ( I x′y′ )3 = 0
Now
( )
I xy = Σ I x′y′ + mx y = m2 x2 y2 − m3 x3 y3
 1 ft 2 
= ( 0.083125 lb ⋅ s 2 /ft ) ( 2 in.)(1.5 in.)  ×  2 
 144 in 
 1 ft 2 
− ( 0.055417 lb ⋅ s 2 /ft ) ( −2 in.)( −1 in.)  ×  2 
 144 in 
= 0.96209 × 10−3 lb ⋅ ft ⋅ s 2
I x = 34.106 × 10−3 lb ⋅ ft ⋅ s 2
I y = 50.125 × 10−3 lb ⋅ ft ⋅ s 2
I z = 34.876 × 10−3 lb ⋅ ft ⋅ s 2
continued
1
By observation λ OA = ( 2i + 3j)
13
Then
0 0 0
I OA = I xλx2 + I y λ y2 + I z λz2 − 2I xy λxλ y − 2I yz λ y λz − 2I zxλz λx
2
 2 
(
= 34.106 × 10−3 lb ⋅ ft ⋅ s 2  ) 
 13 
2
 3 
(
+ 50.125 × 10−3 lb ⋅ ft ⋅ s 2  )
 13 
 2  3 
(
− 2 0.96209 × 10−3 lb ⋅ ft ⋅ s 2  ) 
 13  13 
= (10.4942 + 34.7019 − 0.8881) × 10−3 lb ⋅ ft ⋅ s 2
= 44.308 × 10−3 lb ⋅ ft ⋅ s 2
or I OA = 44.3 × 10−3 lb ⋅ ft ⋅ s 2
From Problem 9.147: I x = 9.8821 × 10−3 lb ⋅ ft ⋅ s 2
I y = 11.5344 × 10−3 lb ⋅ ft ⋅ s 2
I z = 2.1878 × 10−3 lb ⋅ ft ⋅ s 2
Problem 9.151: I xy = 0.48776 × 10−3 lb ⋅ ft ⋅ s 2
I yz = 1.18391 × 10−3 lb ⋅ ft ⋅ s 2
I zx = 2.6951 × 10−3 lb ⋅ ft ⋅ s 2
Now λ x = λ y = λz
and λx2 + λ y2 + λz2 = 1
Therefore, 3λx2 = 1
1
or λx = λ y = λz =
3
Equation 9.46
I OL = I xλx2 + I y λ y2 + I z λz2 − 2 I xy λxλ y − 2I yz λ y λz − 2I zxλz λx
 2 2 2
 1   1   1   1  1 
= 9.8821  + 11.5344   + 2.1878   − 2 ( 0.48776 )   
  3  3  3  3  3 
 1  1  
− 2 (1.18391)  1  1 
  − 2 ( 2.6951)  
−3
  × 10 lb ⋅ ft ⋅ s
2
 3  3   3  3  
= 4.95692 × 10−3 lb ⋅ ft ⋅ s 2
or I OL = 4.96 × 10−3 lb ⋅ ft ⋅ s 2
1W
First note that m1 = m2 =
2 g
1
And that λ OA = (i + j + k )
3
Using Figure 9.28 and the parallel-axis theorem have
I x = ( I x )1 + ( I x )2
 1 1W 2
 2 1W a
=  a +   
12  2 g  2 g 2 
 1  1 W  2 1W  a 2  a 2  
+  2
(
 a +a + )   +    
12  2 g  2 g  2   2   
1 W  1 1 1 1  1W 2
=  +  a2 +  +  a2  = a
2 g  12 4  6 2  2 g
Iy = Iy ( )1 + ( I y )2
 1  1 W  1W  a 2  a 2  
= 
12 2 g
2 2
(
 a +a +
2 g
)   +    
 2   2   
  
 2 1 W  2  a   
2
 1  1 W
+   a +  ( a ) +   
12  2 g  2 g   2   
1 W  1 1  2  1 5  W 2
=  +  a +  +  a2  = a
2 g  6 2   12 4   g
continued
I z = ( I z )1 + ( I z )2
 1 1W 2
 2 1W a
=  a +   
12  2 g  2 g 2 
 1  1 W  2 1W  2  a 2  
+  a + ( a ) +    
12  2 g  2 g   2   
1 W  1 1  1 5  5W 2
=  +  a2 +  +  a2  = a
2 g  12 4   12 4   6 g
Now observe that the centroidal products of inertia, I x′y′ , I y′z ′ , and I z′x′ ,
of both components are zero because of symmetry. Also, y1 = 0
0 1W a 1W 2
Then ( )
I xy = Σ I x′y′ + mx y = m2 x2 y2 = ( a )   = a
2 g   4 g
2
1W  a  a  1 W 2
( )
I yz = Σ I y′z′ +0my z = m2 y2z2 =
2 g
   =
 2  2  8 g
a
0
( )
I zx = Σ I z ′x′ + mz x = m1z1x1 + m2 z2 x2
1W  a  a  1 W a 3W 2
=    +  (a) = a
2 g  2  2  2 g 2 8 g
Substituting into Equation (9.46)
I OA = I xλx2 + I y λ y2 + I z λz2 − 2I xy λxλ y − 2I yz λ y λz − 2I zxλz λx
Noting that
1
λx2 = λ y2 = λz2 = λxλ y = λ yλz = λz λx =
3
Have
1 1 W 2 W 2 5 W 2
I OA =  a + a + a
3 2 g g 6 g
 1 W 2 1 W 2 3 W 2 
− 2 a + a + a 
4 g 8 g 8 g 
1 14  3  W 2
=  − 2   a
3 6  4  g
5 W 2
or I OA = a
18 g
Have m = ρV = ρ tA
1
Then m1 = ρ ta 2 m2 = ρ ta 2
2
Compute moments and moments of inertia with respect to point A
Now
I x′′ = ( I x′′ )1 + ( I x′′ )2
 1   a  2 2 
 1   2 2  
2  2  1 2 
= ρ ta  a 2  +   + ( a )   + ρ ta   a  +  a   
12   2    2 18   3   
   
19
= ρ ta 4
12
( )1 + ( I y′′ )2
I y′′ = I y′′
  1   a 2 2 

= ρ ta 2   a 2  +   + ( a )  
 12   2   
1 2 1  2 2
 a 2  2a 2  
+ ρ ta   a + a  +   +    
2 18  3   3   
5
= ρ ta 4
3
I z ′′ = ( I z ′′ )1 + ( I z′′ )2
1  1 1 

(  2
)
= ρ ta 2  a 2 + a 2  + ρ ta 2  a 2 
3 6 
3
= ρ ta 4
4
Now note symmetry implies ( I x′y′ )1 = ( I y′z′ )1 = ( I z′x′ )1 = 0
( I x′y′ )2 = ( I y′z′ )2 = 0
continued
0  a  a  1
Therefore I x′′y′′ = m1x1′′ y1′′ + m2 x2′′ y2′′ = ρ ta 2    = ρ ta 4
 2  2  4
0 a 1
I y′′z′′ = m1 y ″1 z ″1 + m2 y2′′ z′′2 = ρ ta 2   ( −a ) = − ρ ta 4
2 2
( )2 + m2 z ″2 x ″2 
I z′′x′′ = m1z ″1 x ″1 +  I z ′x′

1
From Sample Problem 9.6 ( I z′x′ )  = − a4
 2  area
72
1
Then ( I z′′x′′ )2 = ρ t ( I z′x′ )2  area =−
72
ρ ta 4
a
Then I z′′x′′ = ρ ta 2 ( − a )  
2
 1 1  2  1  
+  − ρ ta 4 + ρ ta 2  − a  a 
 72 2  3  3  
5
= − ρ ta 4
8
1
By observation λ AB = (i + j − k )
3
Now, Equation 9.46
I AB = I x′′λx2′′ + I y′′λ y2′′ + I z′′λz2′′ − 2I x′′y′′λx′′y′′ − 2I y′′z′′λ y′′λz′′ − 2I z′′x′′λz′′λx′′
 19  1 2 5  1 2 3  1 2
4
= ρ ta    +   + − 
 12  3  3 3  4 3
 1   1  1   1   1  1 
− 2    − 2 −   − 
4
   3  3   2   3  3
 5   1  1  
− 2 −  −  
 8  3  3  
5
or I AB = ρ ta 4
12
From Problem 9.138: I x = 4.212 kg ⋅ m 2
I y = 7.407 kg ⋅ m 2
I z = 3.7055 kg ⋅ m 2
From Problem 9.157: I xy = −0.19312 kg ⋅ m 2
I yz = 0.30987 kg ⋅ m 2
I zx = 2.25956 kg ⋅ m 2
1
Now λ OL = ( −4i + 8j + k )
9
Eq. (9.46): I OL = I xλx2 + I y λ y2 + I z λz2 − 2 I xy λxλ y − 2I yz λ y λz − 2I zxλz λx
 2 2 2
 4 8 1
=  4.212  −  + 7.407   + 3.7055  
  9 9 9
 4  8   8  1 
− 2 ( −0.19312 )  −   − 2 ( 0.3098 )   
 9  9   9  9 
 1  4  
− 2 ( 2.25956 )   −  kg ⋅ m 2
 9  9  
= ( 0.832 + 5.85244 + 0.04575 − 0.15259 − 0.061195 + 0.22317 ) kg ⋅ m 2
= 6.73957 kg ⋅ m 2
I OL = 6.74 kg ⋅ m 2
Mass of each leg is identical:

