MECHANICS

Available at: http://www.mathcity.org

By Muzammil Tanveer

mtanveer8689@gmail.com
0316-7017457
Lecture # 1
Mechanics:
Mechanics is the branch of science which studies the state of rest and motion of
objects and laws governing rest, equilibrium and motion. Since material objects
exist in the form of liquids gases and solids there are corresponding types of
mechanics to deal with them.
(i) Kinematics
(ii) Dynamics
(iii) Statics
Kinematics:
Kinematics is the branch of mechanics which describe the motion of objects
without consideration of their masses and force acting on them.
Dynamics:
Dynamics is the branch of mechanics concerned with the motion of objects
under the action of force.
Statics:
Statics is the branch of mechanics concerned with objects at rest or in
equilibrium under the action of forces.
Ch# Rigid Body Motion:
Particle:
An extremely small part of matter or an infinitesimal part of matter having
negligible dimension is called a particle.
Rigid Body:
A collection of particles such that distance between any two particles remains
same, irrespective to the motion of the body or force acting upon.
e.g. metallic balls, wood, stones etc.
Note: The concept of rigid body is an idealization.
Displacement:
Directed change in position of particles of a rigid body is called displacement.

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Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Translational Motion:
The motion in which all particles of a rigid body are displaced such that the line
joining initial and final position of particles are parallel to each other.
Rotational Motion:
If during the motion particles of the rigid body move in curved path or circular
path or are displaced through some angle  about (an imaginary) line called axis
of rotation. Then that motion is called Rotational motion.
Chasles’ Theorem:
The most general displacement of a rigid body is composed of pure translation
followed by a rotation about some point (base point).
⃗ = (displacement) + (displacement)
⃗ = dt ⃗ + ( ω⃗ × r⃗)
⃗
= ⃗ + ( ω⃗ × r⃗)
where ω⃗ is angular velocity of body and r⃗ is position vector of P with
respect to A (base point).
⃗
⃗ = ⃗ + ( ω⃗ × r⃗) since = ⃗

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Lecture # 2
Angular Equation motion:
We know that
=

 ω = dt
By integrating
 ω = t+c (i) ; where c is constant of integration and can be
found by using initial condition t = 0 then ω = ω
ω = (0)+c  c=ω
Put in (i) ω = t+ω (ii)
called first angular equation of motion. Now from (ii)
 
= t+ω since ω =

 d = (t+ω )dt

  =  + ω +c (iii)

When t = 0 ,  = 0 put in (iii)

0 = a (0) + ω (0) + c

c =0 Put in (iii)

 =  + ω +0

 =  + ω (iv)
Called Second Angular equation of motion.

Now from (ii) t = ω − ω  t=
a

( )
a
Put in (iv) = + ω ( )
a

=( ) a . + ω ( ) + ω
a a a

=( )  = or 2 = ω − ω
a a
Called the third Angular equation of motion.

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Note: These equations are only useful when a rigid body is rotating with
angular velocity about a point ‘o’.
Question:
A rigid body is rotating about at a point say ‘0’. Find ⃗
(i) ω⃗ = 2 ̂+3 ̂ − , r⃗ = ̂+ ̂ +
(ii) ω⃗ = ̂ − , r⃗ = 2 ̂ − ̂ − 2
Solution:
(i) ω⃗ = 2 ̂+3 ̂ − , r⃗ = ̂+ ̂ +
⃗ = ω⃗ × r⃗
̂ ̂
⃗ = 2 3 −1  ̂(3 + 1) − ̂(2+1)+ (2 − 3)
1 1 1
⃗ =4 ̂−3 ̂−
(ii) ω⃗ = ̂ − , r⃗ = 2 ̂ − ̂ − 2
̂ ̂
⃗ = 1 0 −1  ̂(0 − 1) − ̂(-2+2)+ (−1 − 0)
2 −1 −2
⃗ =− ̂−0 ̂−

Screw Motion:
The motion which consist of translation and rotation about a line along the
translation is called screw motion.
In this motion linear velocity of each particle on the axis of rotation is parallel
( or anti parallel) to the angular velocity.
Theorem:
Find the equation of axis of rotation in vector form in case of screw motion Or
Show that equation of axis of rotation in case of screw motion is r⃗ = a⃗ + ω⃗
where r⃗ is position vector of any point on the axis of rotation and a⃗ is any
vector,  is scalar and ω⃗ is the angular velocity Or Show that instantaneous
general motion is screw motion.
Proof:
Consider a rigid body in general motion. Let A be the base point of the body
with linear velocity ⃗. Let B be any other particle then Linear velocity of B is

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 ⃗ = ⃗ + ( ω⃗ × r⃗) (i) ; where r⃗ is position vector of B from base point .
In general, ⃗ and ω⃗ are not parallel (or antiparallel) but we can choose B such
that Linear velocity ⃗ of B is parallel to angular velocity ω⃗ of the rigid body.
Taking cross product of (i) with ω⃗
ω⃗ × ⃗ = ( ω⃗ × ⃗) + ω⃗ × ( ω⃗ × r⃗ )
Since ω⃗ ‖ ⃗ so ω⃗ × ⃗ = 0
0 = ( ω⃗ × ⃗) + ( ω⃗ . r⃗ ) ω⃗ −( ω⃗ . ω⃗ )r⃗
= ( ω⃗ × ⃗) + ( ω⃗ . r⃗ ) ω⃗ − ω r⃗
Since ω⃗ . ω⃗ = | ω⃗|| ω⃗| 0=ω
ω r⃗ = (ω⃗ × ⃗) + ( ω⃗ . r⃗ ) ω⃗
⃗ × ⃗ ⃗ .⃗
r⃗ = + ω⃗

r⃗ = a⃗ + ω⃗
⃗ × ⃗ ⃗ .⃗
where a⃗ = and  =

Question:
Show that ω⃗ = curl ⃗ (for rotation).
Solution:

∇= ̂+ ̂+

⃗= ̂+ ̂+
̂ ̂
∇× ⃗=  − ̂+ − ̂+ − … (i)

̂ ̂
̂+ ̂+ = ω ω ω

 (ω −ω ) ̂+ (ω −ω ) +
̂ (ω −ω )
=ω −ω , =ω −ω , =ω −ω

 =ω , = −ω , = −ω , =ω , = −ω , =ω

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 Putting above values in eq. (i)
∇ × ⃗ = (ω − (−ω )) ̂ +(ω − (−ω )) ̂+(ω − (−ω ))
= (ω + ω ) ̂ +(ω + ω ) +
̂ (ω +ω )
= 2ω ̂ +2ω +
̂ 2ω or 2[ω ̂ +ω ̂+ω ]
(∇ × ⃗ ) = ω⃗

Or ω⃗ = curl ⃗ proved.

Question:
A rigid body is rotating about a fix point ‘o’. The points A(0,-1,2) and
B(2,0,0) are moving with velocities ⃗ = [7,-2,-1] and ⃗ = [ 0,6,-4]
respectively. Find the angular velocity of the body.
Solution:
Position vector of ‘A’
⃗ = [0,-1,2]
⃗ = ω⃗ × ⃗

̂ ̂
[7,-2,-1] = ω ω ω = (2ω + ω ) ̂ − (2ω − 0) +
̂ (−ω − 0)
0 −1 2
[7,-2,-1] = (2ω + ω ) ̂ − 2ω ̂−ω
7 = 2ω + ω , -2 = −2ω  ω = 1
Position vector of ‘B’
⃗ = [2,0,0]
⃗ = ω⃗ × ⃗

̂ ̂
[0,6,-4] = ω ω ω = (0 − 0) ̂ + (2ω − 0) +
̂ (0 − 2ω )
2 0 0
[0,6,-4] = 0 ̂+2ω ̂-2ω
0=0 , 6 = 2ω  ω =3
−2ω = -4  ω =2
Angular Velocity ω⃗ = ω ̂ +ω ̂+ω  ω⃗ = ̂ +2 ̂+ 3

