STATICS OF RIGID BODIES

Module 7
Module Title: Centroids

Module Description: This module covers the determination of centroids and centers of gravity
for shapes, composite shapes, lines and volumes.

Purpose of the Module:

This module prepares the students to design support and joint support of different
structures.

Module Guide:

Each lesson in the module begins with a discussion, followed by examples and ends
with a set of exercises with answers provided.

Link to videos and/ or other reading materials are also given to reinforce the learnings
for each lesson presented.

Module Outcomes:
1. Apply the principles of static equilibrium from the knowledge of resultants of forces
and moments.
2. Relate the course to other engineering situations that involve the concepts of forces and
moments of forces.

Module Requirements:

At the end of this module, the students will submit the following:

1. Provide solution to all the exercises of each lesson.

2. Video presentation of balancing a composite-shaped cardboard with a finger.

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Learning Plan
Lesson No: 1

Lesson Title: Centroids and Center of Gravity using Derived Formulas

Let’s Hit These:

At the end of this lesson, students should be able to:
 Understand centroid and center of gravity.
 Determine the centroid and center of gravity of 2D and 3D shapes using the
computed formula from integration.

Let’s Read:

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
as shown in the figure 6.1.1 below. 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.

Figure 6.1.1

Centroid vs Center of Gravity:

Geometrical Center Gravitational Center

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Centroids can be solved in two ways:

1. By using Shortcut formulas derived from Integration – this is used for regular
and composite shapes.
2. By Integration – this is used for irregular shapes and curved areas.

For this lesson, we will discuss first the determination of centroids using the shortcut
formulas derived from Integration then discuss the next method on the second lesson.

Important Points:

1. The centroid represents the geometric center of a body. This point coincides with the
center of mass or the center of gravity only if the material composing the body is
uniform or homogeneous.
2. 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.
3. 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

CENTER OF GRAVITY OF 2D BODIES:

Where:
𝑥, 𝑦 𝑎𝑛𝑑 𝑧̅ – the coordinates of the centroid or center of gravity
𝑥 , 𝑦 𝑎𝑛𝑑 𝑧 – the coordinates of the individual particle/ shape of the body.
W – weight of a particle
A – area of a particle
L – length of a line or wire
V – volume of a particle

1. A Homogeneous Flat Plate

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2. A Wire or Line

3. An Area

First Moments of Areas and Lines:

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4. Composite Plates and Areas

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Example 1. For the plane area shown, determine the first moments with respect to the x and y
axes and the location of the centroid.

SOLUTION:
1. Divide the area into a triangle, rectangle, and semicircle with a circular cutout.
2. Calculate the first moments of each area with respect to the axes.
3. Find the total area and first moments of the triangle, rectangle, and semicircle. Subtract the
area and first moment of the circular cutout.

1. Compute the coordinates of the area centroid by dividing the first moments by the
total area.

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Example 2. Find the coordinates of the centroid of the shaded area shown.

Ax̄ = Σax
144.593 x̄ = 216(9) −25.133 (4) −28.274 (15.454) −18 (16)
x̄ = 7.736″

A ȳ= Σay
144.593 ȳ = 216(6) −25.133 (10.302) −28.274 (9.454) −18 (2)
ȳ = 5.075″

Example 3. The dimensions of the T-section of a cast-iron beam are shown. How far is the
centroid of the area above the base?

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Center of Gravity of a 3D Body:

1. A Volume

Shape 𝒙 Volume
Hemisphere

𝟑𝒂 𝟐 𝟑
𝝅𝒂
𝟖 𝟑

Semi Ellipsoid of Revolution

𝟑𝒉 𝟐 𝟐
𝝅𝒂 𝒉
𝟖 𝟑

Paraboloid of Revolution

𝒉 𝟏 𝟐
𝝅𝒂 𝒉
𝟑 𝟐

Cone

𝒉 𝟏 𝟐
𝝅𝒂 𝒉
𝟒 𝟑

Pyramid

𝒉 𝟏
𝒂𝒃𝒉
𝟒 𝟑

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Example
Locate the center of gravity of the steel machine element. The diameter of each hole is 1 in.

SOLUTION:
Form the machine element from a rectangular parallelepiped and a quarter cylinder and then
subtracting two 1-in. diameter cylinders.

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Learning Plan
Lesson No: 2

Lesson Title: Centroids and Center of Gravity by Integration

Let’s Hit These:

At the end of this lesson, students should be able to:
 Determine the centroid and center of gravity of objects by integration.

The centroid and center of mass coincide when the density is uniform throughout the
part. On the other hand, if a body uses two or more kinds of materials

Let’s Read:

The shapes of materials are not always composed of regular shapes like rectangles,
circles and ellipse. Sometimes, there are irregular curves whose area and centroid cannot be
solved using the regular formulas presented in the previous lesson of this module. For these
cases, integration is used.

Where:
𝑥, 𝑦 𝑎𝑛𝑑 𝑧̅ – the coordinates of the centroid or center of gravity
𝑥 , 𝑦 𝑎𝑛𝑑 𝑧 – the coordinates of the individual particle/ shape of the body.
W – weight of a particle
A – area of a particle
L – length of a line or wire
V – volume of a particle
a – the starting point for integration
b – the end point for integration

1. Centroid of an Area
If an area lies in the x–y plane and is bounded by the curve y = f (x) as shown below,
then its centroid will be in this plane and can be determined by

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

Where:

3. Centroid of Gravity of Bodies

4. Centroid of Volumes

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Example 1. Locate the centroid of the rod bent into the shape of a parabolic arc as shown.

𝑑𝑥
𝑑𝐿 = + 1 𝑑𝑦
𝑑𝑦

Since 𝑥 = 𝑦 , then = 2𝑦. Therefore, expressing dL in terms of y and dy, we have

𝑑𝐿 = (2𝑦) + 1 𝑑𝑦

Based on the figure, the centroid of the element is located at

𝐿𝑥̅ = ∫ 𝑥𝑑𝐿
∫ ∫ ( ) ∫ .
𝑥̅ = = = = .
= 𝟎. 𝟒𝟏𝟎
∫ ∫ ( ) ∫

𝐿𝑦 = ∫ 𝑦𝑑𝐿

∫ ∫ ( ) ∫ .
𝑦= = = = .
= 𝟎. 𝟓𝟕𝟒
∫ ∫ ( ) ∫

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Example 2.

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Example 3

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Example 4

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Example 5

Let’s Watch This:

https://www.youtube.com/playlist?list=PL5-rj23AEMNhhy-qpKFNScNgfKI-Me6Bx

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