 W /L 
m= L
 g 
0.041 lb/ft (1.5 ft )
= 2
= 0.00190994 lb ⋅ s 2 /ft
32.2 ft/s
Also, I x′y′ = I y′z′ = I z′x′ = 0 for each leg,
and x1 = x6 = 0 y4 = y5 = y6 = 0 z1 = z2 = z3 = 0
0
Now ( )
I xy = Σ I x′y′ + mx y = m2 x2 y2 + m3x3 y3
( )
= 0.00190994 lb ⋅ s 2 /ft ( 0.75 )(1.5 ) + (1.5 )( 0.75 )  ft 2
= 0.0042974 lb ⋅ ft ⋅ s 2
= 4.2974 × 10−3 lb ⋅ ft ⋅ s 2
I yz = 0
I zx = Σ ( I z′x′ + mz x ) = m4z4 x4 + m5z5 x5
( )
= 0.00190994 lb ⋅ s 2 /ft ( 0.75 )(1.5 ) + (1.5 )( 0.75 )  ft 2
= 0.0042974 lb ⋅ ft ⋅ s 2
= 4.2974 × 10−3 lb ⋅ ft ⋅ s 2
continued
From Problem 9.150 I x = 14.32 × 10−3 lb ⋅ ft ⋅ s 2
I y = I z = 18.62 × 10−3 lb ⋅ ft ⋅ s 2
1
Now λ OL = ( −3i − 6 j + 2k ) and then
7
0
I OL = I xλx2 + I y λ y2 + I z λz2 − 2I xy λxλ y − 2I yz λ y λz − 2I zxλz λx  Eq. ( 9.46 ) 
  2
 −6 2  2 2 
(  3
) (
=   14.32 × 10−3  −  + 18.62 × 10−3
 7
)  7   7  
(
  +    − 2 4.2974 × 10−3 )  − 73  −76 
 
 2  −3   
( )
− 2 4.2974 × 10−3      lb ⋅ ft ⋅ s 2
 7  7   
(
= 2.6302 × 10−3 + 15.20 × 10−3 − 3.1573 × 10−3 + 1.05242 × 10−3 lb ⋅ ft ⋅ s 2 )
= 15.725 × 10−3 lb ⋅ ft ⋅ s 2
or I OL = 15.73 × 10−3 lb ⋅ ft ⋅ s 2
Have m = ρ stV = mAL
( ) 2
= 7850 kg/m 3 π ( 0.0015 m )  L
 
= ( 0.055488L ) kg/m
Then m1 = m2 = 0.055488 kg/m (π × 0.36 m )
= 0.062756 kg
m3 = m4 = 0.055488 kg/m ( 0.36 m )
= 0.019976 kg
Now observe that the centroidal products of inertia I x′y′ = I y′z ′

= I z′x′ = 0 for each component.
Also x3 = x4 = 0, y1 = 0, z1 = z2 = 0
Then
0
( )
I xy = Σ I x′y′ + mx y = m2x2 y2
 2 × 0.36 m 
= ( 0.062756 kg )  −  ( 0.36 m ) = −5.1777 × 10 kg ⋅ m
−3 2
 π 
0
( )
I yz = Σ I y′z ′ + my z = m3 y3 z3 + m4 y4 z4
where m3 = m4 , y3 = y4 , z4 = − z3 , so that I yz = 0
I zx = Σ ( I z′x′ + mz x ) = m1z1x1 + m2 z2 x2 = 0
continued
I x = 23.170 × 10−3 kg ⋅ m 2
I y = 21.444 × 10−3 kg ⋅ m 2
I z = 17.992 × 10−3 kg ⋅ m 2
1
Now λ OL = ( −3i − 6 j + 2k )
7
Have
0 0
I OL = I xλx2 + I yλ y2 + I z λz2 − 2I xy λxλ y − 2I yz λ yλz − 2I zxλz λx  Eq. ( 9.46 ) 
 2 2 2
 3  6 2
=  23.170  −  + 21.444  −  + 17.992  
  7  7 7
 3  6  
− 2 ( −5.1777 )  −  −   × 10−3 kg ⋅ m 2
 7  7 
= ( 4.2557 + 15.755 + 1.4687 + 3.8040 ) × 10−3 kg ⋅ m
= 25.283 × 10−3 kg ⋅ m 2
or I OL = 25.3 × 10−3 kg ⋅ m 2
Have m = ( m/L ) L
= ( 0.049 kg/m ) L
Then m1 = ( 0.049 kg/m )( 2π × 0.32 m )
= 0.09852 kg
m2 = m3 = m4 = m5 = ( 0.049 kg )( 0.160 m )
= 0.00784 kg
Now observe that I x′y′ = I y′z′ = I z′x′ = 0 for each component.
Also, x1 = x4 = x5 = 0, y1 = 0, z1 = z2 = z3 = 0
Then
0
( )
I xy = Σ I x′y′ + mx y = m2 x2 y2 + m3x3 y3
= ( 0.00784 kg ) ( 0.32 m )( 0.08 m ) + ( 0.24 m )( 0.16 m ) 
= 0.50176 × 10−3 kg ⋅ m 2
By symmetry I yz = I xy = 0.50176 × 10−3 kg ⋅ m 2
Now I zx = Σ ( I z′x′ + mz x ) = 0
I x = I z = 6.8505 × 10−3 kg ⋅ m 2
I y = 12.630 × 10−3 kg ⋅ m 2
continued
1
Now λ OL = ( −3i − 6 j + 2k )
7
Have
0
I OL = I xλx2 + I y λ y2 + I z λz2 − 2 I xy λxλ y − 2I yz λ y λz − 2I zxλz λx
 Eq. ( 9.46 ) 
  3 2  2 2  
= ( 6.8505 )  −  +     × 10−3 kg ⋅ m 2
  7   7   
 2
  6
+ (12.63)  −   × 10−3 kg ⋅ m 2
  7 

 3  6   6  2   
−2 ( 0.50176 )  −  −  +  −     × 10−3 kg ⋅ m 2
 7  7   7  7  
= (1.8175 + 9.2792 − 0.12288 ) × 10−3 kg ⋅ m 2
= 10.9738 × 10−3 kg ⋅ m 2
or I OL = 10.97 × 10−3 kg ⋅ m 2
(a) Using Figure 9.28 and the parallel-axis theorem have at point A.
1
I x′ =
12
(
m b2 + c2 )
2
1 a 1
I y′ =
12
( 2
)
m a2 + c2 + m   =
12
m 4a 2 + c 2 ( )
2
1 a 1
I z′ =
12
( )
m a2 + b2 + m   =
2 12
m 4a 2 + b 2 ( )
Now observe that symmetry implies
I x′y′ = I y′z′ = I z′x′ = 0
Using Equation (9.48), the equation of the ellipsoid of inertia is then
I x′ x 2 + I y ′ y 2 + I z ′ z 2 = 1
1 1 1
or
12
(
m b2 + c 2 x2 + )
12
m 4a 2 + c 2 y 2 + (
12
)
m 4a 2 + b 2 z 2 = 1 ( )
For the ellipsoid to be a sphere, the coefficients must be equal.
Therefore,
1 1 1
12
(
m b2 + c 2 =
12
)
m 4a 2 + c 2 =
12
(
m 4a 2 + b 2 ) ( )
b
Then b 2 + c 2 = 4a 2 + c 2 or = 2
a
c
and b 2 + c 2 = 4a 2 + b 2 or = 2
a
(b) Using Figure 9.28 and the parallel-axis theorem, we have at point B
2
1 c 1
I x′′ =
12
( )
m b2 + c 2 + m   =
2
  12
m b 2 + 4c 2 ( )
2
1 c 1
I y′′ =
12
( 2
)
m a2 + c2 + m   =
12
m a 2 + 4c 2 ( )
1
I z′′ =
12
(
m a 2 + b2 )
continued
I x′′y′′ = I y′′z′′ = I z′′x′′ = 0
From part a it then immediately follows that
1 1 1
12
(
m b 2 + 4c 2 = )
12
(
m a 2 + 4c 2 =
12
)
m a 2 + b2 ( )
b
Then b 2 + 4c 2 = a 2 + 4c 2 or = 1
a
c 1
and b 2 + 4c 2 = a 2 + b 2 or =
a 2
(a) From sample Problem 9.11, we have at the apex A

