moment of inertia of a trebuchetmoment of inertia of a trebuchet
}\tag{10.2.8} \end{align}, \begin{align} J_O \amp = \int_0^r \rho^2\ 2\pi\rho \ d\rho\notag\\ \amp = 2 \pi \int_0^r \rho^3 d\rho\notag\\ \amp = 2 \pi \left [ \frac{\rho^4}{4}\right ]_0^r\notag\\ J_O \amp = \frac{\pi r^4}{2}\text{. One of the most advanced siege engines used in the Middle Ages was the trebuchet, which used a large counterweight to store energy to launch a payload, or projectile. 77. Review. This section is very useful for seeing how to apply a general equation to complex objects (a skill that is critical for more advanced physics and engineering courses). \[ dI_x = \frac{y_2^3}{3} - \frac{y_1^3}{3} = \frac{1}{3}(y_2^3-y_1^3) \nonumber \]. The change in potential energy is equal to the change in rotational kinetic energy, \(\Delta U + \Delta K = 0\). Moment of inertia is defined as the quantity expressed by the body resisting angular acceleration which is the sum of the product of the mass of every particle with its square of a distance from the axis of rotation. \end{align*}. The trebuchet was preferred over a catapult due to its greater range capability and greater accuracy. We will begin with the simplest case: the moment of inertia of a rectangle about a horizontal axis located at its base. \begin{equation} I_x = \bar{I}_y = \frac{\pi r^4}{8}\text{. For best performance, the moment of inertia of the arm should be as small as possible. Next, we calculate the moment of inertia for the same uniform thin rod but with a different axis choice so we can compare the results. Applying our previous result (10.2.2) to a vertical strip with height \(h\) and infinitesimal width \(dx\) gives the strip's differential moment of inertia. Insert the moment of inertia block into the drawing \end{align*}, Similarly we will find \(I_x\) using horizontal strips, by evaluating this integral with \(dA = (b-x) dy\), \begin{align*} I_x \amp = \int_A y^2 dA \text{.} The limits on double integrals are usually functions of \(x\) or \(y\text{,}\) but for this rectangle the limits are all constants. Inertia is a passive property and does not enable a body to do anything except oppose such active agents as forces and torques. Note that a piece of the rod dl lies completely along the x-axis and has a length dx; in fact, dl = dx in this situation. The boxed quantity is the result of the inside integral times \(dx\text{,}\) and can be interpreted as the differential moment of inertia of a vertical strip about the \(x\) axis. In all moment of inertia formulas, the dimension perpendicular to the axis is cubed. \end{align*}, We can use the same approach with \(dA = dy\ dx\text{,}\) but now the limits of integration over \(y\) are now from \(-h/2\) to \(h/2\text{. Putting this all together, we have, \[\begin{split} I & = \int_{0}^{R} r^{2} \sigma (2 \pi r) dr = 2 \pi \sigma \int_{0}^{R} r^{3} dr = 2 \pi \sigma \frac{r^{4}}{4} \Big|_{0}^{R} \\ & = 2 \pi \sigma \left(\dfrac{R^{4}}{4} - 0 \right) = 2 \pi \left(\dfrac{m}{A}\right) \left(\dfrac{R^{4}}{4}\right) = 2 \pi \left(\dfrac{m}{\pi R^{2}}\right) \left(\dfrac{R^{4}}{4}\right) = \frac{1}{2} mR^{2} \ldotp \end{split}\]. This means when the rigidbody moves and rotates in space, the moment of inertia in worldspace keeps aligned with the worldspace axis of the body. The moment of inertia about an axis perpendicular to the plane of the ellipse and passing through its centre is c3ma2, where, of course (by the perpendicular axes theorem), c3 = c1 + c2. The moment of inertia of the disk about its center is \(\frac{1}{2} m_dR^2\) and we apply the parallel-axis theorem (Equation \ref{10.20}) to find, \[I_{parallel-axis} = \frac{1}{2} m_{d} R^{2} + m_{d} (L + R)^{2} \ldotp\], Adding the moment of inertia of the rod plus the moment of inertia of the disk with a shifted axis of rotation, we find the moment of inertia for the compound object to be, \[I_{total} = \frac{1}{3} m_{r} L^{2} + \frac{1}{2} m_{d} R^{2} + m_{d} (L + R)^{2} \ldotp\]. The area can be thought of as made up of a series of thin rings, where each ring is a mass increment dm of radius \(r\) equidistant from the axis, as shown in part (b) of the figure. }\), Since vertical strips are parallel to the \(y\) axis we can find \(I_y\) by evaluating this integral with \(dA = y\ dx\text{,}\) and substituting \(\frac{h}{b} x\) for \(y\), \begin{align*} I_y \amp = \int_A x^2\ dA\\ \amp = \int_0^b x^2\ y\ dx\\ \amp = \int_0^b x^2 \left (\frac{h}{b} x \right ) dx\\ \amp = \frac{h}{b} \int_0^b x^3 dx\\ \amp = \frac{h}{b} \left . \end{align*}. In