With cylinder I have:
body = Cylinder[{{-l/2, 0, 0}, {l/2, 0, 0}}, r];
(\[ScriptCapitalI] = \[Rho] MomentOfInertia[body,
Assumptions -> l > 0 && w > 0 && h > 0]) // MatrixForm;
m Cancel[\[ScriptCapitalI]/(\[Rho] Volume[body])] // MatrixForm(*Code from MMA help*)
(*{{(m*r^2)/2, 0, 0}, {0, (m*(l^2 + 3*r^2))/12, 0}, {0, 0, (m*(l^2 + 3*r^2))/12}}*)
body
withDiscretizeRegion[Cylinder[], {{0, 1}, {-1, 1}, {-1, 1}}]
$\endgroup$l
,m
,r
? $\endgroup$