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Lecture # 3
Question:
The instantaneous linear velocity of three particles A(a,0,0) , B(0, , 0) and
√
C(0,0,2a) are ⃗ = (u,0,0), ⃗( , 0, ) and ⃗(u+v,−√3 , ) respectively w.r.t
the cartesian coordinate system. Find |ω⃗| of rigid body.
Solution:
Let A(a,0,0) be a base point (fix point). We know that linear velocity of any
particle ‘P’ of a rigid body in case of general motion
⃗ = ⃗ + ( ω ⃗ × ⃗ )  ⃗ is position vector of P w.r.t A
Now ⃗ = (− , ,0) and ⃗ = (− , 0,2 )
√

Then ⃗ = ⃗ + ( ω ⃗ × ⃗ )  ω ⃗ = ( ω ,ω ,ω )
 ⃗ − ⃗ = ( ω ⃗ × ⃗ )

̂ ̂
 ( 0,0,V) = ω ω ω
− 0
√

= ̂ (0− √
) + ̂(− ω − 0) + (
√
+ ω )

( 0,0,V) = ̂ (−
√
) + ̂(− ω ) + (
√
+ ω )

On comparig

 − √
=0 , − ω =0 ,
√
+ ω =V

 ω =0
Now ⃗ = ⃗ + ( ω ⃗ × ⃗ )
⃗ − ⃗ = ( ω ⃗ × ⃗ )

̂ ̂
 (V , −√3V , ) = ω ω ω
− 0 2
= ̂ (2aω − 0)+ ̂(− ω − 2 ω ) + (0+aω )
(V , −√3V , ) = ̂ (2aω )+ ̂(− ω − 2 ω ) + (aω )
On comparing
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2aω = V , − ω − 2 ω = −√3V , aω =

 ω = , − (0) − 2 ω = −√3V  ω =0

−2 ω = −√3V
√
ω =
√
 ω ⃗ = ( , , 0)

√
Now |ω ⃗| = + + (0)  +

|ω ⃗| = =  |ω ⃗| = Ans

Question:
The instantaneous linear velocity of three particles A(a, 2a, − ) , B(− , − , )
and C(a,a,a) are ⃗ = (√ , 0 , √ ), ⃗ − , 0, − and ⃗(0, − , )
√ √ √ √
respectively. Find direction of cosine of axis of rotation.
Solution:
Let A(a, 2a, − ) be a base point. We know that Linear velocity of any particle
‘P’ of a rigid body in general motion is
⃗ = ⃗ + ( ω ⃗ × ⃗ )
Now ⃗ = (−2 ,−3 ,2 ) and ⃗ = (0, − , 2 )
Then ⃗ = ⃗ + ( ω ⃗ × ⃗ )  ω ⃗ = ( ω ,ω ,ω )
 ⃗ − ⃗ = ( ω ⃗ × ⃗ )
̂ ̂
− , 0, − = ω ω ω
√ √
−2 −3 2
= ̂ (2aω + 3aω ) + ̂(−2 ω −2aω ) + (−3 ω −2aω )
On Comparing
2aω + 3aω = − , −2 ω −2aω = 0 , −3 ω −2aω = −
√ √

−ω = ω
Now ⃗ = ⃗ + ( ω ⃗ × ⃗ )

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 ⃗ − ⃗ = ( ω ⃗ × ⃗ )

√
̂ ̂
 ( , , )= ω ω ω
√ √
0 − 2
= ̂ (2aω + aω ) + (̂ 0 −2aω ) + (− ω −0)
= ̂ (2aω + aω ) + (̂ −2aω ) + (−aω )
On Comparing
√
2aω + aω = , −2aω = , −aω =
√ √

 ω =
√
And ω =
√
√
2aω + a( )=
√
ω =
√

 ω ⃗ = ( , , )
√ √ √

Now |ω ⃗| = + +  + +
√ √ √

|ω ⃗| = =  |ω ⃗| = is the
magnitude of Angular velocity.
⃗ √ √ √
| ⃗|
=( , , )  ( , , )
√ √ √

We know that direction of cosine of the axis of rotation are the component of
unit vector along the angular velocity and are ( , , ).
√ √ √

Inertia:
Tendency of a rigid body to remain at rest or of a body in motion to stay in
motion unless an external force acted upon.
Or
Measure of resistance in Linear acceleration.
Moment of Inertia (Rotational Inertia)
Measure of resistance of a rigid body in angular acceleration.

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Mathematically I = m
Where r is perpendicular distance of rigid body from a line about which it is
rotating and r = is radius of Gyration (Latin word means rotation or rapid
motion in circular path).
In case of system of particles
I= + +……..+
I=∑

Radius of Gyration = ∑

∑
= Where M = ∑

For Continuous or Uniform mass distribution:

I=∫ dm Z

= m (  distance from y-axis)

mass(m)
=m( + ) P(x,y,z)
Momentum:
P⃗ = mV⃗ z
X
Angular Momentum:
L⃗ = r⃗ ´ P⃗ x
For system of particles
L⃗ = ∑ ⃗ × ⃗ Y

=∑ ⃗ × ( ⃗)

=∑ ⃗ × ⃗  V⃗ = ω⃗ × r⃗
=∑ ( ⃗ × ( ω⃗ × ⃗ ))
=∑ [( ⃗ . ⃗ )ω⃗ − ( ⃗ . ω⃗) r⃗)]
If ⃗ = ( , , ) and ω⃗ = (ω , ω , ω )
 ∑ [( ⃗) ω , ω , ω − {( , , ). ω , ω , ω }( , , )]
=∑ [( + + ) ω ,ω ,ω −( ω + ω + ω ) ( , , )]

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=∑ [( + + )ω ,( + + )ω , ( + + )ω −
( ω + ω + ω ), ( ω + ω + ω ), ( ω + ω + ω )]

=∑ [( ω + ω + ω )−( ω + ω + ω ),
ω + ω + ω −( ω + ω + ω ),
( ω + ω + ω )−( ω + ω + ω )]

=∑ [ ω + ω + ω − ω − ω − ω ,
ω + ω + ω − ω − ω − ω ,
ω + ω + ω − ω − ω − ω ]
=∑ [( + ) ω − ω −ω ,
( + ) ω − ω −ω ,
( + ) ω − ω −ω ]
= [{∑ ( + ) ω + (− ∑ )ω + (− ∑ )ω }, ,
{∑ ( + ) ω + (− ∑ )ω ) + (− ∑ )ω } ,
{∑ ( + ) ω + (− ∑ )ω + (− ∑ )ω }]

=[ ω + ω + ω , ω + ω + ω , ω + ω + ω ]

 = ω + ω + ω
 = ω + ω + ω
 = ω + ω + ω
ω
Or = ω
ω
Diagonal element ( , , ) called Moment of Inertia about coordinate axis.
Upper and lower triangular matrix element called product of inertia about
coordinate axis.
L = I ω⃗

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Where =∑ ( + )
=∑ ( + )
=∑ ( + )
= (− ∑ )
= (− ∑ )
= (− ∑ )
For continous (uniform mass distribution
= ∫( + ) , = ∫( + ) , = ∫( + )
= −∫ , = −∫ , = −∫

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Lecture # 4
Question:
Find moment of inertia of a uniform rod about an axis passing through one of its
extremities or passing through its end points and perpendicular to the length
rod.
Solution:
Let the mass of the rod is ‘m’ and length ‘a’. We take small particle of mass dm
and length dx and coordinate (x,0,0). Y mass ‘m’
Moment of Inertia of rod about Y-axis dx dm
= ∫( + ) dm O
a X
=∫ dm  z=0
(x,0,0)

As   mass  dm  dm   dx
length dx
a a
I yy   x 2  dx    x 2 dx
0 0

3 a
x  a3  m
     0  
3 0  3  a
m  a 3  ma 2
  
a 3  3
2
mass  lengthof rod 
I yy 
3
If length of the rod is 2a
mass (length of rod ) 2 m(2a ) 2
I yy  
3 3
4ma 2

3
4ma 2
I yye  ...........( A) I yye , e  end po int
3

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Question:Find M.I of uniform rod about an axis passing through centre of rod
and  to the length of rod.
Solution:
Let the mass of rod in ‘m’ and length ‘2a’. Take a small particle of mass ‘dm’
having length dx and coordiantte (x,0,0)
M.I about Y-axis Y