3
Ix = ma 2
10
3 1 2 
I y = Iz = m  a + h2 
5 4 
Now observe that symmetry implies I xy = I yz = I zx = 0
Using Equation (9.48), the equation of the ellipsoid of inertia is
then
I x x2 + I y y 2 + I z z 2 = 1
3 3 1  3 1 
or ma 2 x 2 + m  a 2 + h 2  y 2 + m  a 2 + h 2  z 2 = 1
10 5 4  5 4 
For the ellipsoid to be a sphere, the coefficients must be equal.
Therefore,
3 3 1  a
ma 2 = m  a 2 + h 2  or = 2
10 5 4  h
(b) From Sample Problem 9.11, we have
3
I x′ = ma 2
10
3  2 1 2
and at the centroid C I y′′ = m a + h 
20  4 
2
3  2 1 2 h
Then I y′ = I z′ = m a + h  + m 
20  4  4
1
=
20
(
m 3a 2 + 2h 2 )
I x′y′ = I y′z′ = I z′x′ = 0
From part a it then immediately follows that
3 1 a 2
10
ma 2 =
20
(
m 3a 2 + 2h 2 ) or
h
=
3

(a) From Figure 9.28

1 2 1
Ix =
2
ma I y = Iz =
12
(
m 3a 2 + L2 )
I xy = I yz = I zx = 0
Using Equation (9.48), the equation of the ellipsoid of inertia is then

1 2 2 1 1
I x x 2 + I y y 2 + I z z 2 = 1:
2
ma x +
12
(
m 3a 2 + L2 y 2 +
12
)
m 3a 2 + L2 = 1( )
For the ellipsoid to be a sphere, the coefficients must be equal. Therefore,
1 2 1 a 1
2
ma =
12
(
m 3a 2 + L2 ) or
L
=
3

(b) Using Fig. 9.28 and the parallel-axis theorem

1 2
Have I x′ = ma
2
2
1 L 1 7 2
I y′ = I z′ =
12
( )
m 3a 2 + L2 + m   = m  a 2 +
4
   4 48
L 

I x′y′ = I y′z′ = I z′x′ = 0
From Part a it then immediately follows that
1 2 1 7 2 a 7
ma = m  a 2 + L  or =
2  4 48  L 12
(i) To prove I y + Iz ≥ Ix
By definition
(
I y = ∫ z + x dm2 2
) ( 2
I z = ∫ x + y dm 2
)
Then ( )
I y + I z = ∫ z 2 + x 2 dm + ∫ x 2 + y 2 dm ( )
( )
= ∫ y 2 + z 2 dm + 2∫ x 2dm
∫ ( y + z ) dm = I x
2 2 2
Now.. and ∫ x dm ≥ 0
∴ I y + Iz ≥ Ix Q.E.D.
The proofs of the other two inequalities follow similar steps.
(ii) If the x axis is the axis of revolution, then
I y = Iz
and from part (i) I y + I z ≥ I x
or 2I y ≥ I x
1
or I y ≥ Ix Q.E.D.
2
(a) At the center of the cube have (using Figure 9.28)

1 1
Ix = I y = Iz =
12
( 6
)
m a 2 + a 2 = ma 2
Now observe that symmetry implies I xy = I yz = I zx = 0
Using Equation (9.48), the equation of the ellipsoid of inertia is

1 2 2 1 2 2 1 2 2
 ma  x +  ma  y +  ma  z = 1
6  6  6 
6
or x2 + y 2 + z 2 =
ma 2
(
= R2 )
which is the equation of a sphere.
Since the ellipsoid of inertia is a sphere, the moment of inertia with
respect to any axis OL through the center O of the cube must always
 1 
be the same  R = .
 I OL 

1 2
∴ I OL = ma
6
(b) The above sketch of the cube is the view seen if the line of sight is
along the diagonal that passes through corner A. For a rectangular
coordinate system at A and with one of the coordinate axes aligned
with the diagonal, an ellipsoid of inertia at A could be constructed. If
the cube is then rotated 120° about the diagonal, the mass
distribution will remain unchanged. Thus, the ellipsoid will also
remain unchanged after it is rotated. As noted at the end of
section 9.17, this is possible only if the ellipsoid is an ellipsoid of
revolution, where the diagonal is both the axis of revolution and a
principal axis.
1 2
It then follows that I x′ = I OL = ma
6
continued
In addition, for an ellipsoid of revolution, the two transverse

principal moments of inertia are equal and any axis perpendicular to
the axis of revolution is a principal axis. Then, applying the parallel-
axis theorem between the center of the cube and corner A for any
perpendicular axis
2
1 2  3 
I y′ = I z ′ = ma + m  a 
6  2 
11 2
or I y′ = I z′ = ma
12
Note: Part b can also be solved using the method of Section 9.18.
First note that at corner A
2 2 1 2
Ix = I y = Iz = ma I xy = I yz = I zx = ma
3 4
Substituting into Equation (9.56) yields
55 2 6 121 3 9
k 3 − 2ma 2k 2 + m a k− ma =0
48 864
For which the roots are
1 2 11 2
k1 = ma k2 = k3 = ma
6 12
(i) Using Equation (9.30), we have
( ) ( )
I x + I y + I z = ∫ y 2 + z 2 dm + ∫ z 2 + x 2 dm + ∫ x 2 + y 2 dm ( )
(
= 2∫ x 2 + y 2 + z 2 dm )
= 2∫ r 2dm
where r is the distance from the origin O to the element of mass dm.
Now assume that the given body can be formed by adding and
subtracting appropriate volumes V1 and V2 from a sphere of mass m
and radius a which is centered at O; it then follows that
(
m1 = m2 mbody = msphere = m . )
Then
( I x + I y + I z )body = ( I x + I y + I z )sphere + ( I x + I y + I z )V1
(
− Ix + I y + Iz )V
2
or
( I x + I y + I z )body = ( I x + I y + I z )sphere + 2∫ m r 2dm − 2∫ m r 2dm

1 2
Now, m1 = m2 and r1 ≥ r2 for all elements of mass dm in

volumes 1 and 2.
∴ ∫ m r 2dm − ∫ m r 2dm ≥ 0
1 2
so that ( I x + I y + I z )body ≥ ( I x + I y + I z )sphere Q.E.D.
continued
(ii) First note from Figure 9.28 that for a sphere

2 2
Ix = I y = Iz = ma
5
Thus, ( I x + I y + I z )sphere = 65 ma2

For a solid of revolution, where the x axis is the axis of revolution,
have
I y = Iz
Then, using the results of part i
( I x + 2I y )body ≥ 65 ma2
1
From Problem 9.178 have Iy ≥ Ix
2
or ( 2I y − I x )body ≥ 0
Adding the last two inequalities yields
( 4I y )body ≥ 65 ma2
or ( I y )body ≥ 103 ma2 Q.E.D.
(a) First compute the moments of inertia using Figure 9.28 and the
parallel-axis theorem.
1  a 2  a 2  13
Ix = Iz =
12
2
(2
m 3a + a + m  )
 +  2   = 12 ma
 2    
2
1 2 3
I y = ma 2 + m ( a ) = ma 2
2 2
Next observe that the centroidal products of inertia are zero because
of symmetry. Then
0  a  a  1
I xy = I x′y′ + mx y = m   − 2  = − ma 2
 2    2 2
0  a  a  1
I yz = I y′z ′ + my z = m  −   =− ma 2
 2  2  2 2
0  a  a  1 2
I zx = I z′x′ + mz x = m    = ma
 2  2  2

 13 3 13  2 2
K3 −  + +  ma K
 12 2 12 
2 2
1 
2
 13 3   3 13   13 13   1   1 
( )
2
2
+  ×  +  ×  +  ×  −  −  −  −  −    ma K
 12 2   2 12   12 12   2 2  2 2 2
  
2 2 2
 13 3 13   13   1   3   1   13   1   1  1   1 
( )
3
2
−  × ×  −    −  −    −  −  − 2−   −     ma = 0
 12 2 12   12   2 2   2   2   12   2 2   2 2   2 2   2 
Simplifying and letting K = ma 2ζ yields
11 2 565 95
ζ3 − ζ + ζ − =0
3 144 96
continued
Solving yields
19
ζ 1 = 0.363383 ζ2 = ζ 3 = 1.71995
12
The principal moments of inertia are then
K1 = 0.363ma 2
K 2 = 1.583ma 2
K3 = 1.720ma 2
(b) To determine the direction cosines λx , λ y , λz of each principal axis,
we use two of the equations of Equations (9.54) and Equation (9.57).
Thus
( I x − K ) λx − I xyλ y − I zxλz = 0 (9.54a)
− I zxλx − I yz λ y + ( I z − K ) λz = 0 (9.54c)
λx2 + λ y2 + λz2 = 1 (9.57)
Note: Since I xy = I yz , Equations (9.54a) and (9.54c) were chosen to

simplify the “elimination” of λ y during the solution process.
Substituting for the moments and products of inertia in Equations

