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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.
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.
where is the central inertia tensor, is the angular velocity vector, and is the moment of the jth external force about the mass center. The inertia tensor describes the location of each particle of mass in a given object in relation to the object's center of 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 experiment can be performed with any object that has three different moments of inertia, for instance with a (rectangular) book, remote control, or smartphone. The effect occurs whenever the axis of rotation differs – even only slightly – from the object's second principal axis; air resistance or gravity are not necessary.
Finite-dimensional real vector spaces with (pseudo-)metrics are classified up to signature, a coordinate-free property which is well-defined by Sylvester's law of inertia. Possible metrics on real space are indexed by signature ( p , q ) {\displaystyle (p,q)} .
Radius of gyration (in polymer science)(, unit: nm or SI unit: m): For a macromolecule composed of mass elements, of masses , =1,2,…,, located at fixed distances from the centre of mass, the radius of gyration is the square-root of the mass average of over all mass elements, i.e.,
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