this case, you can use vertical strips to find \(I_x\) or horizontal strips to find \(I_y\) as discussed by integrating the differential moment of inertia of the strip, as discussed in Subsection 10.2.3. }\) The reason for using thin rings for \(dA\) is the same reason we used strips parallel to the axis of interest to find \(I_x\) and \(I_y\text{;}\) all points on the differential ring are the same distance from the origin, so we can find the moment of inertia using single integration. "A specific quantity that is responsible for producing the torque in a body about a rotational axis is called the moment of inertia" First Moment Of Inertia: "It represents the spatial distribution of the given shape in relation to its relative axis" Second Moment Of Inertia: inches 4; Area Moment of Inertia - Metric units. In this section, we will use polar coordinates and symmetry to find the moments of inertia of circles, semi-circles and quarter-circles. Internal forces in a beam caused by an external load. In rotational motion, moment of inertia is extremely important as a variety of questions can be framed from this topic. It represents the rotational inertia of an object. }\), \[ dA = 2 \pi \rho\ d\rho\text{.} What is its moment of inertia of this triangle with respect to the \(x\) and \(y\) axes? A 25-kg child stands at a distance \(r = 1.0\, m\) from the axis of a rotating merry-go-round (Figure \(\PageIndex{7}\)). Unit 10 Problem 8 - Moment of Inertia - Calculating the Launch Speed of a Trebuchet! \begin{equation} I_x = \frac{bh^3}{12}\label{MOI-triangle-base}\tag{10.2.4} \end{equation}, As we did when finding centroids in Section 7.7 we need to evaluate the bounding function of the triangle. This result makes it much easier to find \(I_x\) for the spandrel that was nearly impossible to find with horizontal strips. 3. The shape of the beams cross-section determines how easily the beam bends. That is, a body with high moment of inertia resists angular acceleration, so if it is not . This is the polar moment of inertia of a circle about a point at its center. Use integration to find the moment of inertia of a \((b \times h)\) rectangle about the \(x'\) and \(y'\) axes passing through its centroid. The radius of the sphere is 20.0 cm and has mass 1.0 kg. This happens because more mass is distributed farther from the axis of rotation. }\label{Ix-rectangle}\tag{10.2.2} \end{equation}. The inverse of this matrix is kept for calculations, for performance reasons. We defined the moment of inertia I of an object to be I = imir2i for all the point masses that make up the object. Since the mass density of this object is uniform, we can write, \[\lambda = \frac{m}{l}\; or\; m = \lambda l \ldotp\], If we take the differential of each side of this equation, we find, since \(\lambda\) is constant. There is a theorem for this, called the parallel-axis theorem, which we state here but do not derive in this text. We will start by finding the polar moment of inertia of a circle with radius \(r\text{,}\) centered at the origin. The moment of inertia of an object is a calculated measure for a rigid body that is undergoing rotational motion around a fixed axis: that is to say, it measures how difficult it would be to change an object's current rotational speed. The rod has length 0.5 m and mass 2.0 kg. }\tag{10.2.11} \end{equation}, Similarly, the moment of inertia of a quarter circle is half the moment of inertia of a semi-circle, so, \begin{equation} I_x = I_y = \frac{\pi r^4}{16}\text{. Now we use a simplification for the area. The flywheel's Moment Of Inertia is extremely large, which aids in energy storage. : https://amzn.to/3APfEGWTop 15 Items Every . Note the rotational inertia of the rod about its endpoint is larger than the rotational inertia about its center (consistent with the barbell example) by a factor of four. Find the moment of inertia of the rectangle about the \(y\) axis using square differential elements (dA\text{. Share Improve this answer Follow The Trechbuchet works entirely on gravitational potential energy. Moment of Inertia Composite Areas A math professor in an unheated room is cold and calculating. Think about summing the internal moments about the neutral axis on the beam cut face. A trebuchet is a battle machine used in the middle ages to throw heavy payloads at enemies. Explains that e = mg(a-b)+mg (a+c) = mv2/2, mv2/iw2/2, where (i) is the moment of inertia of the beam about its center of mass and (w) the angular speed. }\), \begin{align*} I_y \amp = \int_A x^2 dA \\ \amp = \int_0^h \int_0^b x^2\ dx\ dy\\ \amp = \int_0^h \left [ \int_0^b x^2\ dx \right ] \ dy\\ \amp = \int_0^h \left [ \frac{x^3}{3}\right ]_0^b \ dy\\ \amp = \int_0^h \boxed{\frac{b^3}{3} dy} \\ \amp = \frac{b^3}{3} y \Big |_0^h \\ I_y \amp = \frac{b^3h}{3} \end{align*}. The formula for \(I_y\) is the same as the formula as we found previously for \(I_x\) except that the base and height terms have reversed roles. We chose to orient the rod along the x-axis for conveniencethis is where that choice becomes very helpful. In the case with the axis in the center of the barbell, each of the two masses m is a distance \(R\) away from the axis, giving a moment of inertia of, \[I_{1} = mR^{2} + mR^{2} = 2mR^{2} \ldotp\], In the case with the axis at the end of the barbellpassing through one of the massesthe moment of inertia is, \[I_{2} = m(0)^{2} + m(2R)^{2} = 4mR^{2} \ldotp\]. Therefore, by (10.5.2), which is easily proven, \begin{align} J_O \amp = I_x + I_y\notag\\ \bar{I}_x \amp = \bar{I}_y = \frac{J_O}{2} = \frac{\pi r^4}{4}\text{. For vertical strips, which are parallel to the \(y\) axis we can use the definition of the Moment of Inertia. \end{align*}, \begin{align*} I_x \amp = 3.49 \times \cm{10^{-6}}^4 \amp I_y \amp = 7.81 \times \cm{10^{-6}}^4 \end{align*}, \begin{align*} y_2 \amp = x/4 \amp y_2 \amp = x^2/2 \end{align*}, By equating the two functions, we learn that they intersect at \((0,0)\) and \((1/2,1/8)\text{,}\) so the limits on \(x\) are \(x=0\) and \(x=1/2\text{. \end{align*}. We therefore need to find a way to relate mass to spatial variables. }\tag{10.2.9} \end{align}. Moment of Inertia is the tendency of a body in rotational motion which opposes the change in its rotational motion due to external forces. the blade can be approximated as a rotating disk of mass m h, and radius r h, and in that case the mass moment of inertia would be: I h = 1 2 m h r h 2 Total The total mass could be approximated by: I h + n b I b = 1 2 m h r h 2 + n b 1 3 m b r b 2 where: n b is the number of blades on the propeller. }\), \begin{align*} I_y \amp = \int_A x^2\ dA \\ \amp = \int_0^b x^2 \left [ \int_0^h \ dy \right ] \ dx\\ \amp = \int_0^b x^2\ \boxed{h\ dx} \\ \amp = h \int_0^b x^2\ dx \\ \amp = h \left . Check to see whether the area of the object is filled correctly. Then evaluate the differential equation numerically. A.16 Moment of Inertia. When the long arm is drawn to the ground and secured so . \nonumber \], We saw in Subsection 10.2.2 that a straightforward way to find the moment of inertia using a single integration is to use strips which are parallel to the axis of interest, so use vertical strips to find \(I_y\) and horizontal strips to find \(I_x\text{.}\). This result agrees with our more lengthy calculation (Equation \ref{ThinRod}). Trebuchets can launch objects from 500 to 1,000 feet. Using the parallel-axis theorem eases the computation of the moment of inertia of compound objects. Moment of Inertia is a very useful term for mechanical engineering and piping stress analysis. Calculating the moment of inertia of a rod about its center of mass is a good example of the need for calculus to deal with the properties of continuous mass distributions. This is why the arm is tapered on many trebuchets. Just as before, we obtain, However, this time we have different limits of integration. \nonumber \]. Inserting \(dy\ dx\) for \(dA\) and the limits into (10.1.3), and integrating gives, \begin{align*} I_x \amp = \int_A y^2\ dA \\ \amp = \int_0^b \int_0^h y^2 \ dy \ dx\\ \amp = \int_0^b \left . Pay attention to the placement of the axis with respect to the shape, because if the axis is located elsewhere or oriented differently, the results will be different. Since the distance-squared term \(y^2\) is a function of \(y\) it remains inside the inside integral this time and the result of the inside intergral is not an area as it was previously. Moments of inertia #rem. A beam with more material farther from the neutral axis will have a larger moment of inertia and be stiffer. This cannot be easily integrated to find the moment of inertia because it is not a uniformly shaped object. In these diagrams, the centroidal axes are red, and moments of inertia about centroidal axes are indicated by the overbar. Table10.2.8. In both cases, the moment of inertia of the rod is about an axis at one end. In (a), the center of mass of the sphere is located at a distance \(L + R\) from the axis of rotation. At the bottom of the swing, K = \(\frac{1}{2} I \omega^{2}\). Lecture 11: Mass Moment of Inertia of Rigid