Center of Gravity

and Centroid
CHAPTER OBJECTIVES
■ To discuss the concept of the center of gravity, center of mass,
and the centroid.
■ To show how to determine the location of the center of gravity
and centroid for a system of discrete particles and a body of
arbitrary shape.
■ To use the theorems of Pappus and Guldinus for finding the
surface area and volume for a body having axial symmetry.
■ To present a method for finding the resultant of a general
distributed loading and show how it applies to finding the
resultant force of a pressure loading caused by a fluid.

9.1 Center of Gravity, Center of Mass,

and the Centroid of a Body
In this section we will first show how to locate the center of gravity for a
body, and then we will show that the center of mass and the centroid of a
body can be developed using this same method.

Center of Gravity. A body is composed of an infinite number of

particles of differential size, and so if the body is located within a
gravitational field, then each of these particles will have a weight dW,
Fig. 9–1a. These weights will form an approximately parallel force system,
and the resultant of this system is the total weight of the body, which
passes through a single point called the center of gravity, G, Fig. 9–1b.*

*This is true as long as the gravity field is assumed to have the same magnitude and direction
everywhere. That assumption is appropriate for most engineering applications, since gravity
does not vary appreciably between, for instance, the bottom and the top of a building.
452 CHAPTER 9 CENTER OF GRAVITY AND CENTROID

z z
W
dW y
z y z
G
x
~ z G
z

W
~ y x
x y x~ y
x
y
x

(a) (b) (c)

Fig. 9–1

Using the methods outlined in Sec. 4.8, the weight of the body is the sum
of the weights of all of its particles, that is

+ T FR = ⌺Fz; W = 1 dW

The location of the center of gravity, measured from the y axis, is

determined by equating the moment of W about the y axis, Fig. 9–1b, to
the sum of the moments of the weights of the particles about this same
axis. If dW is located at point ( 苲
x, 苲
y, 苲
z ), Fig. 9–1a, then

(MR)y = ⌺My; xW = 1 苲
x dW

Similarly, if moments are summed about the x axis,

(MR)x = ⌺Mx; yW = 1 苲
y dW

Finally, imagine that the body is fixed within the coordinate system and
this system is rotated 90⬚ about the y axis, Fig. 9–1c. Then the sum of the
moments about the y axis gives

(MR)y = ⌺My; zW = 1 苲
z dW

9 Therefore, the location of the center of gravity G with respect to the x, y,

z axes becomes

苲
x dW 苲
y dW 苲
z dW
L L L
x = y = z = (9–1)
dW dW dW
L L L

Here
x, y, z are the coordinates of the center of gravity G, Fig. 9–1b.
苲
x , 苲y, 苲
z are the coordinates of each particle in the body, Fig. 9–1a.
9.1 CENTER OF GRAVITY, CENTER OF MASS, AND THE CENTROID OF A BODY 453

z
Center of Mass of a Body. In order to study the dynamic
response or accelerated motion of a body, it becomes important to locate
the body’s center of mass Cm, Fig. 9–2. This location can be determined
by substituting dW = g dm into Eqs. 9–1. Since g is constant, it cancels dm Cm
out, and so

苲
x dm 苲
y dm 苲
z dm z~
y
L L L x~
z
x = y = z = (9–2)
~ x
dm dm dm y
L L L
y
x
Centroid of a Volume. If the body in Fig. 9–3 is made from a Fig. 9–2
homogeneous material, then its density r (rho) will be constant.
Therefore, a differential element of volume dV has a mass dm = r dV.
Substituting this into Eqs. 9–2 and canceling out r, we obtain formulas
that locate the centroid C or geometric center of the body; namely

