Engineering Mechanics

Statics

Lecture 4

Son Dao, PhD © 1

Distributed Forces (Loads);

Centroids & Center of Gravity
• The concept of distributed loads will be
introduced
• Center of mass will be discussed as an
important application of distributed loading
– mass, (hence, weight), is distributed throughout
a body; we want to find the “balance” point

1
Distributed Loads
Two types of distributed loads exist:
– forces that exist throughout the body
• e. g., gravity acting on mass
• these are called “body forces”
– forces arising from contact between two bodies
• these are called “contact forces”

Contact Distributed Load

• Snow on roof, tire on road, bearing on race,
liquid on container wall, ...

2
Center of Gravityz
z

˜3,y˜ 3,z˜3)
w3(x ˜5,y˜ 5,z˜5)
w5(x
˜1,y˜ 1,z˜1)
w1(x
˜2,y˜ 2,z˜2)
w2(x
˜4,y˜ 4,z˜4)
w4(x
y
y z
x
y
x
x
The weights of the n particles comprise a system of parallel forces. We can
replace them with an equivalent force w located at G(x,y,z), such that:

x w=x~1w1+x~ 2w2+x~ 3w3+x~ 4w4 +x~5w5

5

Or
n n n
 ~ xi wi  ~ yi wi  ~ zi wi
x i 1 , y i 1 , z i 1
n n n
 wi  wi  wi
i 1 i 1 i 1

Where ~ x, ~
y, ~z are the coordinates of each
point. Point G is called the center of gravity
which is defined as the point in the space where
all the weight is concentrated.

3
CG in Discrete Sense
20 10

?? ?? ??
Where do we hold the bar to balance it?
Find the point where the system’s weight may
be balanced without the use of a moment.

Discrete Equations
y

r dw
Define a reference frame
z x

~
xi wi ~
x dw 
x x
 wi  dw

4
Center of Mass
The total mass is given by M
M m
i
i

Mass center is defined by

m x i i m y i i m z i i
xc.m.  i
; yc.m.  i
; z c . m.  i
M M M
Graphically labeled as
9

Continuous Equations
Take our volume, dV, to be infinitesimal.
Summing over all volumes becomes an integral.
1
M
VV 
 dV

1 1 1
xc.m. 
VV 
xdV ; yc.m. 
VV
ydV ; zc.m. VV
zdV 
Note that dm = dV . Center of gravity deals with forces and
gdm is used in the integrals.

10

5
If  is constant

~
x dv ~
y dv ~
z dv
x , y , z
 dv  dv  dv

•These coordinates define the geometric center

of an object (the centroid)
•In case of 2-D, the geometric center can be
defined using a differential element dA

~
x dA ~
y dA ~
z dA
x , y , z
 dA  dA  dA

11

If the geometry of an object takes the form

of a line (thin rod or wire), then the
centroid may be defined as:

~
x dL ~
y dL ~
z dL
x , y , z
 dL  dL  dL

12

6
Procedure for Analysis
1-Differential element
Specify the coordinate axes and choose an appropriate
differential element of integration.

•For a line, the differential element is dl

•For an area, the differential element dA is generally a

rectangle having a finite height and differential width.

•For a volume, the element dv is either a circular disk having a

finite radius and differential thickness or a shell having a finite
length and radius and differential thickness.
13

2- Size
Express the length dl, dA, or dv of the element in terms of
the coordinate used to define the object.

3-Moment Arm
Determine the perpendicular distance from the coordinate
axes to the centroid of the differential element.

4- Equation
Substitute the data computed above in the appropriate
equation.

14

7
Symmetry Conditions
•The centroid of some objects may be partially or
completely specified by using the symmetry conditions
•In the case where the shape of the object has an axis of
symmetry, then the centroid will be located along that line of
symmetry.
y

In this case, the centroid is located along the y-axis

15

In cases of more than one axis of symmetry, the

centroid will be located at the intersection of these axes.

16

8
Centroid of an Area
• Geometric center of the area

– Average of the first moment over the entire area

1 1
A A A A
xc  xdA yc  ydA

– Where: A   dA
A
17

Centroid of an Area

• Is then defined as an integral over the area.