= ∫( + ) dm (x,0,0)
=∫ dm  z = 0 -a o a X
dm
As   mass  dm  dm   dx
length dx dx
a a
I yy   x 2  dx    x 2 dx
a a

3 a
x  a3 a3  m
     
3 a  3 3 a
m  2a 3  ma 2
  
2a  3  3
ma 2
I yyc  ........( B ) I yyc , c  centre
3
From Aand B
I yyc  4 I yye

Question:
Find M.I of rectangular lemina about an axis in the plane of lemina and passing
through any of its edges.
Soluiton:
Let ‘a’ be the length and ‘b’ be the width of rectangular lemina. Take a point
having mass dm and area dxdy and coordinates (x,y,0).
Moment of inertia about width
I yy   ( x 2  z 2 ) dm Y Area = dxdy
  x 2 dm z 0
b dm
b a
 
2
x dxdy dm   dxdy (x,y,0)
0 0
X
O a
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 a
b x3
 dy
0 3 0
3
a a 
I yy      0  dy
0
 3 
3 3
a b a m
 y 0   b  0  
3 3 ab
m  a 3b  ma 2
  
ab  3  3
ma 2 mass(lengthof Re c tan gular le min a) 2
I yyc  
3 3
Moment of inertia about length
I xx   ( y 2  z 2 ) dm

  y 2 dm z 0
b a
  y 2 dxdy dm   dxdy
0 0

b a
   y 2 x 0 dy
0

b
   y 2 (a  0)dy
0
b
   y 2 dy
0
b
3
y
 a
3 0
3
b 
 a   0 
3 
3
m ab m
 .  
ab 3 ab
mb 2 mass( widthof rec tan gular le min a)
I xx  
3 3

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Question:Find M.I of square lemina about an axis in the plane of lemina and
passing through any of its edges.
Solution:
Let the length and the width of square lemina is ‘a’. Take a small particle of
mass dm and area dxdy and coordinates (x,y,0). Y
Moment of inertia about width
I yy   ( x 2  z 2 ) dm a dm
(dxdy)
  x 2 dm z 0 (x,y,0)
O a X
a a
 
2
x dxdy dm   dxdy
0 0

a
a x3

0 3 0

 a3
a 
I yy      0  dy
0
 3 
a3 a a3 m m
 y 0    a  0   
3 3 a.a a 2
m  a  ma 2
4
 2  
a  3 3
Similarly,
ma 2
I xx 
3
Question:
Find M.I of a rectagular lemina about an axis in the plane of lemina parallel to
its edges and passing through its centre.
Solution:
Let the length of rectangular lemina is ‘a’ and width ‘b’ . Take a small particle
of mass dm and area dx,dy and coordiante (x,y,0)
M.I about width
I yy   ( x 2  z 2 ) dm

  x 2 dm z 0

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 b a
 2 2
 x2 dxdy dm   dxdy
b  a
2 2 Length = a

b/2 Width = ab
a
3 2
b x dm
  b2 (x,y,0)
2 3 a
2 -a/2 a/2
  a  3   a 3  -b/2
b     
2 2  
I yy    b2      dy
2 3 3 
 
 
3 3
2a b 2a  b b  m
 y b2       
24 2 24  2 2  ab
m  2a 3  ma 2
   .b 
ab  24  12
ma 2 mass (length of rec tan gular le min a )
I yy  
12 12
M.I about length I xx   ( y 2  z 2 ) dm

  y 2 dm z 0
b a
   b2 a
2
 y 2 dxdy dm   dxdy

2 2

b
2
a
  x  a2  y 2dy
2
b
2
b
3 2
a a y
  
2 2 3 b
2
3 3
b b 
 a   
 24 24 
am  2b3  mb 2 m
    
ab  24  12 ab
mb 2 mass(lengthof rec tan gular le min a)
I xx  
12 12

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For MCQ
mb 2
I xxe  e  edge , end poin t
3
mb 2
I xxc  c  centre
12
e mb2  2b3 
I 
xx
 4   4I xxc
3  12 
I xxe  4I xxc
Question:
Find M.I of square lemina about an axis in the plane of lemina parallel to its
edges and passing through its center.
Solution: Let the length and width of square lemina is ‘a’.Take a small particle
of mass dm area dxdy and coordinates (x,y,0).
M.I about width a/2
dm
I yy   ( x 2  z 2 ) dm
-a/2 (x,y,0) a/2
  x dm2
z 0
a a
 2 2
 x2 dxdy dm   dxdy
a a
2 2 -a/2

a
a x3 2
   a2
2 3 a
2

  a  3   a 3 
a     
2  2  2  
I yy    a  dy
2 3 3 
 
 
2a 3 b 2 a3  a a  m
 y b       
24 2 12  2 2  a2
ma 3  a  ma 2
 2  
a  12  12
ma 2 ma 2
I yy  Similarly, I xx 
12 12

18
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Lecture # 5
Wallis Formula’s:
(i) If ‘m’ is even then
( − 1)( − 3) … … … 1
= = .
( − 2)( − 4) … . .2 2
(ii) If ‘n’ is odd then
( − 1)( − 3) … … … 1
= =
( − 2)( − 4) … . .2
(iii) If both ‘m’ and ‘n’ are even then

( − 1)( − 3) … … … 1. ( − 1)( − 3) … … 1
= .
( + )( + − 2)( + − 4) … . .2 2
(iv) If both ‘m’ is even and ‘n’ is odd then

=
(
− 1)( − 3) … … … 1. ( − 1)( − 3) … … 2
=
( + )( + − 2)( + − 4) … . .2
(v) If both ‘m’ and ‘n’ are odd then

( − 1)( − 3) … … … 2. ( − 1)( − 3) … … 2
=
( + )( + − 2)( + − 4) … . .2
Theorem: (Only statement used)
If f(x) is even function then
l l
∫ l
( ) = 2 ∫ ( )
If f(x) is odd function then
l
∫ l
( ) =0

Question:
Find M.I of a circular lemina about an axis in the place of lemina and passing
through its centre.
Solution:
Let ‘m’ be the mass of circular lemina and radius ‘a’. Take a small area element
having dm and coordinates (x,y).

19
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 Y a Area dm

= ∫( + ) dm (x,y)
-a a X
= ∫ dm
2 2
a y a  x
-a
=   y 2 dydx
 a y  a 2  x 2

y  a2  x2
3 dm = dxdy
y a
=  dx x changes from −a  a
3 a
y  a 2  x 2 + =
 a 3 3 = −
=
3 a 
  a x2 2
   2
a x 2
  dx
y=√ −
 a 3 3
2 2 y changes from
     dx
2 2 2 2
a  x  a  x
3 a 
=

−√ − √ −
a 3
  
 2a  x 
2 2 2
=   dx
3 a  
a 3
2  2 2 2 
 a  x   dx
3 a 
=

Put x = asin , dx = acosd
x = −a  = (−1) = −

x=a  = (1) =

2 3
2  2 
=
3  
  a  a 2
sin 2
  2 .a cos d



2


2 3
2  2 
    2 .a cos d
2
= a cos 
3 

2

20
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 
2
2 4
=  a cos4  d
3

2


4 2
2 a 4
=
3  cos  d

2
By theorem f(x) is even

l l
2 a4 2 ∫ ( ) = 2 ∫ ( )
= .2  cos 4  d l
3 0
= =
By Wallis cosine formula
4  a 4 3.1 
= . .
3 4.2 2
 a 4
=
4
m a 4
= .
 a2 4
ma2
=
4
ma2
Similarly =
4
Question:
Find M.T of a elliptic lemina about an axis in the plane of lemina through its
major and minor axis.
Y
Solution: dm
√ −

-a (x,y)
= ∫( + ) dm
a X
= ∫ dm  z=0
b 2 2
a
y
a
a x
√ −
2
=   y dydx
 a y  b a2  x2
a