z
苲
x dV 苲
y dV 苲
z dV
LV LV LV
x = y = z = (9–3)
dV dV dV x
LV LV LV y C
~
x
~
y dV
These equations represent a balance of the moments of the volume of z ~
the body. Therefore, if the volume possesses two planes of symmetry, z
y
then its centroid must lie along the line of intersection of these two
planes. For example, the cone in Fig. 9–4 has a centroid that lies on
the y axis so that x = z = 0. The location y can be found using a single x
integration by choosing a differential element represented by a
thin disk having a thickness dy and radius r = z. Its volume is Fig. 9–3
dV = pr2 dy = pz2 dy and its centroid is at 苲x = 0, 苲
y = y, 苲
z = 0.
z
9
~
y⫽y

r⫽z

x
(0, y, 0) C

y
dy
y

Fig. 9–4
454 CHAPTER 9 CENTER OF GRAVITY AND CENTROID

y y y
~x ⫽ x
x~ ⫽ x 2
(x, y)
y ⫽ f(x)
y ⫽ f(x) y ⫽ f(x)
(x, y)
dy
y
C x ~
~y ⫽ y y⫽y
y 2
x x x
x dx

(a) (b) (c)

Fig. 9–5

Centroid of an Area. If an area lies in the x–y plane and is

bounded by the curve y = f (x), as shown in Fig. 9–5a, then its centroid
will be in this plane and can be determined from integrals similar to
Eqs. 9–3, namely,

苲
x dA 苲
y dA
LA LA
x = y = (9–4)
Integration must be used to determine
dA dA
the location of the center of gravity of LA LA
this goal post due to the curvature of
the supporting member.
These integrals can be evaluated by performing a single integration if we
use a rectangular strip for the differential area element. For example, if a
9 vertical strip is used, Fig. 9–5b, the area of the element is dA = y dx, and its
centroid is located at 苲 x = x and 苲 y = y>2. If we consider a horizontal strip,
Fig. 9–5c, then dA = x dy, and its centroid is located at 苲x = x>2 and 苲 y = y.

Centroid of a Line. If a line segment (or rod) lies within the x–y
plane and it can be described by a thin curve y = f (x), Fig. 9–6a, then its
centroid is determined from

苲
x dL 苲
y dL
LL LL
x = y = (9–5)
dL dL
LL LL
9.1 CENTER OF GRAVITY, CENTER OF MASS, AND THE CENTROID OF A BODY 455

Here, the length of the differential element is given by the Pythagorean y

theorem, dL = 2(dx)2 + (dy)2, which can also be written in the form
dL
dx 2 dy 2 ~
x
dL = a b dx2 + a b dx2 x C
B dx dx dL dy
~ dx
y
dy 2 y
dl = ¢ 1 + a b ≤ dx x
B dx O
(a)

or

dx 2 2 dy 2 y
y ⫽ 2x2
dL = a b dy + a b dy2
B dy dy

dx 2
dl = ¢ ab + 1 ≤ dy
B dy ~
x⫽x
2m dy
Either one of these expressions can be used; however, for application,
the one that will result in a simpler integration should be selected. For ~
y⫽y dx
example, consider the rod in Fig. 9–6b, defined by y = 2x2. The length
of the element is dL = 21 + (dy>dx)2 dx, and since dy>dx = 4x, x
then dL = 21 + (4x)2 dx. The centroid for this element is located at
苲
x = x and 苲y = y.
1m
(b)

Fig. 9–6

Important Points

• The centroid represents the geometric center of a body. This

point coincides with the center of mass or the center of gravity 9
only if the material composing the body is uniform or y
homogeneous.
• Formulas used to locate the center of gravity or the centroid
simply represent a balance between the sum of moments of all
the parts of the system and the moment of the “resultant” for the
system. C
x
• In some cases the centroid is located at a point that is not on
the object, as in the case of a ring, where the centroid is at its
center. Also, this point will lie on any axis of symmetry for the
body, Fig. 9–7.
Fig. 9–7
456 CHAPTER 9 CENTER OF GRAVITY AND CENTROID

Procedure for Analysis

The center of gravity or centroid of an object or shape can be

determined by single integrations using the following procedure.

Differential Element.
• Select an appropriate coordinate system, specify the coordinate
axes, and then choose a differential element for integration.

• For lines the element is represented by a differential line segment

of length dL.