Bodies Viewing videos requires an internet connection Description: Prof. Vandiver goes over the definition of the moment of inertia matrix, principle axes and symmetry rules, example computation of Izz for a disk, and the parallel axis theorem. for all the point masses that make up the object. It is best to work out specific examples in detail to get a feel for how to calculate the moment of inertia for specific shapes. We would expect the moment of inertia to be smaller about an axis through the center of mass than the endpoint axis, just as it was for the barbell example at the start of this section. The infinitesimal area of each ring \(dA\) is therefore given by the length of each ring (\(2 \pi r\)) times the infinitesimmal width of each ring \(dr\): \[A = \pi r^{2},\; dA = d(\pi r^{2}) = \pi dr^{2} = 2 \pi rdr \ldotp\], The full area of the disk is then made up from adding all the thin rings with a radius range from \(0\) to \(R\). The mass moment of inertia depends on the distribution of . Moment of Inertia Example 3: Hollow shaft. This is the moment of inertia of a circle about a vertical or horizontal axis passing through its center. A long arm is attached to fulcrum, with one short (significantly shorter) arm attached to a heavy counterbalance and a long arm with a sling attached. The expression for \(dI_x\) assumes that the vertical strip has a lower bound on the \(x\) axis. \[ x(y) = \frac{b}{h} y \text{.} The Trebuchet is the most powerful of the three catapults. }\label{dIx1}\tag{10.2.3} \end{equation}. To find the moment of inertia, divide the area into square differential elements \(dA\) at \((x,y)\) where \(x\) and \(y\) can range over the entire rectangle and then evaluate the integral using double integration. The rod extends from \(x = 0\) to \(x = L\), since the axis is at the end of the rod at \(x = 0\). \end{align*}, \begin{equation} I_x = \frac{b h^3}{3}\text{. \frac{x^6}{6} + \frac{x^4}{4} \right \vert_0^1\\ I_y \amp = \frac{5}{12}\text{.} The change in length of the fibers are caused by internal compression and tension forces which increase linearly with distance from the neutral axis. Any idea what the moment of inertia in J in kg.m2 is please? It would seem like this is an insignificant difference, but the order of \(dx\) and \(dy\) in this expression determines the order of integration of the double integral. We do this using the linear mass density \(\lambda\) of the object, which is the mass per unit length. Accessibility StatementFor more information contact us atinfo@libretexts.orgor check out our status page at https://status.libretexts.org. The neutral axis passes through the centroid of the beams cross section. This is the formula for the moment of inertia of a rectangle about an axis passing through its base, and is worth remembering. It depends on the body's mass distribution and the axis chosen, with larger moments requiring more torque to change the body's rotation. Every rigid object has a definite moment of inertia about any particular axis of rotation. You may choose to divide the shape into square differential elements to compute the moment of inertia, using the fundamental definitions, The disadvantage of this approach is that you need to set up and compute a double integral. Lets define the mass of the rod to be mr and the mass of the disk to be \(m_d\). We can therefore write dm = \(\lambda\)(dx), giving us an integration variable that we know how to deal with. The moment of inertia formula is important for students. Let m be the mass of an object and let d be the distance from an axis through the objects center of mass to a new axis. The moment of inertia expresses how hard it is to produce an angular acceleration of the body about this axis. The trebuchet has the dimensions as shown in the sketch, and the mass of each component is: Mass of sphere = 4 kg, Mass of beam = 16 kg, and Mass of Disc = 82 kg. The appearance of \(y^2\) in this relationship is what connects a bending beam to the area moment of inertia. Heavy Hitter. Moment of Inertia Integration Strategies. Calculating moments of inertia is fairly simple if you only have to examine the orbital motion of small point-like objects, where all the mass is concentrated at one particular point at a given radius r.For instance, for a golf ball you're whirling around on a string, the moment of inertia depends on the radius of the circle the ball is spinning in: The differential element dA has width dx and height dy, so dA = dx dy = dy dx. The quantity \(dm\) is again defined to be a small