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There is an interesting difference in the way moment of inertia appears in planar and spatial movement. Planar movement has a single scalar that defines the moment of inertia, while for spatial movement the same calculations yield a 3 × 3 matrix of moments of inertia, called the inertia matrix or inertia tensor. [6] [7]
The moments of inertia of a mass have units of dimension ML 2 ([mass] × [length] 2). It should not be confused with the second moment of area, which has units of dimension L 4 ([length] 4) and is used in beam calculations. The mass moment of inertia is often also known as the rotational inertia, and sometimes as the angular mass.
One may instead change to a coordinate frame fixed in the rotating body, in which the moment of inertia tensor is constant. Using a reference frame such as that at the center of mass, the frame's position drops out of the equations. In any rotating reference frame, the time derivative must be replaced so that the equation becomes
The rigid body's motion is entirely determined by the motion of its inertia ellipsoid, which is rigidly fixed to the rigid body like a coordinate frame. Its inertia ellipsoid rolls, without slipping, on the invariable plane , with the center of the ellipsoid a constant height above the plane.
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The perpendicular axis theorem (or plane figure theorem) states that for a planar lamina with a uniform mass distribution, the moment of inertia about an axis perpendicular to the plane of the lamina is equal to the sum of the moments of inertia about two mutually perpendicular axes in the plane of the lamina, which intersect at the point where the perpendicular axis passes through.
A rigid body can be (partially) characterized by the three eigenvalues of its moment of inertia tensor, which are real nonnegative values known as principal moments of inertia. In microwave spectroscopy—the spectroscopy based on rotational transitions—one usually classifies molecules (seen as rigid rotors) as follows: spherical rotors
Using the center of mass and inertia matrix, the force and torque equations for a single rigid body take the form =, = [] + [], and are known as Newton's second law of motion for a rigid body. The dynamics of an interconnected system of rigid bodies, B i , j = 1, ..., M , is formulated by isolating each rigid body and introducing the ...