21
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 x changes from −a  a

y
b 2 2
a x + =1
3 a
a
y
=  dx y= √ −
a 3 b 2 2
y 
a
a x y changes from
3 3
 a  b   b   − √ −  √ −
=    a  x     a2  x2 
2 2
 dx
3 a   a   a  
 a  b3 3
b3 2 3
2 2 
   a3    dx
2 2 2
a  x  a  x
3 a  a 3
=

a
2 b3  2 2 32 
.   a  x   dx
3 a3 a 
=

Put x = asin , dx = acosd
x = −a  = (−1) = −

x=a  = (1) =

3 2 3
2 b  2 
    2 .a cos d
2 2
= . a  a sin 
3 a3 

2


3 2 3
2 b  2 
   a cos   2 .a cos d
2
= .
3 a3

2


3 2
2 b 4
=  a cos4  d
3 a3

2


3 2
2 b a 4
=
3  cos  d

2
By theorem f(x) is even

l l
2  b 3a 2 ∫ ( ) = 2 ∫ ( )
= .2  cos 4  d l
3 0
= =
By Wallis cosine formula

22
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 4  b 3a 3.1 
= . .
3 4.2 2
 ab3
=
4
m ab 3
= .
 ab 4
mb2
=
4
ma2
Similarly =
4
Question:
Find M.I of rectangular parallelepiped with respect to its edges with one corner
at the origin.
Z
Solution: (0,0,c)
= ∫( + ) dm
= (0,0,0) (a,0,0)

dm = dxdydz Y (0,b,0) X
c b a

=   ( y 2  z 2 )dxdydz
0 0 0

c b a
2 2
=   x( y z ) dydz
0 0 0

c b a
2 2
=   (a  0)( y z ) dydz
0 0 0

c b

=  a  ( y 2  z 2 )dydz
0 0

b
3
c y 
= a
  yz 2  dz
0
 3  0

23
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 c
  b3  
=  a     bz 2   0  dz
0 
3  
c
b3
=  a (  bz 2 )dz
0
3
c
3 3
b z
= a z b
3 3 0

 cb3 bc3 
= a   
 3 3 
m abc 2 2
= . b  c  = =
abc 3
m 2 2
=
3
b  c 
Similarly,
m 2
=
3
 a  c2 

m 2
=
3
 a  b2 

Find , ,
=   xydm
c b a

=    xy dxdydz
0 0 0

a
x2
c b
=    y dydz
20 0
0

c b
a2
=    y dydz
2 0 0

24
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 b
2
= 
a 2 c
y
 dz
2 0 2 0

c
a 2 b2
=   .  dz
2 2 0

a2 b2 c
=  .
2 2
z 0

m a 2b 2 c
= . = =
abc 4
mab
=
4
Similarly,
mac
= 
4
mbc
=
4
Find matrix

⎡ m 2 2 mab mac ⎤
⎢ 3
b  c  
4

4 ⎥
 I xx I xy I xz  ⎢ ⎥
  mab m 2 mbc
 I yx I yy I yz   ⎢
⎢

4 3
 a  c2  
4
⎥
⎥
 I zx I yz I zz  ⎢ ⎥
 mac mbc
⎢ m 2 2 ⎥

⎣

4

4 3
a  b  ⎦
Question:
Find M.I of a cube w.r.t its edges with one corner at the origin.
Solution: Z
(0,0,a)
= ∫( + ) dm
= (0,0,0) (a,0,0)

dm = dxdydz Y (0,a,0) X
25
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 a a a
  y  z 2  dxdydz
2
= 
0 0 0

a
a a 2 2
=  0 0 x( y  z ) dydz
0

a a
=   (a  0)( y 2  z 2 )dydz
0 0

a
3
y
 yz 2
a
= a  dz
0
3 0

3
a a  
= a      az 2   (0) dz
 3
0
 
a
3 3
a z az
= a 
3 3 0

 a 3 .a a.a 3 
= a   
 3 3 

 a4 a4 
= a   
 3 3

 2a 4 
= a  
 3 
ma  2a4 
= 3 
a  3 

2ma 2
=
3
Similarly,
2ma 2 2ma 2
= , =
3 3
a a a
=   xy dm      dxdydz
0 0 0

26
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 a a x2 a
=   y dydz
0 0 2 0
a
a2 a a a2 a y 2
  dz
2 0 2 0
=   ydydz =
2 0 0

a4 a
=  dz
4 0
a4 a
=  z
4 0
m a4
= (a )
a3 4
ma 2
=
4
Similrarly,
ma 2 ma 2
= , =
4 4
Matrix form

⎡ 2ma
2
ma 2 ma 2 ⎤
 
⎢ 3 4 4 ⎥
 I xx I xy I xz  ⎢ ⎥
  ma 2 2ma 2 ma 2 ⎥
 I yx I yy I yz   ⎢  
⎢ 4 3 4 ⎥
 I zx I yz I zz  ⎢ ⎥
 2
⎢  ma ma 2 2ma 2 ⎥

⎣ 4 4 3 ⎦

27
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 Lecture # 6
Question:
Find M.I of a circular ring about a line passing through its Centre and
perpendicular to its circumference.
Solution:
Consider the circular ring of radius ‘a’ in xy-plane. Consider a mass particle dm
with arc length dl with central angle d Y
=
dl
d
dm
= =
 O a X

dm = a d
a
M.I about z-axis = =∫ dm = ∫  dl
d
O
= ∫ 
2 Since l = r
= 0
 l = a
= (2 − 0)
 dl = ad
= 2
= .2  =

= m
Perpendicular axis theorem:
Statement:
The M.I of Lemina (or a plane rigid body) about a normal axis (about an axis 
to its plane) is equal to the sum of M.Is about two mutually  axis in the plane
of lemina and passing through the intersection of lemina with the normal axis.
Proof:
Consider place Lemina in XY-plane. X-axis and Y-axis are  axis.
Z-axis is  to X-axis and Y-axis. Let be the ith particle of mass with

28
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Position vector ⃗
M.I about z-axis
n
I zz   ( xi2  yi2 )dm
i 1
n n
I zz   xi2 dm   yi2 dm
i 1 i 1
I zz  I yy  I xx
 I zz  I xx  I yy Pr oved
2
Or I zz   ( x 2  y 2 ) dm   x 2 dm   y dm  I yy  I xx

K.E in general motion:

Consider a rigid body in general motion with base point at the center of mass of
the rigid body. Then linear velocity of the ith particle of the rigid body is
⃗ = ⃗ + ( ⃗ × ⃗) And its K.E is = ∑ ⃗

1 n             
  mi  V  ( ´ ri )  .  V    ´ ri   
2 i  1     

           2 
1 n   
  i  1 mi   V 2  V .( ´ ri )    V .   ´ ri     ´ ri  
2     
     



1 n          2 
2
  i  1 mi  V  2V .( ´ ri )     ´ ri  
2   
  

 2
1 n 1 n     n 
T   mi V 2   mi   ´ ri   V .   ´  mi ri  (1)
2 i 1 2 i 1    i 1 
n 
If center of mass (base point) is taken at origin then  mi ri  0
i 1

Then from (1)

 2
1 n 1 n  
T=  mi V 2   mi   ´ ri 
2 i 1 2 i 1  

29
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
  2
1 1 n   n
= M V 2   mi   ´ ri  where M   mi
2 2 i 1   i 1

T = Ttranslational K .E  Trotaional K .E
  
Now Let  ´ ri  a
2
            
  ´ ri     ´ ri .  ´ ri     ´ ri . a
      
  
  .( ri ´ a )
   
  .[ ri ´ ( ´ ri )]
2
1 n  
Now =  i  ´ ri 
m
2 i 1  

1 n     1 n   
=  i m  .[ ri ´ ( ´ ri )] =   i ri ´( ´ ri )]
m [
2 i 1 2 i 1

1   n   
= .L where L   mi [ ri ´( ´ ri )]
2 i 1


1 1 
Hence = MV 2 And = .L
2 2
1 1
Now = [x y z ].[Lx Ly Lz ] = [x Lx  yLy  z Lz ]
2 2
1
 [x (xIxx  y Ixy  z Ixz ) y (xI yx  y I yy  z I yz )  z (xIzx  y Izy  z Izz ]
2