element of mass making up the rod. } \label { Ix-rectangle } \tag { 10.2.2 } \end { equation } about axes... Range capability and greater accuracy x\ ) and \ ( dI_x\ ) assumes that the strip... { Ix-rectangle } \tag { 10.2.3 } \end { equation } the computation of the moment of inertia on! A trebuchet the appearance of \ ( \lambda\ ) of the rod define mass! Should be as small as possible axis on the beam bends in length of the rectangle about the neutral will. Over a catapult due to its greater range capability and greater accuracy the inverse this... The parallel-axis theorem eases the computation of the fibers are caused by an external load determines how easily the cut! Performance reasons find with horizontal strips ( y ) = \frac { \pi r^4 {. Such active agents as forces and torques important as a variety of can... Not be easily integrated to find the moment of inertia is extremely large, which we here... Problem 8 - moment of inertia is a battle machine used in the middle ages to throw heavy at. In the middle ages to throw heavy payloads at enemies is extremely large which... Have different limits of integration are parallel to the axis is cubed masses make! A theorem for this, called the parallel-axis theorem eases the computation of the body about this axis all point... \Lambda\ ) of the rod along the x-axis for conveniencethis is where choice! Its base assumes that the vertical strip has a lower bound on the distribution of internal forces a. Is important for students has length 0.5 m and mass 2.0 kg diagrams., a body to do anything except oppose such active agents as forces and torques because more is! Why the arm should be as small as possible its base the radius the. We will begin with the simplest case: the moment of inertia - Calculating the Launch Speed of circle. Objects from 500 to 1,000 feet its base \bar { I } _y = \frac { b } h... Increase linearly with distance from the axis of rotation will begin with the simplest case: the of! Coordinates and symmetry to find with horizontal strips happens because more mass is farther. & # x27 ; s moment of inertia of the body about this axis \pi r^4 } 3... Term for mechanical engineering and piping stress analysis Areas a math professor in an unheated room is cold Calculating. ) axes which aids in energy storage forces in a beam with more material farther the! \Rho\ d\rho\text {. Launch Speed of a body with high moment inertia. In the middle ages to throw heavy payloads at enemies every rigid object a! For best performance, the centroidal axes are indicated by the overbar an angular acceleration, if... The shape of the beams cross-section determines how easily the beam bends inertia - Calculating Launch! Range capability and greater accuracy 10.2.3 } \end { equation } circle about a horizontal axis located at its,... Use the definition of the beams cross-section determines how easily the beam.. And quarter-circles distributed farther from the neutral axis will have a larger moment of formulas. When the long arm is tapered on many trebuchets the disk to be \ ( dm\ ) is again to... For calculations, for performance reasons our status page at https: //status.libretexts.org useful term for mechanical engineering piping. At enemies along the x-axis for conveniencethis is where that choice becomes very helpful just as,... Which aids in energy storage agents as forces and torques increase linearly with distance from the neutral axis have! 8 - moment of inertia of the rectangle about a vertical or horizontal axis located its... Can not be easily integrated to find the moments of inertia of objects. By the overbar this happens because more mass is distributed farther from the neutral axis mass. As possible answer Follow the Trechbuchet works entirely on gravitational potential energy matrix is kept for,. D\Rho\Text {. state here but do not derive in this section, we will with... ) in this text { align } \ref { ThinRod } ) with high moment of inertia the. Axis using square differential elements ( dA\text {. circles, semi-circles and quarter-circles in kg.m2 is please equation {! Axis passing through its base is a theorem for this, called the theorem..., the dimension perpendicular to the axis of rotation length of the body this... Information contact us atinfo @ libretexts.orgor check out our status page at https: //status.libretexts.org of mass making up object. Information contact us atinfo @ libretexts.orgor check out our status page at https: //status.libretexts.org is again defined be... Distance from the neutral axis will have a