• For areas the element is generally a rectangle of area dA, having

a finite length and differential width.

• For volumes the element can be a circular disk of volume dV,

having a finite radius and differential thickness.

• Locate the element so that it touches the arbitrary point (x, y, z)

on the curve that defines the boundary of the shape.

Size and Moment Arms.

• Express the length dL, area dA, or volume dV of the element in
terms of the coordinates describing the curve.

• Express the moment arms 苲x , 苲y , 苲z for the centroid or center of

gravity of the element in terms of the coordinates describing
the curve.

9 Integrations.
• Substitute the formulations for 苲x , 苲y , 苲z and dL, dA, or dV into the
appropriate equations (Eqs. 9–1 through 9–5).

• Express the function in the integrand in terms of the same

variable as the differential thickness of the element.

• The limits of the integral are defined from the two extreme
locations of the element’s differential thickness, so that when the
elements are “summed” or the integration performed, the entire
region is covered.
9.1 CENTER OF GRAVITY, CENTER OF MASS, AND THE CENTROID OF A BODY 457

EXAMPLE 9.1
Locate the centroid of the rod bent into the shape of a parabolic arc as y
shown in Fig. 9–8. 1m
x ⫽ y2

SOLUTION ~ ~
(x, y) C(x, y)
Differential Element. The differential element is shown in Fig. 9–8. dL
1m
It is located on the curve at the arbitrary point (x, y).
~
y⫽y
Area and Moment Arms. The differential element of length dL
x
can be expressed in terms of the differentials dx and dy using the O
~
x⫽x
Pythagorean theorem.
Fig. 9–8
dx 2
dL = 2(dx)2 + (dy)2 = ab + 1 dy
B dy

Since x = y2, then dx>dy = 2y. Therefore, expressing dL in terms

of y and dy, we have

dL = 2(2y)2 + 1 dy

As shown in Fig. 9–8, the centroid of the element is located at 苲

x = x,
苲
y = y.

Integrations. Applying Eq. 9–5 and using the integration formula

to evaluate the integrals, we get

1m 1m
苲
x dL x24y2 + 1 dy y2 24y2 + 1 dy
LL L0 L0
x = = 1m
= 1m
dL 24y + 1 dy
2
24y2 + 1 dy
LL L0 L0
0.6063 9
= = 0.410 m Ans.
1.479

1m
苲
y dL y24y2 + 1 dy
LL L0 0.8484
y = = 1m
= = 0.574 m Ans.
1.479
dL 24y + 1 dy
2
LL L0
NOTE: These results for C seem reasonable when they are plotted on
Fig. 9–8.
458 CHAPTER 9 CENTER OF GRAVITY AND CENTROID

EXAMPLE 9.2
Locate the centroid of the circular wire segment shown in Fig. 9–9.

y
~

C(x, y)
R
du
(R, u) ~

u
x
O

Fig. 9–9

SOLUTION
Polar coordinates will be used to solve this problem since the arc is
circular.

Differential Element. A differential circular arc is selected as

shown in the figure. This element lies on the curve at (R, u).

Length and Moment Arm. The length of the differential element

is dL = R du, and its centroid is located at 苲
x = R cos u and
苲
y = R sin u.

Integrations. Applying Eqs. 9–5 and integrating with respect to u,

we obtain

p>2 p>2
苲
x dL (R cos u)R du R2 cos u du
9 LL L0 L0 2R
x = = = = Ans.
p>2 p>2 p
dL R du R du
LL L0 L0
p>2 p>2
苲
y dL (R sin u)R du R2 sin u du
LL L0 L0 2R
y = = = = Ans.
p>2 p>2 p
dL R du R du
LL L0 L0
NOTE: As expected, the two coordinates are numerically the same
due to the symmetry of the wire.
9.1 CENTER OF GRAVITY, CENTER OF MASS, AND THE CENTROID OF A BODY 459

EXAMPLE 9.3
Determine the distance y measured from the x axis to the centroid of
the area of the triangle shown in Fig. 9–10.

y ⫽ h (b ⫺ x)
b (x, y)
~~
(x, y)
h
x dy
y

x
b

Fig. 9–10

SOLUTION
Differential Element. Consider a rectangular element having a
thickness dy, and located in an arbitrary position so that it intersects
the boundary at (x, y), Fig. 9–10.