1
 [(x2 )Ixx  xy Ixy  xz Ixz  yxI yx  (y2 )I yy  yz I yz  zxIzx  zyIzy  (z2 )Izz ]
2

 Ixy Iyx , Ixz  Izx , Iyz  Izy

1
 [(x )2 Ixx  (y )2 I yy  (z2 )Izz  2xy Ixy  2xz Ixz  2yz I yz ]
2
30
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Lecture # 7
Question:
Find M.I of a rigid body about line having direction cosine , and v
Solution:
Consider a line ‘l’ through origin having direction cosine , and v. Let
̂ be a unit vector along line ‘l’.
Then we can write
̂ =̂+ ̂ +
Let ( , , ) be the particle of the rigid body and di be the distance of
From the line ‘l’ then from fig.
di = | ⃗| sin where ⃗ = ̂+ ̂+ Z

= | ̂ ´ ⃗|
l
Now M.I of the rigid body about line ‘l’
n Y
2
I  mi di
i 1
X
n  2

  mi e ´ ri ......(1)
i 1
Now
i j k

e ´ ri  l  
xi yi zi

e ´ ri    zi  vyi  i   vxi  l zi  j   l y i   xi  k

Put in (1)
n
2 2 2
I   mi   zi  vyi    vxi  l zi    l yi   xi  
i 1
 
n
I   mi  2 zi2  v2 yi2  2vzi yi  v2 xi2  l 2 zi2  2vl xi zi  l 2 yi2   2 xi2  2l xi yi 
i 1

31
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 n
I   mi ( yi2  zi2 )l 2  ( xi2  zi2 ) 2  ( xi2  yi2 )v2  2l xi yi  2vyi zi  2vl xi zi 
i 1

n n n  n   n   n 
i1
 i1
 i1
 
I l2 mi yi2  zi2 2 xi2  zi2 v2 xi2  yi2 2lmx
 i1
 y
1i i 

 2v iii
 i1
my z 

2vlmx
 i1
i i zi 


I  l 2 I xx   2 I yy  v 2 I zz  2l I xy  2  vI yz  2vl I xz

Which is M.I of rigid body about a line having direction cosine , and v
Momental Ellipsoid:
We know that M.I of a rigid body about a line having direction cosine , and
v is given as
I  l 2 I xx   2 I yy  v 2 I zz  2 l I xy  2  vI yz  2 vl I xz

̂
Let be vector along ‘l’ and Q(x,y,z) be the point on line ‘l’ such that
√
̂
⃗= and ⃗ = ,I0
√ √

Also ⃗= ̂+ ̂+

Now direction cosine of ⃗ are

⃗
, ⃗
, ⃗

i.e. √ , √ , √
Since line ‘l’ and ⃗ have same direction cosines therefore

 = √ ,  = √ and v = √
Put in eq (1)
I  x 2 I I xx  y 2 I I yy  z 2 I I zz  2 xyI I xy  2 yzI I yz  2 zxI I xz

Divide both side by I

x 2 I xx  y 2 I yy  z 2 I zz  2 xyI xy  2 yzI yz  2 zx I xz 1

Which represents equation of ellipsoid thus ellipsoid is called Momental

ellipsoid or ellipsoid of inertia (Ass , , are +ve)

32
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Question
Show that Momental ellipsoid at the center of elliptic disc is

x2 y2  1 1  2 √ −
     z  cons tan t
a2 b2  a2 b2 
-a a
Solution:
We know that
√ −
2 2
mb ma
= , =
4 4
= + By  axis theorem
mb2 ma2
= +
4 4
m(a 2  b2 )
=
4
b 2 2
y a x
x a a
=  xy dm      xy dydx
x a b 2 2
y  a x
a

b 2 2
xa a x
y2 a
   x dx
x a
2 b 2 2
a x
a

xa
 b2 2 b2 2 
   x  2  a  x   2  a  x 2   dx
2

x a a a 
xa

   x (0) dx  0
x  a

Similarly, = =0
Now by Momental ellipsoid formula
x 2 I xx  y 2 I yy  z 2 I zz  2 xyI xy  2 yzI yz  2 zx I xz 1

By putting the above value

33
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 
x2 
mb2
2  ma 2
2
 m a2  b2     2xy(0)  2yz(0)  2zx(0) 1
 y  z 
 4   4   4 
 
2
 2  ma2  2  ma2 mb2 
2  mb
x   y   z    1
 4   4   4 4 

ma 2 b 2
Divide by
4
x2 y2 2 1 1 4
  z    
a2 b2  a2 b2  ma2b2
x2 y2  1 1  2
      z  cons tan t
a2 b2  a2 b2 
Question:
Write inertia matrix if equation of Momental ellipsoid is

3x2  3 y2  5z2  xy  2 yz  5xz 3

Solution: Given

2x2  3y2  5z2  xy  2 yz  5xz 3

Divide by 3
2 2 2 5 2 1 2 5
x  y  z  xy  yz  xz 1 ..................(1)
3 3 3 3 3
As we know
x 2 I xx  y 2 I yy  z 2 I zz  2 xyI xy  2 yzI yz  2 zx I xz 1 ……….(2)

Comparing (1) and (2)

= , =1, = , = − , = , =

 2 1 5
 I xx I xy I xz   3 6 6
 
Now Inertia Matrix is  I yx I yy

I yz    1 1
1
 I zx  6 3
 I yz I zz   5 1 5
 
 6 3 3 

34
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Lecture # 8
Question:
Find equation of momental ellipsoid of a uniform rectangular parallelepiped.
Solution:
As x 2 I xx  y 2 I yy  z 2 I zz  2 xyI xy  2 yzI yz  2 zx I xz 1 …..(1)
We know that for a parallelopiped
( ) ( ) ( )
= , = , = , =− , = ,
=−

Put these in (1)

( ) ( ) ( )
+ + +2( )xy+2( )xz +2( )yz = 1

Multiplying by 6/m both side

2( + ) + 2( + ) +( + ) -3abxy-3acxz-3bcyz = 6/m
2( + ) + 2( + ) +( + ) -3abxy-3acxz-3bcyz = c
 c = 6/m
Which is required equation of momental ellipsoid of a uniform parallelopiped.
Question:
Find M.I of solid cylinder about
(i) its axis of symmetry or an axis passing through the Centre of cylinder
and parallel to its length.
(ii) its central diameter or an axis passing through its Centre and
perpendicular to the axis of symmetry.
Solution:
Let h be the height of cylinder ‘O’ be the Centre and z-axis be its axis of Z
symmetry and x-axis & y-axis are the lines perpendicular to its axis of h/2
symmetry through its centre in cylindrical coordinate (r,,z)
h
x = r cos ; 0ra V= h O Y

y = rsin ; 0    2  =

z=z ; -h/2  2  h/2 X

-h/2

35
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
M.I about the axis of symmetry
= ∫( + ) dm

 x  y2  dV
2
= 
h /2 2 a
2
=     (r cos2   r 2 sin 2  ) r drd dz
 h /2 0 0

h /2 2 a h/2 2 a
2 3
=     r .r drd dz     r drd dz
 h /2 0 0  h/2 0 0

a
4
= 
r
h / 2 2

  d  dz
4
 h /2 0
0

h /2 2
 a4 
=      0  d dz
 h /2 0 
4 
 a4  h/2 2
=      d dz
 4   h/2 0
2
 a 4  h /2
=     dz
 4   h /2 0

 a 4  h/2
=     (2  0)dz
 4   h/2
 a4  h /2
=   .2 z  h/2
 4
 a4  h h
=   .2 (  )
 4 2 2

m  a4  m
=  .2 h  
 a 2 h  4   a2 h

ma2
=
2

36
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
(ii). M.I about central diameter =
= ∫( + ) dm
h /2 2 a

 x  z  dV = 
2 2
=     (r
2
cos 2   z 2 ) r drd dz
 h /2 0 0

h /2 2 a
3
=     (r cos 2   rz 2 )drd dz
 h /2 0 0

h /2 2
 a4 2 a2 2 
=     cos   z  d dz
 h /2 0 
4 2 
h /2 2
 a 4  1  cos 2  a 2 2 
=        z  d dz
 h /2 0 
4  2  2 
2
  sin 2  
h /2
 a4    2  a2 z 2 
=       d dz
 h /2 
4 2 2 
   