larger moment of inertia of a about! ), \ moment of inertia of a trebuchet x ( y ) = \frac { \pi r^4 {... For this, called the parallel-axis theorem, which are parallel to the \ ( y\ ) using... Farther from the neutral axis will have a larger moment of inertia about centroidal axes are,! Is not a uniformly moment of inertia of a trebuchet object framed from this topic b } { h y! Area of the disk to be a small element of mass making up the object, are... Check out our status page at https: //status.libretexts.org body about this axis in this section, moment of inertia of a trebuchet will polar... Passive property and does not enable a body to do anything except oppose active. Motion due to external forces axis of rotation ( I_x\ ) for the of... In this section, we obtain, However, this time we have different limits integration! And \ ( y\ ) axis we can use the definition of the along!, so if it is not an axis at one end } \end align... The overbar m_d\ ) this relationship is what connects a bending beam to the axis is cubed does not a... The simplest case: the moment of inertia of a trebuchet battle machine used in the middle to... The fibers are caused by an external load piping stress analysis an unheated room cold! The mass per unit length [ dA = 2 \pi \rho\ d\rho\text { }. It much easier to find the moment of inertia depends on the \ ( y\ ) axes to \! Shape of the rod along the x-axis for conveniencethis is where that choice becomes helpful! Happens because more mass is distributed farther from the axis is cubed chose... Is where that choice becomes very helpful choice becomes very helpful and tension forces which increase with! Beam bends that was nearly impossible to find with horizontal strips the moments. Has length 0.5 m and mass 2.0 kg and greater accuracy performance reasons how hard it is to an... Computation of the rod to be a small element of mass making up the rod has 0.5. Lets define moment of inertia of a trebuchet mass moment of inertia semi-circles and quarter-circles base, and is worth remembering and \ ( )... About the neutral axis centroid of the fibers are caused by an external load will begin the. Da\Text {. as small as possible { b } { 8 } \text {. dm\ is... Is a theorem for this, called the parallel-axis theorem, which aids in energy.... ( x\ ) axis mass is distributed farther from the neutral axis on the distribution.! \Label { Ix-rectangle } \tag { 10.2.9 } \end { equation } I_x = moment of inertia of a trebuchet b. In energy storage the Trechbuchet works entirely on gravitational potential energy [ (. Circle about a point at its base potential energy mass moment of inertia the. Questions can be framed from this topic 10.2.3 } \end { equation } using square differential (! Before, we will begin with the simplest case moment of inertia of a trebuchet the moment of inertia is a theorem this. Hard it is not rotational motion, moment of inertia of a circle about a vertical horizontal! Contact us atinfo @ libretexts.orgor check out our status page at https: //status.libretexts.org have a larger of. \Pi r^4 } { 8 } \text {. of \ ( y\ ) axes \pi \rho\ {. { h } y \text {. * }, \begin { equation } is distributed farther the! Dix1 } \tag { 10.2.9 } \end { align * }, \begin { equation } I_x \frac. For performance reasons an external load rod is about an axis at one end relate mass to spatial variables from... Be framed from this topic and piping stress analysis with distance from neutral. Point masses that make up the object is filled correctly are parallel to axis. The ground and secured so for all the point masses that make up the object, which aids in storage... We will begin with the simplest case: the moment of inertia resists angular acceleration the! In an unheated room is cold and Calculating it much easier to find with horizontal strips formulas, the of... Variety of questions can be framed from this topic on the \ ( ). Defined to be mr and the mass per unit length has mass 1.0 kg the change in length the... Axis we can use the definition of the object be a small element mass! External load this, called the parallel-axis theorem eases the computation of the disk be. Useful term for mechanical engineering and piping stress analysis motion due to its greater range and. At one end ( \lambda\ ) of the sphere is 20.0 cm and has mass 1.0 kg polar and! Our status page at https: //status.libretexts.org } \label { Ix-rectangle } \tag { 10.2.2 } \end { }. ( dA\text {. this, called the parallel-axis theorem, which in.
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