Area and Moment Arms. The area of the element is dA = x dy

b
= (h - y) dy, and its centroid is located a distance 苲
y = y from the
h
x axis.

Integration. Applying the second of Eqs. 9–4 and integrating with

respect to y yields

h
b 9
苲
y dA yc (h - y) dy d 1 2
LA L0 h 6 bh
y = = h = 1
dA b 2 bh
(h - y) dy
LA L0 h

h
= Ans.
3
NOTE: This result is valid for any shape of triangle. It states that the
centroid is located at one-third the height, measured from the base of
the triangle.
460 CHAPTER 9 CENTER OF GRAVITY AND CENTROID

EXAMPLE 9.4
Locate the centroid for the area of a quarter circle shown in Fig. 9–11.
y

R du

R
3 R, u
R

~ 2
y ⫽ R sin u
3 du
u
x
~ 2
x ⫽ R cos u
3

Fig. 9–11

SOLUTION
Differential Element. Polar coordinates will be used, since the
boundary is circular. We choose the element in the shape of a triangle,
Fig. 9–11. (Actually the shape is a circular sector; however, neglecting
higher-order differentials, the element becomes triangular.) The
element intersects the curve at point (R, u).
Area and Moment Arms. The area of the element is
R2
dA = 12(R)(R du) =
du
2
and using the results of Example 9.3, the centroid of the (triangular)
element is located at 苲
x = 23 R cos u, 苲
y = 23 R sin u.
Integrations. Applying Eqs. 9–4 and integrating with respect to u,
we obtain
9
p>2 p>2
苲 2 R2 2
x dA a R cos ub du a Rb cos u du
LA L0 3 2 3 L0 4R
x = = p>2
= p>2
= Ans.
R2 3p
dA du du
LA L0 2 L0
p>2 p>2
苲 2 R2 2
y dA a R sin ub du a Rb sin u du
LA L0 3 2 3 L0 4R
y = = p>2
= p>2
= Ans.
R2 3p
dA du du
LA L0 2 L0
9.1 CENTER OF GRAVITY, CENTER OF MASS, AND THE CENTROID OF A BODY 461

EXAMPLE 9.5
Locate the centroid of the area shown in Fig. 9–12a. y

SOLUTION I
y ⫽ x2
Differential Element. A differential element of thickness dx is
shown in Fig. 9–12a. The element intersects the curve at the arbitrary
x
point (x, y), and so it has a height y. 1m
(x, y)
Area and Moment Arms. The area of the element is dA = y dx,
and its centroid is located at 苲x = x, 苲y = y>2.
~~
(x, y) y
Integrations. Applying Eqs. 9–4 and integrating with respect to x yields
1m 1m x
苲
x dA xy dx 3
x dx
dx
1m
LA L0 L0 0.250
x = = 1m
= 1m
= = 0.75 m Ans. (a)
0.333
dA y dx x2 dx
LA L0 L0
1m 1m
苲
y dA (y>2)y dx (x2 >2)x2 dx
LA L0 L0 0.100
y = = 1m
= 1m
= = 0.3 m Ans.
0.333
dA y dx x2 dx y
LA L0 L0
SOLUTION II
y ⫽ x2
Differential Element. The differential element of thickness dy is
shown in Fig. 9–12b. The element intersects the curve at the arbitrary dy
point (x, y), and so it has a length (1 - x). (x, y) 1m
Area and Moment Arms. The area of the element is dA = (1 - x) dy, ~~
(x, y)
and its centroid is located at y