(9.54a) and (9.54c)
 13 2   1  1 
 ma − K  λx −  − ma 2  λ y −  ma 2  λz = 0
 12   2 2  2 
1   1   13 
−  ma 2  λx −  − ma 2  λ y +  ma 2 − K  λz = 0
2   2 2   12 
 13  1 1
or  − ζ  λx + λ y − λz = 0 (i)
 12  2 2 2
1 1  13 
and − λx + λ y +  − ζ  λz = 0 (ii)
2 2 2  12 
Observe that these equations will be identical, so that one will need
to be replaced, if
13 1 19
−ζ = − or ζ =
12 2 12
Thus, a third independent equation will be needed when the
direction cosines associated with K 2 are determined. Then for K1
and K 3
continued
 13  1   1  13 
Eq.(i) – Eq.(ii)  − ζ −  −   λx +  − −  − ζ   λz = 0
12  2   2  12 
or λz = λx
 13  1 1
Substituting into Eq.(i)  − ζ  λx + λ y − λx = 0
 12  2 2 2
 7
or λ y = 2 2  ζ −  λx
 12 
2
  7  2
λx2 +  2 2  ζ −  λx  + ( λx ) = 1
  12  
 2
 7 
or  2 + 8  ζ −   λx2 = 1 (iii)
  12  
K1 : Substituting the value of ζ 1 into Eq.(iii)
 2
 7  2
 2 + 8  0.363383 −   ( λx )1 = 1
  12  
or ( λx )1 = ( λz )1 = 0.647249
 7
and then ( λ y )1 = 2 2  0.363383 −  ( 0.647249 )
 12 
= −0.402662
∴ (θ x )1 = (θ z )1 = 49.7° (θ y )1 = 113.7°
K 3 : Substituting the value of ζ 3 into Eq.(iii)
 2
 7  2
 2 + 8 1.71995 −   ( λx )3 = 1
  12  
or ( λx )3 = ( λz )3 = 0.284726
 7
and then ( λ y )3 = 2 2 1.71995 −  ( 0.284726 )
 12 
= 0.915348
∴ (θ x )3 = (θ z )3 = 73.5° (θ y )3 = 23.7°
continued
K 2 : For this case, the set of equations to be solved consists of

Equations (9.54a), (9.54b), and (9.57). Now
( )
− I xy λx + I y − K λ y − I yz λz = 0 (9.54b)
Substituting for the moments and products of inertia.

 1  3   1 
− − ma 2  λx +  ma 2 − K  λ y −  − ma 2  λz = 0
 2 2   2   2 2 
1 3  1
or λx +  − ζ  λ y + λz = 0 (iv)
2 2 2  2 2
Substituting the value of ζ 2 into Eqs.(i) and (iv)
 13 19  1

 12
−  ( λx )2 +
12  2 2
λy ( )2 − 12 ( λz )2 = 0
1 3 19 
2 2
( λx )2 + 
 2
−  λy
12 
( )2 + 2 1 2 ( λz )2 = 0
1
or − ( λx )2 +
2
λy ( )2 − ( λz )2 = 0
2
and ( λx )2 −
6
λy ( )2 + ( λz ) 2 = 0
Adding yields ( λ y )2 = 0
and then ( λz )2 = − ( λx )2

0
( λx )22 + ( λ y )2 + ( −λx )22
2
=1
1 1
or ( λx )2 = and ( λz )2 =−
2 2
∴ (θ x )2 = 45.0° θ y ( )2 = 90.0° (θ z )2 = 135.0°

(c) Principal axes 1 and 3 lie in the vertical plane of symmetry passing
through points O and B. Principal axis 2 lies in the xz plane.
From the solution to Problem 9.143 and 9.167

I x = 34.106 × 10−3 lb ⋅ ft ⋅ s 2
I y = 50.125 × 10−3 lb ⋅ ft ⋅ s 2
I z = 34.876 × 10−3 lb ⋅ ft ⋅ s 2
I xy = 0.96211 × 10−3 lb ⋅ ft ⋅ s 2
I yz = I zx = 0
(a) From Equation 9.55
Ix − K I xy 0
I xy Iy − K 0 =0
0 0 Iz − K
or ( Ix − K )( I y −K) ( I z − K ) − ( I z − K ) I xy2 = 0
or ( I z − K ) ( I x − K ) ( I y − K ) − I xy2  = 0
Then I z − K = 0 and I x I y − ( I x + I y ) K + K 2 − I xy 2
=0
Now K1 = I z = 34.876 × 10−3 lb ⋅ ft ⋅ s 2

or K1 = 34.9 × 10−3 lb ⋅ ft ⋅ s 2
and
( 34.106 × 10 )(50.125 × 10 ) − (34.106 × 10
−3 −3 −3
+ 50.125 × 10 −3 K )
+ K − ( 0.96211 × 10 ) = 0
2
2 −3
or 1.70864 × 10−3 − 84.231 × 10−3 K + K 2 = 0

Solving yields K 2 = 34.0486 × 10−3 K3 = 50.1824 × 103
or K 2 = 34.0 × 10−3 lb ⋅ ft ⋅s 2
and K3 = 50.2 × 10−3 lb ⋅ ft ⋅ s 2
continued
(b) To determine the directions cosines λx , λ y and λz of each principal

axis use two of the Equations 9.54 and Equation 9.57
K1 : Using Equation 9.54(a) and Equation 9.54(b) with I yz = I zx = 0 ,
we have
( I x − K1 )( λx )1 − I xy ( λ y )1 = 0
(
− I xy ( λx )1 + I y − K1 λ y )( )1 = 0
Substituting
( 34.106 × 10 −3
)
− 34.876 × 10−3 ( λx )1 − 0.96211 × 10−3 λ y ( )1 = 0
(
− 0.96211 × 10−3 ( λx )1 + 50.125 × 10−3 − 34.876 × 10−3 λ y )( ) 1
=0
or
− 0.770 × 10−3 ( λx )1 − 0.96211 × 10−3 λ y ( )1 = 0

− 0.96211 × 10−3 ( λx )1 + 15.249 × 10−3 λ y ( )1 = 0
Solving yields ( λx )1 = ( λ y )1 = 0
0 02
From Equation 9.57 ( λx )12 + ( λ y )1 + ( λz )12 = 1 or ( λz )1 = 1
and (θ x )1 = 90.0°, (θ y )1 = 90.0°, (θ z )1 = 0°
K 2 : Using Equation 9.54(b) and Equation 9.54(c) with I yz = I zx = 0
(
− I xz ( λx )2 + I y − K 2 λ y )( )2 = 0
( Iz − K 2 )( λz )2 = 0
Now I z ≠ K 2 ⇒ ( λz )2 = 0
Substituting
(
− 0.96211 × 10−3 ( λx )2 + 50.125 × 10−3 − 34.0486 × 10−3 λ y )( ) 2
=0
or ( λ y )2 = 0.05985 ( λx )2
continued
2
Then ( λx )22 + 0.05985 ( λx )2  + ( λz )2 = 1
( λx )2 = 0.99821
( λ y )2 = 0.05974
and (θ x )2 = 3.43°, (θ y )2 = 86.6°, (θ z )2 = 90.0°
K3 : (
− I xy ( λx )3 + I y − K3 λ y )( )3 = 0
( Iz − K3 ) ( λz )3 = 0
Now I z ≠ K3 ⇒ ( λz )3 = 0
Substituting
(
− 0.96211 × 10−3 ( λx )3 + 50.125 × 10−3 − 50.1824 × 10−3 λ y )( ) 3
=0
− 0.96211 × 10−3 ( λx )3 − 0.0574 × 10−3 λ y ( )3 = 0

or ( λ y )3 = −16.7615 ( λx )3
2
0
Have ( λx )32 +  −16.7615 ( λx )3  2
+ ( λz )3 = 1
yields ( λ x )3 = − 0.059555 and ( λ y )3 = 0.998231

and (θ x )3 = 93.4°, (θ y )3 = 3.41°, θ z = 90.0°
(c) Principal axis 1 coincides with the z axis, while the principal axes 2
and 3 lie in the xy plane
From Problem 9.147: I x = 9.8821 × 10−3 lb ⋅ ft ⋅s 2

I y = 11.5344 × 10−3 lb ⋅ ft ⋅ s 2
I z = 2.1878 × 10−3 lb ⋅ ft ⋅ s 2
From Problem 9.151: I xy = 0.48776 × 10−3 lb ⋅ ft ⋅ s 2
I yz = 1.18391 × 10−3 lb ⋅ ft ⋅ s 2
I zx = 2.6951 × 10−3 lb ⋅ ft ⋅ s 2
(a) From Equation 9.56
( ) (
K 3 − I x + I y + I z K 2 + I x I y + I y I z + I z I x − I xy
2 2
− I yz 2
− I zx K )
( 2
− I x I y I z − I x I yz 2
− I y I zx 2
− I z I xy )
− 2I xy I yz I zx = 0
Substituting
{
K 3 − ( 9.8821 + 11.5344 + 2.1878 ) × 10−3  K 2 + ( 9.8821)(11.5344 ) + (11.5344 )( 2.1878 )
2 2 2
+ ( 2.1878 )( 9.8821) − ( 0.48776 ) − (1.18391) − ( 2.6951)  × 10 −6 K
 }
2 2
− ( 9.8821)(11.5344 )( 2.1878 ) − ( 9.8821)(1.18391) − (11.5344 )( 2.6951)