• Integration of areas may be accomplished

by the use of either single integrals or
double integrals.

18

9
Centroid of a Volume
• Geometric center of the volume

– Average of the first moment over entire volume

1 1 1
V V V V V V
xc  xdV yc  ydV zc  zdV

1
– In vector notation: rc 
VV rdV

19

Examples
Where are the CG?

20

10
Examples
• Where is the CG?

21

Centroid of Composite Bodies

• Basic shapes are added together to get the

composite centroid
– We look these up in Table 4.2
– This table will be supplied on future exams for
shapes other than rectangles, circles and
triangles

Lecture 8 22

11
Area Centroids
This case is also representative of line and
volume centroids.
Divide total area into simple shapes
(rectangles, semi-circles)
Add simple shapes
A2 y

A1 x2
x1 A3 yc
y2 =
y1 + + x
x3 xc

y3
Lecture 8 23

May Also Use Subtraction

A1 y
A2

x1 x2
- = yc
x
y1 y2 xc

Lecture 8 24

12
Composite Centroid of an Area

• Geometric center of the area

– Summation of the pieces (holes are negative)

1 1
xc   xiAi
A i
yc   yiAi
A i

– Where: A   Ai
i
Lecture 8 25

Composite Centroid of a Volume

• Geometric center of the volume

– Average of the first moment over entire volume

1 1 1
xc   xiVi
V i
yc 
V
 yV
i
i i zc 
V
zV
i
i i

– Where: V   Vi
i
Lecture 8 26

13
Centroid Principles
One can determine a centroid location by
utilizing the cross-section view of a three-
dimensional object.

Centroid Location Complex Shapes

3. Calculate the area of each simple shape.
Assume measurements have 3 digits.
Area of shape #1 =
width x height
3.00in. x 6.00in. = 18.0in.2
4.5in.2
18in.2 Area of shape #2 =
2
9in.2 ½ base x height
½x3.00in.x3.00in. = 4.50in.2
Area of shape #3 =
side2
(3.00in.)2 = 9.00in.2

14
Centroid Location Complex Shapes
4. Determine the centroid of each simple shape.
Shape #1 Centroid Location
Centroid is located at the
intersection of the lines of
1/3 h symmetry.
1/3 b Shape #2 Centroid Location
Centroid is located at the
intersection of 1/3 its
height and 1/3 its base.
Shape #3 Centroid Location
Centroid is located at the
intersection of the lines of
symmetry.

Centroid Location Complex Shapes

5. Determine the distance from each simple shape’s centroid
to the reference axis (x and y).

4in.
1.5in.
4in.

4.5in.
3in.

1.5in.

15
Centroid Location Complex Shapes
6. Multiply each simple shape’s area by its
distance from centroid to reference axis.
Shape Area (Ai)
1 18.0in.2 x 1.50in. 27.0in.3
2 4.50in.2 x 4.00in. 18.0in.3
3 9.00in.2 x 4.50in. 40.5in.3

Shape Area (Ai)

1 18.0in.2 x 3.00in. 54.0in.3
2 4.50in.2 x 4.00in. 18.0in.3
3 9.00in.2 x 1.50in. 13.5in.3

Centroid Location Complex Shapes

7. Sum the products of each simple shape’s area and
their distances from the centroid to the reference axis.
Shape 85.5in.3
1 27.0in.3
2 18.0in.3
3 40.5in.3
85.5in.3
Shape
1 54.0in.3
2 18.0in.3
3 13.5in.3

16
Centroid Location Complex Shapes
8. Sum the individual simple shape’s area to
determine total shape area.
Shape Ai
1 18in.2 31.5in.2
2 4.5in.2
3 9in.2

4.5in.2
18in.2
9in.2

Centroid Location Complex Shapes

9. Divide the summed product of areas and
distances by the summed object total area.
85.5in.3 2.7i
n.
85.5in.3
31.5in.2
2.7in

= 2.71in.
.

Does this shape have any

= 2.71in. lines of symmetry?