   0
  sin 4  
h /2 a 4  2  2  a2 z 2 
=      .2  0  dz
 h /2 
4 2 2 
  
   
h /2
 a 4 2  0 
=    ( )  a 2 z 2  dz
 h /2 
4 2 
h /2
 a 4 
=     a 2 z 2  dz
 h /2 
4 
h /2 h /2
a 4 2
=   dz   a   z 2 dz
4  h /2  h /2

h/2
a4 h/2 2 z3
=  z  a 
4 h/2 3  h/2

a 4  h h  2 h
3
h3 
=      a    
4 2 2  24 24 

37
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 a 4 2 h 
3
=  
h   a   
4  12 
m 2  a 2 h2  m
= .a  h     
 a2 h  4 12   a2 h

 ma 2 mh2 
=   
 4 12 

ma 2 mh 2
= 
4 12
Question:
Find M.I of a sphere about its diameter or about axis passing through the centre
of sphere. Y
Solution:
= ∫( + ) dm a
X
 x  y  dV ….(1)
2 2
= 

x = rsincos
Z
y = r sinsin
z = rcos
Put in Eq (1)
2  a
I zz      r 2 sin 2  cos 2   r 2 sin 2  sin 2   r 2 sin  drd d
0 0 0

2  a
I zz     r 2 sin 2   cos2   sin 2   r 2 sin drd d
0 0 0

2  a
I zz     r 4 sin 3  drd d
0 0 0

2  a
r5
I zz     sin3  d d
0 0
50

38
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 2 
 a5 
      0  sin 3  d d
0 0
5 
2 
a5 3
   sin  d d
5 0 0

2 
a5 2
   sin sin  d d
5 0 0

2 
a5 2
   sin (1  cos  )d d
5 0 0

Put cos = u
-sin d = du
Where  = 0  u = 1
 =   u = -1
2 1 2 1
a5 2 a5 2
   (1  u )(du)d     (1  u )dud
5 0 1
5 0 1

2 1
a5  u3
 u
0  3  d
5 1

2 2
a5  1   1  a5  4 
 0  3   3 d
  1     1        d
5 5  3 0

m a5  4  2 m a5
 
4 3 5  3  0
  (2  0)
a  a3 5
3
2ma 2
I zz 
5

39
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Lecture # 9
Theorem:
Show that in matrix notation
   
 L    I      ´ L where '' mean derivative w.r.t ' t '
    
Proof:
We know that for a rotating rigid body
L⃗ = ∑ ⃗ × ⃗
=∑ ⃗ × ( ⃗)

=∑ ⃗ × ⃗ ………(1)  V⃗ = ω⃗ × r⃗
=∑ ( ⃗ × ( ω⃗ × ⃗ )) ……..(2)
In components form
 = ω + ω + ω
 = ω + ω + ω
 = ω + ω + ω
ω
Or = ω
ω

 [L] = [I] [ω]

Now from (1) Diff. w.r.t ‘t’
 n    
L   mi [ ri ´Vi  ri ´Vi ]


i 1

n           


  mi [Vi ´Vi  ri ´ i ´ ri ]   ri  Vi and Vi   ´ ri
i 1

n       


  mi [ ri ´  ´ ri   ´ ri ]
i 1
  ri  Vi

n      
n

i 1

  mi [ ri ´  ´ ri ]    i i ´  ´ ri ]
m [ r
i 1
 

40
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
   
n n    
  i i ´  ´ ri ]
m [ r
i 1
  m [
i 1
r 
 i i ´  ´ ( ´ vi ) ]  ...( A)

From (2) and (3) we note that = ∑ ( ⃗ × ( ω⃗ × ⃗ )) can be written in

matrix notation as [I] [ω] .In the same way we can write
n   
 i i ´  ´ ri ]
m [
i 1
r   as

[I] [ ⃗∙ ] .
          

Now ri ´  ´ ( ´ ri )  
= ri ´  (.ri )  ( ´ ) ri
  
     

= ri ´  ( . ri )  () ri

2
 
     
= r ´   ( . r )  () r   2
i  i  i

      
= ( . ri )(ri ´ )  ()2 (ri ´ ri )
         
=  ( . ri )( ´ vi ) ...(4)  ri ´ ri  0 and  ri ´  ( ´vi )
Similarly (or replace ⃗ × ω⃗ )
       

 ´ ri ´ (ri ´ )  =  ( . ri ) (ri ´ )
          
 ´ r ´ ( ´ r ) 
i i =  ( . ri ) ( ´ ri ) ..(5) 
 ri ´   ´ ri 
Comparing (4) and (5)
       

ri ´  ´ ( ´ ri )  
=  ´ ri ´ ( ´ ri ) 
Now Apply ∑ both side
n        
n

 i i ´  ´ ( ´ ri ) )
m (
i 1
r   =  i ´ ri ´ ( ´ ri ) )
m ( 
i 1
 
 n   
=  ´( mi ri ´ ( ´ ri ) )
i 1
 
   n   
= ´L  L   mi (ri ´  ´ ri
i 1
 

41
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 n   
So m (
i 1
r 
 i i ´  ´ ( ´ ri ) )  can be written in matrix form as [ ⃗´ ⃗]

Hence from (A)

   
L  [ I ][  ]   ´ L  proved

Question:
X
Find M.I of a tringular lemina about one of its edges.
A
Solution:
p x P
Q
M.I about y-axis R S
p-x
=∫ ( )
B C Y
= ∫( − ) dm a

 dm   dA A
= ∫( − ) dA …..(1)
PQRS become a rectangle x

Area = length ´ width p P Q

dA = | |dx
Since the  APQ and  ABC are similar so B a C

⃗ ⃗
⃗
= ⃗
Area = ap
⃗
=  ⃗ =
= = =
dA = ⃗ dx = dx
x p
ax
Put in (1) I yy    ( p  x)2 dx
x 0
p
x p x p
a 2 2 a
  x( p  x  2 px)dx   ( xp 2  x3  2 px 2 )dx
p x0
p x0

a 2 3 2 p  a  p2 p4 2 p4 
2
xp  x  2 px   .p     (0)
p 0 p  2 4 3 

 a  p2 p4 2 p4   a  6 p4  3 p4  8 p4  mp 2
 . p2       I yy 
p  2 4 3  p  12  6

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Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Lecture # 10
Equimomental System:
Two systems are said to be Equimomental if they have same M.I about any line
space.
Principle axis:
Three mutually perpendicular axis are called Principle axis if product of inertia
realtive to these axis if product of inertia relative to these axis is zero and
corresponding M.I’s are called Principle moment of inertias i.e. A set of three
mutaully  axis relative to which Inertia matrix is diagonal.
Theorem:
Two systems are said to be equimomental iff
(i) They have same masses
(ii) They have same centroid (center of mass of an object with uniform
density)
(iii) They have same Principle axis and same Principle M.I at cenroid
Proof:
Suppose that condition (i) , (ii) and (iii) holds. Let and be two
systems each having same masses ‘m’ same centroid ‘C’ and same Principal
axis at centroid.
Consider a line ‘l’ having direction cosines  ,  and v passing throug centroid
C.
The M.I of system about line ‘l’ is
I l   l 2 I xx   2 I yy  v 2 I zz  2l I xy  2  vI yz  2l vI xz
1
.....(1)

Since given axis are Principle axis = = =0)

Therefore from (1) we have
I l1  l 2 I xx   2 I yy  v 2 I zz ....(2)