2
− ( 2.1878 )( 0.48776 ) − 2 ( 0.48776 )(1.18391)( 2.6951)  × 10 −9 = 0

or ( ) ( )
K 3 − 23.6043 × 10−3 K 2 + 151.9360 × 10−6 K − 148.1092 × 10−9 = 0
Solving numerically
K1 = 1.180481 × 10−3 lb ⋅ ft ⋅s 2 or K1 = 1.180 × 10 −3 lb ⋅ ft ⋅s 2
K 2 = 10.72017 × 10−3 lb ⋅ ft ⋅ s 2 or K 2 = 10.72 × 10 −3 lb ⋅ ft ⋅s 2
K3 = 11.70365 × 10−3 lb ⋅ ft ⋅ s 2 or K3 = 11.70 × 10 −3 lb ⋅ ft ⋅s 2
continued
(b) From Equations 9.54(a) and 9.54(b)
( I x − K )( λx ) − I xy ( λ y ) − I zx ( λz ) = 0
( )( )
− I xy ( λx ) + I y − K1 λ y − I yz ( λz ) = 0
K1: Substitute K1 and solve for λ to get ( λx )1 , λ y ( )1 and ( λz )1 .

( 9.8821 − 1.180481) ( λ ) − 0.48776 λ
 x 1 y ( )1 − 2.6951( λz )1  × 10−3 = 0
 − 0.48776 ( λ ) + (11.5344 − 1.180481) λ
 x 1 y ( )1 − 1.18391( λz )1  × 10−3 = 0
or 17.83996 ( λx )1 − λ y ( )1 − 5.52546 ( λz )1 = 0
− 0.0471( λx )1 + λ y ( )1 − 0.11434 ( λz )1 = 0
Then ( λz )1 = 3.1549 ( λx )1
and ( λ y )1 = 0.40769 ( λx )1
( λx )12 + ( λ y )1 + ( λz )12
2
Equation 9.57: =1
2 2
Substituting ( λx )12 + 0.40769 ( λx )1  + 3.1549 ( λx )1  = 1
or ( λx )1 = 0.29989 then (θ x )1 = 72.5°
and ( λy )1 = 0.122262 then (θ y )1 = 83.0°

( λz )1 = 0.94612 then (θ z )1 = 18.89°
K 2: Substitute K 2 and solve for λ .
( 9.8821 − 10.72017 ) ( λ ) − 0.48776 λ

 x 2 y ( )2 − 2.6951( λz )2  × 10−3 = 0
 − 0.48776 ( λ ) + (11.5344 − 10.72017 ) λ
 x 2 y ( )2 − 1.18391( λz )2  × 10−3 = 0
continued
or −1.718202 ( λx )2 − λ y ( )2 − 5.52546 ( λz )2 = 0
− 0.599045 ( λx )2 + λ y ( )2 − 1.45402 ( λz )2 = 0
Then ( λz )2 = −0.33201( λx )2
and ( λ y )2 = 0.116306 ( λx )2
2 2
Then ( λx )22 + 0.116306 ( λx )2  +  −0.33201( λx )2  = 1
or ( λx )2 = 0.94333 then (θ x )2 = 19.38°
And ( λ y )2 = 0.109715 then (θ y )2 = 83.7°

( λz )2 = −0.31320 then (θ z )2 = 108.3°
K 3: Substitute K 3 and solve for λ .
( 9.8821 − 11.70365 ) ( λ ) − 0.48776 λ

 x 3 y ( )3 − 2.6951( λz )3  × 10−3 = 0
 − 0.48776 ( λ ) + (11.5344 − 11.70365 ) λ
 x 3 y ( )3 − 1.18391( λz )3  × 10−3 = 0
or −3.73452 ( λx )3 − λ y ( )3 − 5.52546 ( λz )3 = 0
2.88189 ( λx )3 + λ y ( )3 + 6.99504 ( λz )3 = 0
Then ( λz )3 = 0.58019 ( λx )3
and ( λ y )3 = −6.9403 ( λx )3
2 2 2
Then ( λx )3 +  − 6.9403 ( λx )3  + 0.58019 ( λx )3  =
or ( λx )3 = − 0.142128* then (θ x )3 = 98.2°
( λ y )3 = 0.98641 then (θ y )3 = 9.46°

( λz )3 = − 0.082461 then (θ z )3 = 94.7°
*
Note: the negative root of ( λx )3 is taken so that axes 1, 2, 3 form a right-handed set.
(a) From the solution of Problem 9.169 have

1W 2 1W 2
Ix = a I xy = a
2 g 4 g
W 2 1W 2
Iy = a I yz = a
g 8 g
5W 2 3W 2
Iz = a I zx = a
6 g 8 g
2 2 2 2
 1 5   W 2   2  1   5   5  1   1  1  3   W 2 
K −  + 1 +   a   K +   (1) + (1)   +    −   −   −     a  K
3
 2 6   g   2   6   6  2   4  8  8    g 
3
 1   5   1  1 2  3
2
 5  1 
2
 1  1  3    W 2 
−   (1)   −    − (1)   −    − 2       a  = 0
 2   6   2  8  8  6  4   4  8  8    g 
W 2
Simplifying and letting K = a ζ yields
g
ζ 3 − 2.33333ζ 2 + 1.53125ζ − 0.192708 = 0

Solving yields
ζ 1 = 0.163917 ζ 2 = 1.05402 ζ 3 = 1.11539
The principal moments of inertia are then
W 2
K1 = 0.1639 a
g
W 2
K 2 = 1.054 a
g
W 2
K 3 = 1.115 a
g
continued
(b) To determine the direction cosines λx , λ y , λz of each principal axis, use two of the equations of
Equations (9.54) and (9.57). Then
K1 : Begin with Equations (9.54a) and (9.54b).
( I x − K1 )( λx )1 − I xy ( λ y )1 − I zx ( λz )1 = 0
(
− I xy ( λx )1 + I y − K 2 λ y)( )1 − I yz ( λz )1 = 0
Substituting
 1   W 2  1W 2
 − 0.163917   a   ( λx )1 −  a  λy ( )1 −  83 Wg a2  ( λz )1 = 0
 2   g  4 g   
1W 2   W 
− a  ( λx )1 + (1 − 0.163917 )  a 2   λ y ( )1 −  18 Wg a2  ( λz )1 = 0
4 g    g   
Simplifying yields
1.34433 ( λx )1 − λ y ( )1 − 1.5 ( λz )1 = 0
− 0.299013 ( λx )1 + λ y ( )1 − 0.149507 ( λz )1 = 0
Adding and solving for ( λz )1
( λz )1 = 0.633715 ( λx )1
and then ( λ y )1 = 1.34433 − 1.5 ( 0.633715) ( λx )1
= 0.393758 ( λx )1
Now substitute into Equation (9.57)

2 2
( λx )12 + 0.393758 ( λx )1  + 0.633715 ( λx )1  = 1
or ( λx )1 = 0.801504
and ( λ y )1 = 0.315599 ( λz )1 = 0.507925
∴ (θ x )1 = 36.7° (θ y )1 = 71.6° (θ z )1 = 59.5°
K 2 : Begin with Equations (9.54a) and (9.54b).
( I x − K 2 )( λx )2 − I xy ( λ y )2 − I zx ( λz )2 =0
(
− I xy ( λx )2 + I y − K 2 λ y )( )2 − I yz ( λz )2 = 0
continued
Substituting
 1   W 2  1W 2
 − 1.05402   a   ( λx )2 − 
2 g
a  λy ( )2 −  83 Wg a2  ( λz )2 = 0
   4 g   
1W 2   W 
− a  ( λx )2 + (1 − 1.05402 )  a 2   λ y ( )2 −  18 Wg a 2  ( λz )2 = 0
4 g    g   
Simplifying yields
− 2.21608 ( λx )2 − λ y ( )2 − 1.5 ( λz )2 = 0
4.62792 ( λx )2 + λ y ( )2 + 2.31396 ( λz )2 = 0
( λz )2 = − 2.96309 ( λx )2
and then ( λ y )2 = − 2.21608 − 1.5 ( − 2.96309 ) ( λx )2