17
Distributed Loads
• Distributed loads on beams
– Application of equivalent load

Lecture 8 35

Beams

Beams can be loaded by a point load or a

distributed load
P w(x)
Replace the distributed load
with an equivalent
concentrated force.
x dx
L
L
The equivalent force is W  w  x  dx
0
the sum of all the forces.

Lecture 8 36

18
Equivalent Load Location
The equivalent load is placed at the centroid of
the distributed load.
w(x)
1 L
xc   x w  x  dx
W 0

W
To find reaction loads:
replace distributed load
with equivalent load at
xc
centroid L

Lecture 8 37

Second Moments of Area

(Area Moments of Inertia)

• Second moments of area play a central role

in mechanics of materials and dynamics
• Definition of second moment
– Basic areas (rectangle, circular, triangular)
• Definition of polar moment
– Basic areas (circular)
• Parallel axis theorem

Lecture 9 38

19
Moments of Area
• Characterize distribution of area about the centroid

• Normally, we want the moment x

with respect to centriod axes dA

– Moment about other axes r y

derived from centroid case

• Moment of inertia
I xx   A
y 2 dA and I yy   A
x 2 dA

Lecture 9 39

Moments of Basic Shapes

• Rectangle
y
  h  3   h 3 
b h b
bh3
  
 
2
I xx  2 2
2 2

2
x y dy dx = b dx =
 b2  h2 2  3 3  12
 

dA = r dr d
• Circular
y 2 R
0 0  r sin  
2
I xx  I yy  rdr d
x
2
  4
 14 R 4 sin 2  d  1
R
0 4
Lecture 9 40

20
Polar Moment
The polar moment is the second moment of area
about the z-axis
y J oz   r 2 dA   ( x 2  y 2 )dA  I xx  I yy
r
A y dA A x dA
2 2
x I xx  and I yy 

2 R
J Oz   
0 0
r 3 dr d  12  R 4

Note that: Ixx + Iyy = JOz

Lecture 9 41

Parallel Axis Theorem

The centroid of the area MUST be one of the axes used in the
parallel axis theorem.

I xx  I xxc  Ad y2 y
C x’

I yy  I yyc  Ad x2 dy

Lecture 9 42

21
Radius of Gyration

An alternate, equivalent way to represent the

moment of an area

I xx I yy J Oz
kx  ; ky  ; kz 
A A A

Distance from the point or axis to where the

area is concentrated

Lecture 9 43

Principal Second Moments

• Definition of product moment of inertia

– Product of inertia axis theorem
• Definition of principal axes
• Mohr’s circle to find principal axes
• Example

Lecture 9 44

22
Product Moment of Inertia
(Measures Antisymmetry)
• Basic section with two axes of symmetry y

I xy   xydA A
x

• Composite sections - product parallel axis theorem

I xy  I xy  xo yo A

Lecture 9 45

Mohr’s Circle for Principal Inertia

(Second Moment of Area about any Axis)

-Ixy
• draw circle center (Ixx + Iyy)/2
x

• draw point (Ixx , Ixy) and the circle

IMIN 2b Ixx IMAX
x
Iyy Ixx, Iyy
• use geometry to find IMAX , IMIN and b

ANGLES IN MOHR’S CIRCLE x Ixy

ARE TWICE THOSE IN THE +Ixy
CROSS SECTION!!! (Ixx+Iyy)/2

Lecture 9 46

23
Mechanics Nomenclature
Polar Moment of Inertia = Torsional Stiffness

Second Moment of Area = Bending Stiffness

Lecture 10 47

Product Moment of Inertia

(Product Moment of Area)

• Basic section with two axes of symmetry y

A
I xy   xydA x

• Composite sections - product parallel axis theorem

I xy  I xy  xo yo A

Lecture 10 48

24
Mohr’s Circle for Principal Inertia
(Second Moment of Area about any Axis)

-Ixy
• draw circle center (Ixx + Iyy)/2
x

• draw point (Ixx , Ixy) and the circle

IMIN 2b Ixx IMAX
x
Iyy Ixx, Iyy
• use geometry to find IMAX , IMIN and b

Angles in Mohr’s circle are twice x Ixy

those in the section analyzed. +Ixy
(Ixx+Iyy)/2

Lecture 10 49

25