苲 1 - x 1 + x 苲
x = x + a b = ,y = y x
2 2 x (1 ⫺ x)
Integrations. Applying Eqs. 9–4 and integrating with respect to y, 1m
we obtain (b)
1m 1m
苲 1 Fig. 9–12 9
x dA [(1 + x)>2](1 - x) dy (1 - y) dy
LA L0 2 L0 0.250
x = = 1m
= 1m
= = 0.75 m Ans.
0.333
dA (1 - x) dy (1 - 1y) dy
LA L0 L0
1m 1m
苲
y dA y(1 - x) dy (y - y3>2) dy
LA L0 L0 0.100
y = = 1m
= 1m
= = 0.3 m Ans.
0.333
dA (1 - x) dy (1 - 1y) dy
LA L0 L0
NOTE: Plot these results and notice that they seem reasonable. Also,
for this problem, elements of thickness dx offer a simpler solution.
462 CHAPTER 9 CENTER OF GRAVITY AND CENTROID

EXAMPLE 9.6
Locate the centroid of the semi-elliptical area shown in Fig. 9–13a.
y y
~ x2 ⫹ y2 ⫽ 1
x⫽x 2 dy 4
x ⫹ y2 ⫽ 1
4
(⫺x, y) y
1 ft y x x ~
y⫽y
~ y
y⫽
2 x x
dx
2 ft 2 ft 2 ft 2 ft

(a) (b)

Fig. 9–13
SOLUTION I
Differential Element. The rectangular differential element parallel
to the y axis shown shaded in Fig. 9–13a will be considered. This
element has a thickness of dx and a height of y.
Area and Moment Arms. Thus, the area is dA = y dx, and its
centroid is located at 苲
x = x and 苲
y = y>2.
Integration. Since the area is symmetrical about the y axis,
x = 0 Ans.
2
x
Applying the second of Eqs. 9–4 with y = 1 - , we have
B 4
2 ft 2 ft
苲 y 1 x2
y dA (y dx) a 1 - b dx
LA L- 2 ft 2 2 L- 2 ft 4 4>3
y = = = = = 0.424 ft Ans.
2 ft 2 ft
x 2 p
dA y dx 1 - dx
LA L- 2 ft L- 2 ft B 4

SOLUTION II
Differential Element. The shaded rectangular differential element
9
of thickness dy and width 2x, parallel to the x axis, will be considered,
Fig. 9–13b.
Area and Moment Arms. The area is dA = 2x dy, and its centroid
is at 苲
x = 0 and 苲
y = y.
Integration. Applying the second of Eqs. 9–4, with x = 231 - y2,
we have
1 ft 1 ft
苲
y dA y(2x dy) 4y31 - y2 dy
LA L0 L0 4>3
y = = = = ft = 0.424 ft Ans.
1 ft 1 ft p
dA 2x dy 431 - y dy 2
LA L0 L0
474 CHAPTER 9 CENTER OF GRAVITY AND CENTROID

9.2 Composite Bodies

A composite body consists of a series of connected “simpler” shaped
bodies, which may be rectangular, triangular, semicircular, etc. Such a
body can often be sectioned or divided into its composite parts and,
provided the weight and location of the center of gravity of each of these
parts are known, we can then eliminate the need for integration to
determine the center of gravity for the entire body. The method for doing
this follows the same procedure outlined in Sec. 9.1. Formulas analogous
to Eqs. 9–1 result; however, rather than account for an infinite number of
differential weights, we have instead a finite number of weights. Therefore,

苲
xW 苲
yW 苲
zW
x = y = z = (9–6)
W W W
Here
x, y, z represent the coordinates of the center of gravity G of the
composite body.
苲
x, 苲
y, 苲
z represent the coordinates of the center of gravity of each
composite part of the body.
W is the sum of the weights of all the composite parts of the
body, or simply the total weight of the body.
When the body has a constant density or specific weight, the center
of gravity coincides with the centroid of the body. The centroid for
composite lines, areas, and volumes can be found using relations
analogous to Eqs. 9–6; however, the W’s are replaced by L’s, A’s, and V’s,
respectively. Centroids for common shapes of lines, areas, shells, and
volumes that often make up a composite body are given in the table on
the inside back cover.