Similarly M.I of system about line ‘l’ is

I l   l 2 I xx   2 I yy  v 2 I zz
2
....(3)
From (2) and (3)
I l1  I l 2   I

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Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Let be the line parallel to ‘l’ at a distance ‘d’. then M.I of about line ‘ ’ is
Il(1)
'  I  md 2 ..(4) ( By Parallel Axistheorem)
Similary M.I of about line ‘ ’ is
Il(2)
'  I  md 2 ..(5) ( By Parallel Axistheorem)
From (4) and (5)
Hence both system and are equimomental
Conversely:
(i) Let and are equimomental
Consider a line ‘ ’ passing through centroids and of system and
respectively. Since system and are equimomental therefore
I l1  I l 2   I
Let ‘ ’ be the line parallel to ‘ ’ at a distance ‘ ’. Then M.I of about line
‘ ’ is
I l(1)
2
 I  m1d12 ..(6) ( By Parallel Axistheorem)
Similarly M.I of about line ‘ ’ is
Il(2)
2
 I  m2 d12 ..(7) ( By Parallel Axistheorem)
As and are equimomental so
I l(1)
2
= I l(2)
2

 I  m1d12 = I  m2 d12
 m1 = m2
They have same masses.
(ii) Now consider a line ‘ ’ passing through centroid and  to ‘ ’.
Also consider a line ‘ ’ passing through and  to ‘ ’. This means
‘ ’ and ‘ ’ are parllel
Now M.I of about line ‘ ’ is
Il(1)
4
 Il(1)
3
 md 2 2 ( By Parallel Axistheorem)
Similarly M.I of about line ‘ ’ is
Il(2)
3
 I l(2)
4
 md2 2 ( By Parallel Axistheorem)

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Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 As and are equimomental. So
I l(1)
4
= I l(2)
4

 I l(1)
3
 md 2 2  I l(2)
4
 md 2 2

 2md 2 2  0
 d2  0
 and coincides. =
 same centroid
(iii) Now the two systems have same centroid and same masses if we take
any line through the common centroid say G
i.e. G = =
The two systems have the same M.I about that line. It means that we have same
Principle axis and same M.I at point G.
Hence all the conditions are satisfied which complete the proof.
Question:
Show that a circular plate of mass ‘m’ and radius ‘a’ is equimomental with a
loop of same mass ‘m’ and radius
√

Solution: We know M.I of circular plate about an axis passing through its
Circular plate
centroid and  to its plane =
loop
M.I of loop about same axis = =
√ a
√2
Hence circular plate and loop are equimomental.

45
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Lecture # 11
Theorem (Existence of Principle axis theorem):
Statement:
For a rigid body  a set of three mutually perpendicular axis relative to which
product of inertia are zero and angular velocity ⃗ and a linear momentum ⃗ are
in same direction.
Proof:
Consider an axis through a point ’0’ such that ⃗ and ⃗ are parallel to it.
Then we can write
⃗= ⃗ ; where  is contant of proportionality
= 
=  ………(1)
= 
Next we know that (In general )
L1  I111  I122  I133 

L2  I 211  I 222  I 233 ....(2)
L3  I 311  I322  I 333 
From (1) and (2) we can write
( I11  l )1  I122  I133  0 

I 211  ( I 22  l )2  I 233  0 ....(3)
I311  I 322  ( I 33  l )3  0 
This is homogenous system of equation which unknown , , . It has non-
trivial soltution when determinant of the matrix made by the coefficient in set of
equation (3) is given
i.e. =0
I11  l I12 I13
I 21 I 22  l I 23 0
I 31 I 32 I 33  l

Which is cubic equation in  which has three relation  = , , . These

relation are actually eigen value of the inertia matrix and these values are

46
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
principal moment of inertia of the rigid body. The corresponding eigen vectors
give the direction of principal axis.
Working rule of finding Principle M.I and Principle Axis:
(i) Find inertia matrix at given point (say origin)
(ii) If inertia matrix is diagonal then corresponding axis are Principle. If
inertia matrix is not diagonal the eigen values matrix is not diagonal
the eigenvalues of this matrix give values of Principle moment of
Inertia.
(iii) Eigenvectors corresponding to each eigenvalue gives the direction of
Principle axis.
Question:
Consider a system of particle having masses m,2m,3m,4m located at points
(a,a,a) . (a,-a,-a),(-a,a,-a),(-a,-a,a) respectively. Find Principle moment of inertia
of the system about origin.
Solution:
n
I xx   mi ( yi2  zi2 )
i 1

 m (a 2  a 2 )  2m (a 2  a 2 )  3m (a 2  a 2 )  4m (a 2  a 2 )
 2ma 2  4ma 2  6ma 2  8ma 2
 20ma 2
n
I yy   mi ( xi2  zi2 )
i 1

 m (a 2  a 2 )  2m (a 2  a 2 )  3m (a 2  a 2 )  4m (a 2  a 2 )
 2ma 2  4ma 2  6ma 2  8ma 2
 20ma 2
n
I zz   mi ( xi2  yi2 )
i 1

 m (a 2  a 2 )  2m (a 2  a 2 )  3m (a 2  a 2 )  4m (a 2  a 2 )
 2ma 2  4ma 2  6ma 2  8ma 2
 20ma 2

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Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 n
I xy    mi xi yi
i 1

  [m (a 2 )  2m ( a 2 )  3m ( a 2 )  4m (a 2 )]
  [ m a 2  2m a 2  3m a 2  4m a 2 ]
I xy  0  I yx
n
I yz    mi yi zi
i 1

  [m (a 2 )  2m (a 2 )  3m (a 2 )  4m ( a 2 )]
  [ m a 2  2m a 2  3m a 2  4m a 2 ]
I yz   [4ma 2 ]  4ma 2  I zy
n
I xz    mi xi zi
i 1

  [m (a 2 )  2m ( a 2 )  3m (a 2 )  4m ( a 2 )]
  [ m a 2  2m a 2  3m a 2  4m a 2 ]
I xz   [2ma 2 ]  2ma 2  I zx

 I xx I xy I xz   20ma 2 0 2ma 2 
   
 I yx I yy I yz    0 20ma 2 4ma 2 
 I zx
 I zy I zz   2ma 2 4ma 2 20ma 2 

For Eigenvalue
I xx  l I xy I xz
I yx I yy  l I yz 0
I zx I zy I zz  l

20ma 2  l 0 2ma 2
0 20ma 2  l 4ma 2 0
2 2 2
2ma 4ma 20ma  l

By expanding we get

 20ma 2
 l  384m 2 a 4  l 2  40ma 2 l  4m 2 a 4   0

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Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 20ma 2
 l   0 and  380m 2 a 4  l 2  40ma 2 l   0
l  20ma 2 , l 2  40ma 2 l  380m2 a 4  0

 ( 40ma 2 )  1600m 2 a 4  1520m 2 a 4

l
2(1)

40ma 2  80m2 a 4
l
2(1)

40ma 2  4 5ma 2
l
2
l  20ma 2  2 5ma 2
l  20ma 2  2 5ma 2 , l  20ma 2  2 5ma 2
l  2(10  5)ma 2 , l  2(10  5)ma 2
l  20ma 2 , l  20ma 2  2 5ma 2
are the Principle M.I about origin.