= 2.22856 ( λx )2

2 2
( λx )22 + 2.22856 ( λx )2  +  − 2.96309 ( λx )2  = 1
or ( λx )2 = 0.260410
and ( λ y )2 = 0.580339 ( λz )2 = − 0.771618
∴ (θ x )2 = 74.9° (θ y )2 = 54.5° (θ z )2 = 140.5°
K 3 : Begin with Equations (9.54a) and (9.54b).
( I x − K3 )( λx )3 − I xy ( λ y )3 − I zx ( λz )3 =0
(
− I xy ( λx )3 + I y − K 3 λ y )( )3 − I yz ( λz )3 = 0
Substituting
 1   W 2  1W 2
 − 1.11539   a   ( λx )3 −  a  λy ( )3 −  83 Wg a2  ( λz )3 = 0
 2   g  4 g   
1W 2   W 
− a  ( λx )3 + (1 − 1.11539 )  a 2   λ y ( )3 −  81 Wg a2  ( λz )3 = 0
4 g    g   
continued
Simplifying yields
− 2.46156 ( λx )3 − λ y ( )3 − 1.5 ( λz )3 = 0
( )3 + 1.08328 ( λz )3 = 0
2.16657 ( λx )3 + λ y
( λz )3 = − 0.707885 ( λx )3
and then ( λ y )3 = − 2.46156 − 1.5 ( − 0.707885) ( λx )3

= −1.39973 ( λx )3

2 2
( λx )32 +  −1.39973 ( λx )3  +  − 0.707885 ( λx )3  = 1 (i)
or ( λ x )3 = 0.537577
and ( λ y )3 = − 0.752463 ( λz )3 = − 0.380543
∴ (θ x )3 = 57.5° (θ y )3 = 138.8° (θ z )3 = 112.4°
(c) Note: Principal axis 3 has been labeled so that the principal axes form a right-handed set. To obtain the
direction cosines corresponding to the labeled axis, the negative root of Equation (i) must be chosen; that
is, ( λx )3 = − 0.537577
Then (θ x )3 = 122.5° (θ y )3 = 41.2° (θ z )3 = 67.6°
1
From Problem 9.170 m1 = ρ ta 2 m2 = ρ ta 2
2
1 11 5
Now I x = ( I x )1 + ( I x )2 =
3
( ) 6 2

ρ ta 2 a 2 +  ρ ta 2  a 2 =
 12
ρ ta 4
Iy = Iy( )1 + ( I y )2 = 13 ( ρta2 ) a2 + 16  12 ρta2  ( a2 + a2 ) = 12 ρta4

1 11 3
I z = ( I z )1 + ( I z )2 =
3
( )( ) 
ρ ta 2 a 2 + a 2 +  ρ ta 2  a 2 = ρ ta 4
6 2  4
Now note that symmetry implies ( I x′y′ )1 = ( I y′z′ )1 = ( I z′x′ )1 = 0

( I x′y′ )2 = ( I y′z′ )2 = 0
Have I uv = I u′v′ + mu v
continued
 a  a  1
Then I xy = m1x1 y1 + m2 x2 y2 = ρ ta 2    = ρ ta 4
 2  2  4
I yx = m1 y1z1 +0 m2 y2 z02
0
I zx = m1z1x1 +  I z ′x′
 ( )2 + m2 z2 x2 
From Problem 9.170 ( I z′x′ )2 = − 721 ρ ta 4
1 1  1  1  1
Then I zx = − ρ ta 4 +  ρ ta 2  a  a  = ρ ta 4
72  2  3  3  24
(a) Equation 9.56
( ) (
K 3 − I x + I y + I z K 2 + I x I y + I y I z + I z I x − I xy
2
) 2
− I yz 2
− I zx K )
( 2
− I x I y I z − I x I yz 2
− I y I zx 2
− I z I xy − 2I xy I yz I zx = 0
Substituting
 5 1 3    5  1   1  3   3  5   1 2 2
 1   2
K 3 −  + +  ρ ta 4  K 2 +     +    +    −   − 0 −    ρ ta 4
 12 2 4 
( )  K
   12  2   2  4   4  12   4   24   
  5  1  3   1  1 
2
 3  1 
2  3
−      − 0 −    −    − 0  ρ ta 4
12 2 4  2  24   4  4 
( )  = 0
      
Simplifying and letting K = ρ ta 4ζ
5 479 125
yields ζ3 − ζ2 + ζ − =0
3 576 1152
Solving numerically... ζ 1 = 0.203032 or K1 = 0.203ρ ta 4

ζ 2 = 0.698281 or K 2 = 0.698ρ ta 4
ζ 3 = 0.765354 or K3 = 0.765ρ ta 4
(b) Equations 9.54a and 9.54b
( I x − K )( λx ) − I xy ( λ y ) − I zx ( λz ) = 0
( )( )
− I xy ( λx ) + I y − K λ y − I yz ( λz ) = 0
continued
Substituting K1
 5  1
 12 − 0.203032  ( λx )1 − 4 λ y ( )1 − 241 ( λz )1  ρta4 = 0
  
 1
4
1
 2

 − ( λx )1 +  − 0.203032  λ y

( )1 − 0 ρ ta4 = 0
 
or ( λ y )1 = 0.841842 ( λx )1
and ( λz )1 = 0.0761800 ( λx )1
( λx )12 + ( λ y )1 + ( λz )12
2
Equation 9.57 =1
2 2
Substituting ( λx )12 + 0.841842 ( λx )1  + 0.0761800 ( λx )1  = 1
or ( λx )1 = 0.763715 then (θ x )1 = 40.2°

( λ y )1 = 0.642927 then (θ y )1 = 50.0°
( λz )1 = 0.0581798 then (θ z )1 = 86.7°
Substituting K 2
 5  1
 12 − 0.698281 ( λx )2 − 4 λ y
 
( )2 − 241 ( λz )2  ρta4 = 0
 
 1 1 
 − ( λx )2 +  − 0.698281 λ y ( )2 − 0 ρ ta4 = 0
 4 2  
or ( λ y )2 = −1.260837 ( λx )2
and ( λz )2 = 0.806278 ( λx )2
2 2
Then ( λx )22 +  −1.260837 ( λx )2  + 0.806278 ( λx )2  = 1
or ( λx )2 = 0.555573 then (θ x )2 = 56.2°
( λ y )2 = − 0.700487 then (θ y )2 = 134.5°

( λz )2 = 0.447946 then (θ z )2 = 63.4°
continued
Substituting K 3
 5  1
 12 − 0.765354  ( λx )3 − 4 λ y ( )3 − 241 ( λz )3  ρta4 = 0
  
 1 1 
 − ( λx )3 +  − 0.765354  λ y ( )3 − 0 ρ ta4 = 0
 4 2  
or ( λ y )3 = − 0.942138 ( λx )3
And ( λz )3 = − 2.71567 ( λx )3
2 2
Then ( λx )32 +  − 0.942138 ( λx )3  +  − 2.71567 ( λx )3  = 1
or ( λx )3 = 0.328576 then (θ x )3 = 70.8°
( λ y )3 = − 0.309564 then (θ y )3 = 108.0°

( λz )3 = − 0.892304 then (θ z )3 = 153.2°
(c)
(a) From the solutions to Problem 9.150

I x = 14.32 × 10−3 lb ⋅ ft ⋅ s 2
I y = I z = 18.62 × 10−3 lb ⋅ ft ⋅ s 2
From Problem 9.172 I xy = I zx = 4.297 × 10−3 lb ⋅ ft ⋅ s 2 , I yz = 0

Substituting into Eq. (9.56) and using I y = Iz, I xy = I zx , I yz = 0
( ) ( ) ( ) ( )
2
K 3 − I x + 2I y K 2 +  I x 2I y + I y2 − 2 I xy  K − I x I y2 − 2I y I xy
2
=0
 
( ) ( ) ( ) ( )
2
K 3 − 14.32 × 10−3 + 2 18.62 × 10−2  K 2 +  14.32 × 10 −3 ( 2 ) 18.62 × 10−3 + 18.62 × 10 −3
  
( )  K − (14.32 × 10 )(18.62 × 10 ) ( )( )