In order to determine the force required

to tip over this concrete barrier it is
first necessary to determine the location
of its center of gravity G. Due to symmetry,
G will lie on the vertical axis of symmetry.
9.2 COMPOSITE BODIES 475

Procedure for Analysis

The location of the center of gravity of a body or the centroid of a

composite geometrical object represented by a line, area, or volume
can be determined using the following procedure.

Composite Parts.
• Using a sketch, divide the body or object into a finite number of
composite parts that have simpler shapes.
• If a composite body has a hole, or a geometric region having no
material, then consider the composite body without the hole and
consider the hole as an additional composite part having negative
weight or size.

Moment Arms.
• Establish the coordinate axes on the sketch and determine the
coordinates 苲
x, 苲
y , 苲z of the center of gravity or centroid of each part.
Summations.
• Determine x, y, z by applying the center of gravity equations,
Eqs. 9–6, or the analogous centroid equations.
• If an object is symmetrical about an axis, the centroid of the
object lies on this axis.
If desired, the calculations can be arranged in tabular form, as
indicated in the following three examples.

The center of gravity of this water tank can be

determined by dividing it into composite parts
and applying Eqs. 9–6.
476 CHAPTER 9 CENTER OF GRAVITY AND CENTROID

EXAMPLE 9.9
Locate the centroid of the wire shown in Fig. 9–16a.

SOLUTION
Composite Parts. The wire is divided into three segments as shown
in Fig. 9–16b.
Moment Arms. The location of the centroid for each segment is
determined and indicated in the figure. In particular, the centroid of
segment 1 is determined either by integration or by using the table
on the inside back cover.
Summations. For convenience, the calculations can be tabulated as
follows:

Segment L (mm) 苲
x (mm) 苲
y (mm) 苲
z (mm) 苲
x L (mm2) 苲
y L (mm2) 苲
z L (mm2)
1 p(60) = 188.5 60 -38.2 0 11 310 -7200 0
2 40 0 20 0 0 800 0
3 20 0 40 -10 0 800 -200
L = 248.5 苲
x L = 11 310 苲
y L = -5600 苲
z L = -200

Thus,

苲
xL 11 310
x = = = 45.5 mm Ans.
L 248.5

苲
yL -5600
y = = = -22.5 mm Ans.
L 248.5

苲
zL -200
z = = = -0.805 mm Ans.
L 248.5
z z
9

20 mm
40 mm (2) (60) 20 mm
p
38.2 mm
60 mm 1 2
60 mm
y y
20 mm 10 mm 3

x x
(a) (b)
Fig. 9–16
9.2 COMPOSITE BODIES 477

EXAMPLE 9.10
Locate the centroid of the plate area shown in Fig. 9–17a.

2 ft

1 ft
x
2 ft 3 ft
1 ft
(a)

Fig. 9–17

SOLUTION y

Composite Parts. The plate is divided into three segments as shown

in Fig. 9–17b. Here the area of the small rectangle 3 is considered
“negative” since it must be subtracted from the larger one 2 . 2

Moment Arms. The centroid of each segment is located as indicated 1

in the figure. Note that the 苲
x coordinates of 2 and 3 are negative. 1.5 ft
1 ft
x
Summations. Taking the data from Fig. 9–17b, the calculations are 1.5 ft 1 ft
tabulated as follows:

Segment A (ft2) 苲
x (ft) 苲
y (ft) 苲
x A (ft3) 苲
y A (ft3) y
1 1
2 (3)(3) = 4.5 1 1 4.5 4.5
2 (3)(3) = 9 -1.5 1.5 -13.5 13.5 2.5 ft
3
3 -(2)(1) = -2 -2.5 2 5 -4
9
A = 11.5 苲
x A = -4 苲
y A = 14
Thus, 2 ft

苲
x
xA -4
x = = = -0.348 ft Ans. (b)
A 11.5
苲
yA 14
y = = = 1.22 ft Ans.
A 11.5

NOTE: If these results are plotted in Fig. 9–17a, the location of point C
seems reasonable.