49
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Lecture # 12
Spherical Top:
A rigid body is said to be spherical top if its all Principle moment of inertias are
equal.
i.e. = = . A sphere is an example of spherical top with axis passing
through the centre of sphere.
Symmetrical Top: A rigid body is said to be symmetircal top if = 
. A cylinder is an example of symmetrical top (taking third axis along the
axis of cylinder).
Asymmetrical top: A rigid body is called Asymmetrical top if  
. A rigid body in general is example of Asymmetircal top.
Rotor: A rigid body is called rotor if its two Principle M.I’s are equal and third
M.I is zero i.e. = and = 0 or = 0 and = . A diatomic
molecule is an example of rotor. l
Question:Find equimomental system of particle for a rod m M-2m m
A
-a 0 aB
of mass M.
Solution: Consider a uniform rod of length 2a. If ‘0’ be the
centre of mass. Let the masses m, M-2m , m are located at point A,O,B
respectively.
The system of particle will be equimomental with the rod. If its M.I about any
line is equal to M.I of the rod about the same line.
Let ‘l’ be the line through ‘0’ perpendicular to this rod.
Then M.I of rod about y-axis (axis passing through cenroid of rod) =
= (Mass) (ℎ ℎ) = M
M.I of system of particle about y-axis
= m(− ) +(M-2m) (0) +m( ) = 2m
If both system are equimomental then =  M = 2m m=

Hence if we take two particles each having mass at end points of rod and a

particle mass M at the centre of rod then this system of three particles is
equimomental with the given rod of mass M

50
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Lecture # 13
Euler’s Dynamical equations:
Consider a rigid body is rotating in OXYZ (Cartesian) coordiante system such
that OX, OY & OZ are Principle axes. Then we know that
 
LI Or in matrix form

 L1   I11 I12 I13  1 

L   I I 22 I 23   
 2   21   2
 L3   I 31 I 32 I 33  3 

 L1   I11 0 0 1 
 L    0 I 22 0  
 2    2
 L3   0 0 I 33  3 

 OX, OY and OZ are Principle axes. So = = =0

 L1   I11 0 0  I111 
 L    0 I 22 0 I  
 2    22 2 
 L3   0 0 I 33   I 333 

In vector form angular momentum is given below


 L  I111 i  I 222 i  I 333 k

We know that rate of change of vector function in fix and rotating coordiante
system is related as follow

 dV   dV   
  
 dt  f  dt  r
  ´V 
Putting ⃗ = ⃗ Where V is any vector function
 
 dL  dL  
   
  ´ L 
 dt  f  dt r

 dL   
 

 dt  f

  I111 i  I 222 i  I 333 k   ´ L   

51
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 
 dL
Here     is external torque acting on the system
 dt f
   
 

d L d r ´ P    d P 
 V ´P  r
dt dt dt
       
= V ´ P  r ´ F = V ´ mV  r ´ F
 
= 0 + r´ F = 
  
So   I111 i  I 222 i  I 333 k   ´ L
   
….(A)

i j k
 
 ´ L  1 2 3
I111 I 222 I 333
 
 ´ L   I3323  I 2223  i   I 3313  I1113  j   I 2212  I1112  k
 
 ´ L    I 22  I 33 23 i   I 33  I11  13 j   I11  I 22  12 k Put in (A)

  I111 i  I 222 i  I 333 k   I22  I33  23 i   I33  I11  13 j   I11  I22 12 k
 
 1  I111  ( I 22  I 33 )23

 2  I 222  ( I33  I11 )13

 3  I 333  ( I11  I 33 )12 Are Eulers Dynamic equations

Results: If there is no external torque then
I111  ( I 22  I 33 )23  0 (i)

I 222  ( I 33  I11 )13  0 (ii)

I 333  ( I11  I 33 )12  0 (iii)

Multiplying (i) by , (ii) by and (iii) by and adding

I1111   I 22  I33  123  I 2222   I33  I11  123  I 3333   I11  I 22  123  0

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Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
   
I11
1 1  I22
1 23  I33
1 23  I2222  I33
1 23  I11
1 23  I33
3 3  I11
1 23  I22
1 23 0

I 1111  I 22  2  2  I 33 3 3  0

1

2
 I11 .211  I 22 .2 2 2  I 33 .2 3 3   0

1 d

2 dt
 I1112  I 22 22  I 33 32   0   I1112  I 2222  I 3332  = constant

1   1
Now we know that Rotational K.E is T =  L = 1 L1  2 L2  3 L3 
2 2
1
=
2
1  I111   2  I 222   3  I333  
1
=
2
 I1112  I 2222  I 3332  = constant

In the absence of external torque the rotational K.E of system is constant.

Now multiplying (i) by , (ii) by and (iii) by and adding
I112   2 
1 1  I11  I22  I33  123  I2222  I22  I33  I11  
2 
1 23  I3333  I33  I11  I22  
1 23  0

I112 11  I11I22123  I11I33123  I222 22  I22 I33

1 23  I11 I22
2 
1 23  I3333  I11 I33123  I22 I33
1 23  0

I 112 11  I 22
2
 2 2  I 332  3 3  0
1 2

2
 I11 .211  I 22
2
.2 2 2  I 332 .2 3 3   0

1 d 2 2

2 dt
 2
I111  I 22  22  I 332  32   0

I 2
11 12  I 222 22  I 332 32  = constant

Now we know L  I111 i  I 222 i  I 333 k

L  I112 12  I 222 22  I 332 32 = constant

In the absence of external torque magnitude of angular momentum is constant.

53
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
Lecture # 14
Question:
Find M.I of a solid right circular cone.
(i) About its axis of symmetry
(ii) About an axis passing through its base and also through its center OR
About the diameter of its base.
Solution: (i)
Let M be the mass ‘a’ the radius and ‘h’ be the height of right circular cone. We
choose the z-axis along the axis of symmetry and consider a typical disc of
radius r and width dz at a distance z from the base. Z
Since ∆OAC and ∆BCD are similar triangles.
C Vertex
So =  =
( ) h r D
r= B

dz z
Now mass of disk = dm = dv =  dz

Also = = O a A X


We know that
M.I of disk about z-axis (as shown in fig) Y

= dm

Now M.I of cone about z-axis (as shown in fig)

h
1 1
  r 2 dm   r 2  r 2 dz
2 20
h
1
   r 4 dz
2 0

h h
1 a 4 (h  z ) 4 1  a 4
   4
dz  4  ( ( z  h)) 4 dz
2 0
h 2 h 0
h
1  a 4 ( z  h)5

2 h4 5 0

54
Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
 1 3M  a 4  ( h  h)5 (0  h)5 
 . 
2  a 2 h h 4  5 5 

3Ma 2  (h)5  3Ma 2  (h)5 

   5   2h 5  5 
2h 5    

3Ma 2

10
(ii). Note that for disk
I X '  IY ' ....(1)

Now by  axis theorem

I X '  IY '  I Z '  I X '  IY ' & I Z '  I Z

 2 I X '  IZ

1 1 1 
 IX'  I Z   r 2 dm 
2 2 2 

1 
 I X '   r 2 dm 
4 
Now by // axis theorem
M.I of disk about x-axis (as shown in fig)
 I X '  z 2 dm

1 2
 r dm  z 2 dm
4
1 2
 r (  r 2 dz )  z 2 (  r 2 dz )  dm   r 2 dz
4
1
  r 4 dz  z 2  r 2 dz
4
1  a 4 (h  z ) 4  2  a 2 (h  z ) 2 
   4  dz  z   2  dz
4  h   h 

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Collected By : Muhammad Saleem Composed By: Muzammil Tanveer
  a 4  a 2
 4
(h  z )4 dz  2
.z 2 (h 2  z 2  2hz )dz
4h 4h
 a 4  a 2
 4
(( z  h)) 4 dz  2
(h 2 z 2  z 4  2hz 3 )dz
4h 4h

Now M.I of cone about x-axis (as shown in fig)

h
1   a 4 4  a 2 2 2 4 3 
= ( z  h ) dz  ( h z  z  2 hz ) dz
2 0  4h
 4
h 2 

h h
 a 4 4  a 2 2 2
 4  ( z  h) dz  2  (h z  z 4  2hz 3 )dz
4h 0
h 0

h h
 a 4 ( z  h)5  a 2  2 z3 z5 z4 
  h
 3   2 h
4h 4 5 0
h2  5 4  0

 a 4   h5    a 2  2 h3 h5 h4 

4h 4
0  
5
  2
h  h 3  5  2h 4 
    

 a 4 3M    h 5   3M  a 2  h 5 h 5 h 5 
 4 0       
4h  a 2 h   5    a 2 h h 2  3 5 2

 a 4 3M   h 5   3M  a 2  h 5 h 5 h 5 
       
4h4  a 2 h  5    a 2 h h 2  3 5 2

3Ma 2 3M  20h5  12h5  30h5 

  3  
20 h  60 

3Ma 2 3M  2h5 
  3 
20 h  60 

3Ma 2 3M
  3  2h 2 
20 h
M
 3a 2  2h 2 
20

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Collected By : Muhammad Saleem Composed By: Muzammil Tanveer