2 2 2
− 2 4.297 × 10−3 −3 −3
− 2 18.62 × 10 −3 4.297 × 10 −3  = 0

or K 3 − 51.56 × 10−3 K 2 + 0.84305 × 10−3 K − 0.004277 × 10−3 = 0
Solving: K1 = 0.010022 lb ⋅ ft ⋅ s 2 or K1 = 10.02 × 10−3 lb ⋅ ft ⋅ s 2
K 2 = 0.018624 lb ⋅ ft ⋅ s 2 or K 2 = 18.62 × 10−3 lb ⋅ ft ⋅ s 2
K3 = 0.022914 lb ⋅ ft ⋅ s 2 or K3 = 22.9 × 10−3 lb ⋅ ft ⋅ s 2
(b) To determine the direction cosines λx , λ y , λz of each principal axis, use two of the equations of
Equations (9.54) and Equation (9.57). Then
K1 : Begin with Equations (9.54b) and (9.54c):
0
− I xy (λx )1 + ( I y − K1)(λ y )1 − I yz (λz )1 = 0
− I zx (λx )1 − I yz (λ y )1 + ( I z − K1) (λz )1 = 0
or (
− 4.297 × 10−3 (λx )1 + 18.62 × 10−3 − 10.02 × 10−3 (λ y )1 = 0 )
− 4.297 × 10−3 (λx )1 + (18.62 × 10 −3
− 10.02 × 10−3 ) (λ )
z 1 =0
continued
( λ y )1 = ( λz )1 = 0.49965 ( λx )1
2
( λx )12 + 2 0.49965 ( λx )1  =1
( λx )1 = 0.81669
( λ y )1 = ( λz )1 = 0.40806
(θ x )1 = 35.2°; (θ y )1 = (θ z )1 = 65.9°
K2: Begin with Equations (9.54a) and (9.54b):
( I x − K 2 )( λx )2 − I xy (λ y )2 − I zx (λz )2 = 0
(
− I xy ( λx )2 + I y − K 2 λ y )( )2 − I yz (0λz )2 = 0
Substituting:
(14.32 × 10 −3
)
− 18.62 × 10−3 ( λx )2 − 4.297 × 10−3 (λ y ) 2 − (λz ) 2  = 0 (i)
(
−4.297 × 10−3 ( λx )2 + 18.62 × 10−3 − 18.62 × 10−3 λ y )( ) 2
=0 (ii)
From (ii) ( λx )2 =0
From (i) ( λ y )2 = − ( λz )2
( λx )22 + ( λ y )2 +  − ( λz )2 
2 2
Substituting: =1
1
( λ y )2 = 2
(θ x )2 = 90.0°, θ y( )2 = 45.0°, (θ z )2 = 135.0°
K3: Begin with Equations (9.54b) and (9.54c)
(
− I xy ( λx )3 + I y − K3 λ y )( )3 + I yz ( λz )3 = 0
− I zx ( λx )3 − I yz 0( λ y ) + ( I z − K 3 ) ( λz )3 = 0
Substituting:
(
− 4.297 × 10−3 ( λx )3 + 18.62 × 10−3 − 22.9 × 10−3 ( λz )3 = 0 )
− 4.297 × 10−3 ( λx )3 + (18.62 × 10 −3
− 22.9 × 10−3 )(λ )
z 3 =0
Simplifying: ( λ y )3 = ( λ z ) 3 = − ( λ x )3
2
( λx )23 + 2  − ( λx )3  = 1 ⇒ ( λx )3 =
1
3
and ( λ y )3 = ( λz )3 = − 1
3
(θ x )3 ( )3 = (θ z )3 = 125.3°
= 54.7°, θ y
continued
Note: Principal axis 3 has been labeled so that the principal axes form a right-handed set to obtain the
direction cosines corresponding to the labeled axis, the negative root of Equation (i) must be chosen; that
is:
1
( λ x )3 =−
3
Then: (θ x )3 = 125.3° (θ y )3 = (θ z )3 = 54.7°
At x = 0, y = 0: 0 = ka 2 + c
c
or k = −
a2
x = a, y = b: b=c
b
∴k = −
a2
b 2
2(
y =− x − a) + b
a
b 2
=−
a2
(
x − 2ax + a 2 + b )
Now dI y = x 2dA = x 2 ( y2 − y1 ) dx
 b 2b 
= x2  b + 2 x2 − x + b − b  dx
 a a 
 b 2b 3 
=  2 x4 − x + bx 2  dx
a a 
a  b 2b 3 
I y = ∫0  2 x 4 − x + bx 2  dx
a a 
a
1 b 5 b 4 b 3
= 2
x − x + x 
5 a 2a 3 0
1 1 1
= a3b  − + 
 5 2 3
1 3
= ab
30
1 3
Iy = ab
30
At x = 0, y = 0: 0 = ka 2 + c
c
k =−
a2
x = a, y = b : b=c
b
k =−
a2
b 2
2(
Then y =b− x − a)
a
Now dI x = y 2dA = y 2 ( xdy )
a2
From above ( x − a )2 = (b − y )
b
y
Then x − a = a 1−
b
y
and x = a 1− +a
b
 y
Then dI x = ay 2 1 + 1 −  dy
 b
b  y
and I x = ∫ dI x = a ∫0 y 2 1 + 1 −  dy
 b
b
y3 b  y
=a + a ∫0 y 2  1 −  dy
3 0  b
continued
First note that A = A1 − A2 − A3

= (100 mm )(120 mm ) − ( 80 mm )( 40 mm ) − ( 80 mm )( 20 mm )
= (12 000 − 3200 − 1600 ) mm 2 = 7200 mm 2
Now I x = ( I x )1 − ( I x )2 − ( I x )3
1
where ( I x )1 = (100 mm )(120 mm )3 = 14.4 × 106 mm 4
12
1
( I x )2 =
12
( )
(80 mm )( 40 mm )3 + 3200 mm 2 ( 40 mm )2 = 5.5467 × 106 mm4
1
( I x )3 =
12
( )
(80 mm )( 20 mm )2 + 1600 mm 2 ( 30 mm )2 = 1.4933 × 106 mm 4
Then I x = (14.4 − 5.5467 − 1.4933) × 106 mm 4 = 7.36 × 106 mm 4
or I x = 7.36 × 106 mm 4
Ix 7.36 × 106
and k x2 = = = 1022.2 mm 2
A 7200
or k x = 32.0 mm
First note that A = A1 − A2 − A3
= (100 mm )(120 mm ) − ( 80 mm )( 40 mm )
− ( 80 mm )( 20 mm )
= (12 000 − 3200 − 1600)mm 2 = 7200 mm 2
Now ( )1 − ( I y )2 − ( I y )3
Iy = Iy
where ( I y )1 = 121 (120 mm )(100 mm )3 = 10 × 106 mm 4
( I y )2 = 121 ( 40 mm )(80 mm )3 = 1.7067 × 106 mm 4
( I y )3 = 121 ( 20 mm )(80 mm )3 = 0.8533 × 106 mm 4

Then I y = (10 − 1.7067 − 0.8533) × 106 mm 4 = 7.44 × 106 mm 4
or I y = 7.44 × 106 mm 4
Iy 7.44 × 106 mm 4
And k y2 = = = 1033.33 mm 2
A 7200 mm 2
k = 32.14550 mm
or k y = 32.1 mm
A, mm 2 y , mm yA, mm3
π
1 (120 )2 = 22 619.5 50.9296 1.1520 × 106
2
1
2 − ( 240 )( 90 ) = −10 800 30 − 0.324 × 106
2
Σ 11 819.5 0.828 × 106
ΣAY 0.828 × 106 mm3

Now Y = = = 70.054 mm
ΣA 11819.5 mm 2
(a) J O = ( J O )1 − ( J O )2
π
where ( J O )1 =
4
(120 mm ) = 162.86 × 10
4 6
mm 4
( 240 mm )( 90 mm )3 + 2  ( 90 mm )(120 mm )3 
1 1
and ( J O ) 2 = ( I x′ ) 2 + ( I y ′ ) 2 =
12 12 
= 40.5 × 106 mm 4
Then J O = (162.86 − 40.5 ) × 106 mm 4 = 122.36 × 106 mm 4
or J O = 122.4 × 106 mm 4 !
(b) J O = J C + Ay 2
or (
J C = 122.36 × 106 mm 4 − 11 819.5 mm 2 ( 70.054 mm ) ) 2
= (122.36 − 58.005 )106 mm 4
or J C = 64.4 × 106 mm 4 !
W section (fig. 9.13A):
A = 7.08 in 2
I x = 18.3 in 4
I y = 82.8 in 4
A = 2 AW + 2 Aplate
= 2  7.08 in 2 + ( 7.93 in.)( 0.3 in.) 
= 18.918 in 2
Now
( )W + 2 ( I x )plate
Ix = 2 Ix
 2
2  6.495 in. 

4
(
= 2 18.3 in + 7.08 in 
 2
)  
 
 ( 7.93 in.)( 0.3 in.)3 

2
+2 + ( 7.93 in.)( 0.3 in.)  ( 6.495 in. + 0.15 in.) 
 12 
= 2 92.967 in 4  + 2 105.07 in 4  = 396.07 in 4
or I x = 396 in 4
Ix 396.07 in 4
and k x2 = = = 20.936 in 2
A 18.918 in 2
or k x = 4.58 in.
Angle: A = 1.44 in 2
I x = I y = 1.24 in 4
Channel: A = 5.88 in 2
I x = 2.81 in 4 I y = 78.9 in 4
Locate the centroid
X =0
Y =
ΣAy ( ) (
2  1.44 in 2 ( 0.842 in.)  + 5.88 in 2 ( − 0.606 in.)
=   )
ΣA (
2 1.44 in 2 + 5.88 in 2 )
=
( 2.42496 − 3.5638) in 3 = − 0.12995 in.
8.765 in 4
Now ( I x ) = 2 ( I x )L + ( I x )C = 2 1.24 in 4 + (1.44 in 2 ) ( 0.842 in. + 0.12995 in.)2 

( ) 2
+  2.81 in 4 + 5.88 in 2 ( 0.606 in. − 0.12995 in.) 
 
