
The Moment of Inertia for a Solid Cylinder is a special case of the thick-walled cylindrical tube for `r_1=0`. (Note: X-Y axis should be swapped for a standard right handed frame.) The following formula is used: `I_z=(mr^2)/2`, where:
The formula and definition are from Wikipedia (https://en.wikipedia.org/wiki/List_of_moments_of_inertia).