= 2 ( 2.6003) in 4 + 4.1425 in 4 = 9.3431 in 4
or I x = 9.34 in 4
Also ( I y ) = 2 ( I y )L + ( I y )C = 2 1.24 in 4 + 1.44 in 2 (5 in. − 0.842 in.)2  + 7.89 in 4

= 2 ( 26.136 ) in 4 + 78.9 in 4 = 131.17 in 4
or I y = 131.2 in 4
(a) Have I AA′ = I GG′ + mra2 ra + rb = 290 mm

= 0.29 m
and I BB′ = I GG′ + mrb2
Subtracting (
I BB′ − I AA′ = m rb2 − ra2 )
( 41 − 78) g ⋅ m 2 = (2000 g) ( rb + ra )( rb − ra )
or − 37 = (2000) (0.29) ( rb − ra )
or ra − rb = 63.793 × 10−3 m
now ra + rb = 0.29 m
so that 2ra = 0.35379 m
ra = 0.17689 m
or ra = 176.9 mm
(b) Have I AA′ = I GG′ + mra2
Then I GG′ = 78 g ⋅ m 2 − (2000 g) (0.17689 m) 2
= 15.420 g ⋅ m 2
2 I GG′ 15.420 g ⋅ m 2
Finally, kGG ′ = = = 0.007710 m 2
m 2000 g
kGG′ = 0.08781 m
kGG′ = 87.8 mm
Have ( )1 + ( I xy )2 + ( I xy )3
I xy = I xy
Symmetry implies ( I xy )2 = 0
For the other rectangles I xy = I x′y′ + x yA
Where symmetry implies I x′y′ = 0
A in 2 x , in. y , in. Ax y in 4
1 4 ( 0.5 ) = 2 − 2.75 1.0 − 5.5
3 4 ( 0.5 ) = 2 2.75 −1.0 − 5.5
Σ −11.00
or I xy = −11.00 in 4
From Problem 9.195 I xy = −11.0 in 4

Compute I x and I y for area of Problem 9.195
3  ( 0.5 in.)( 4 in.)3 
5 in. × ( 0.5 in.) 2
Ix = +2  + ( 4 in. × 0.5 in.)(1.0 in.) 
12  12 
= 9.38542 in 4
 ( 0.5 in.)3 ( 4 in.) 2
 0.5 in. × ( 5 in.)3
Iy = 2 + ( 4 in. × 0.5 in.)( 2.75 in.)  +
 12  12
= 35.54167 in 4
Define points X ( 9.38542, −11) , and Y ( 35.54167, 11)
Ix + I y 9.38542 in 4 + 35.54167 in 4
Now I ave = = = 22.46354 in 4
2 2
2 2
 Ix − I y   9.38542 − 35.54167 
( )
2 2
and R=   + I xy =   + (11.0 )
 2   2 
= 17.08910 in 4
 − 2 ( −11.0 ) 
Also 2θ m = tan −1   = − 40.067 or θ m = − 20.0° clockwise
 9.38542 − 35.54167 
Then I max, min = I ave ± R = 22.46354 ± 17.08910
= 39.55264, 5.37444 or I max = 39.6 in 4
I min = 5.37 in 4
Note: The a axis corresponds to I min and b axis corresponds to I max .
For the cylinder m = ρV = ρπ a 2 L
For the element shown dm = ρπ a 2dx
m
= dx
L
and dI z = dI z + x 2dm
1 2
= a dm + x 2dm
4
L
1 2
L  m  m  1 1 
Then I z = ∫ dI z = ∫ a + x 2  dx  =  a 2 x + x3 
0 
4  L  L  4 3 0
m1 2 1 3
=  a L+ L
L4 3 
1
or I z =
12
( )
m 3a 2 + 4L2
γ
First compute the mass of each component m= V
g
0.284 lb/in 3
Then m1 = ( 5 in. × 4.5 in. × 0.9 in.) = 0.1786 lb ⋅ s2/ft
32.2 ft/s 2
0.284 lb/in 3
m2 = ( 3 in. × 2.5 in. × 0.8 in.) = 0.05292 lb ⋅ s 2/ft
32.2 ft/s 2
0.284 lb/in 3  2
m3 = 2 π ( 0.6 in.) × 0.5 in. = 0.0049875 lb ⋅ s 2 /ft
32.2 ft/s 
Now observe that the centroidal products of inertia, I x′y′ , I y′z ′ , and I z′x′ , of each component are
zero because
0
of symmetry. Now I uv = I u′v′ + muv so that ( Iuv )body = Σmu v .
m, lb ⋅ s 2 /ft mx y my z mz x
x , ft y , ft z , ft
lb ⋅ ft ⋅ s 2 lb ⋅ ft ⋅ s 2 lb ⋅ ft ⋅ s 2
0.2083 0.037 0.187

1 0.1786 1.39531 × 10−3 1.25578 × 10−3 6.97656 × 10−3
3 5 5
0.3833 0.187
2 0.05292 0.20 4.0572 × 10−3 1.98451 × 10−3 3.80362 × 10−3
3 5
0.187 0.49095 × 10−3

3 0.0049875 0.4375 0.225 0.21041 × 10−3 0.40913 × 10−3
5
Σ 5.94347 × 10−3 3.45069 × 10−3 11.18909 × 10−3
Then or I xy = 5.94 × 10−3 lb ⋅ ft ⋅ s 2
or I yz = 3.45 × 10−3 lb ⋅ ft ⋅ s 2
or I zx = 11.19 × 10−3 lb ⋅ ft ⋅ s 2

Cap 09 Vector Mechanics For Engineers Static Solution

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Cap 09 Vector Mechanics For Engineers Static Solution

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COSMOS: Complete Online Solutions Manual Organization System

ab3  372 127  3

Chapter 9, Solution 10.

Chapter 9, Solution 11.

Chapter 9, Solution 12.

Set: x = a sin θ dx = a cosθ dθ

Chapter 9, Solution 13.

Now I y = ∫ x 2dA dA = ydx

Chapter 9, Solution 14.

Chapter 9, Solution 15.

Chapter 9, Solution 16.

Chapter 9, Solution 17.

Chapter 9, Solution 18.

Chapter 9, Solution 19.

First note: At x = 0: b = c cos ( 0 )

Chapter 9, Solution 20.

First note: At x = 0: b = c cos ( 0 )

Chapter 9, Solution 21.

Chapter 9, Solution 22.

Chapter 9, Solution 23.

Chapter 9, Solution 24.

Chapter 9, Solution 25.

(a) Have J O ≡ I 0 = ∫ r 2dA

Chapter 9, Solution 26.

For t R1, R2 kO2 Rm2

Chapter 9, Solution 27.

Chapter 9, Solution 28.

Chapter 9, Solution 29.

First the circular area is divided into an increasing number of identical

Chapter 9, Solution 30.

Now observe that

Chapter 9, Solution 31.

Area: A = 2 (10 mm )( 40 mm )  + ( 90 mm )(10 mm ) = 1700 mm 2

Part : (Same as Part ) I x = 303.3 × 103 mm 4

I x = ( 303.3 + 7.50 + 303.3) × 103 = 614.2 × 103 mm 4

Chapter 9, Solution 32.

Chapter 9, Solution 33.

Area: A = 2 (10 mm )( 40 mm )  + ( 90 mm )(10 mm ) = 1700 mm 2

Part : (Same as Part ) I y = 643.3 × 103 mm 4

Thus for entire area:

I y = ( 643.3 + 607.5 + 643.3) × 103 mm 4

= 1.894 × 106 mm 4 I y = 1.894 × 106 mm 4

Chapter 9, Solution 34.

= (1152 ) − ( 41.667 + 5 ) − ( 4 + 192 )  in 4

= 3.77 in. k y = 3.77 in.

Chapter 9, Solution 35.

Chapter 9, Solution 36.

Chapter 9, Solution 37.

I = 325 × 103 mm 4 I = 325 × 103 mm 4

Chapter 9, Solution 38.

= 24.6 × 106 mm 4 I BB′ = 24.6 × 106 mm 4

Chapter 9, Solution 39.

Chapter 9, Solution 40.

Chapter 9, Solution 41.

Part Area x ( in.) ( )

Entire Section: I y = ( 2.3994 + 1.6348 + 2.3994 ) in 4

Chapter 9, Solution 42.

( 52.5 mm ) (8820 mm 2 ) + ( 90 mm ) ( − 945 mm 2 )

= ( 8103375 + 178605 ) − (106312.5 + 1666980 )  mm 4

Chapter 9, Solution 43.

x2 = −1.5 in. y2 = 2 in. A2 = ( 3)( 4 ) = 12 in 2

x3 = 14 in. y3 = − 5.25 in. A3 = ( 4 )(10.5 ) = 42 in 2

Chapter 9, Solution 44.