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 present a method for finding the resultant of a
general distributed loading.
 To show how to determine the moment of inertia of an
area.
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6.1 Center of Gravity, Center of Mass, and the Centroid
重 質 形
of a Body
Center of Gravity
• Consider system of n particles fixed within a region of space
• Each of these particles will have a weight dW
• These weights will form a parallel force system, and the
resultant of this system is the total weight of the body
• The weights of the particles can be replaced by a single
等上 (equivalent) resultant weight passing through a point called
袯
the center of gravity, G
• Locates the resultant weight of a system of particles

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Sum of the weights of its particles

WR  W
(~
x2 , ~
y2 , ~
z2 )

( x , y, z ) (~
x1, ~
y1, ~
z1 )

The moment of WR about the y axis

= Summing moments of the weights of the particles about the y axis

xWR  ~
x1W1  ~
x2W2      ~
xnWn
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Center of Gravity
• Resultant weight = total weight of n particles
+FR = Fz 
W  dW
• Sum of moments of weights of all the particles about x, y, z axes
= moment of resultant weight about these axes
• Summing moments about the x axis,


xW  xdW

• The weights of the particles can be replaced by a single

(equivalent) resultant weight having defined point G of
application

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Center of Gravity
• Resultant weight = total weight of n particles
WR  W

• Sum of moments of weights of all the particles about x,

y, z axes = moment of resultant weight about these
axes
• Summing moments about the y axis,
x WR  ~
x1W1  ~
x2W2  ...  ~
xnWn
• Summing moments about x axis,
yWR  ~
y1W1  ~
y2W2  ...  ~
ynWn

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Center of Gravity
• Although the weights do not produce a moment about
z axis, by rotating the coordinate system 90°about x
axis with the particles fixed in it and summing
moments about the x axis,

z WR  ~
z1W1  ~
z 2W2  ...  ~
z nWn

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Center of Gravity

• Generally,

~
xW ~
yW ~
zW
x ; y ; z
W W W

 重力合力對任意軸的力矩等於物體中所有作為無
窮小元素之質點所受的重力對同一軸所產生的力
矩總和。

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Center of Mass
• Provided acceleration due to gravity g for every
particle is constant, then W = mg
 ~x m  ~y m  ~z m
x ; y ; z
m m m
• By comparison, the location of the center of gravity
coincides with that of center of mass
• Particles have weight only when under the influence of
gravitational attraction, whereas center of mass is
independent of gravity

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Center of Gravity:

W  mg

Center of Mass:

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Center of Mass of a Body
• A rigid body is composed of an infinite number of particles
• Consider arbitrary particle having a weight of dW

~x dW ~ydW ~z dW
x
 ;y 
 ;z 

 dW  dW  dW
dW  g dm
Since g is constant, it cancels out.

~x dm ~ydm ~z dm
x
 ; y   ;z  
 dm  dm  dm
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 當計算只與物體幾何形狀有關時，係使用形心(centroid)一詞。

Centroid of a Volume
• Consider an object subdivided into volume elements
dV, the location of the centroid C(𝑥 , 𝑦, 𝑧) for the volume
of the object can be determined by computing the
“moments” of the elements about each of the
coordinate axes.

dm   dV
~x dV ~ydV ~z dV
  
x V ;y V ;z  V
 dV  dV  dV
V V V

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Centroid of an Area
• For centroid of surface area
~x dA ~ydA ~z dA
of an object, such as plate
and shell, can be found by
  
x A
; y A
; z A
subdividing the area into
differential elements dA and  dA
A
 dA
A
 dA
A
computing the “moments” of
these area elements about
each of the coordinate axes.

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Centroid of a line

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Symmetry

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Example 6.1

x
x

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311
o

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Homework:
6-11: dA = (x-x3/9)dx, 𝑥 = x, 𝑦 = (x+x3/9)/2,
A = 2.25 m2, 𝑥 = 1.6 m, 𝑦 = 1.14 m
6-18: 𝑧 = 2h/9

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COMPOSITE BODIES

• Consists of a series of connected “simpler” shaped

bodies, which may be rectangular, triangular or
semicircular
• A body can be sectioned or divided into its composite
parts
• Accounting for finite
number of weights

~
xW ~
yW ~
zW
x y z
W W W
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Example 6.4

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Homework:
6-20: 𝑦 = 51.25 mm
6-28: 𝑥 = 5.69 m, 𝑦 = 3.31 m

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6.3 Resultant of a Distributed Force System

Pressure Distribution over a Surface

 Consider the flat plate subjected to the loading function
p = p(x, y) Pa
 Determine the force dF acting on the differential area
dA m2 of the plate, located at the differential point (x, y)
dF = [p(x, y) N/m2](dA m2)
不情定
= [p(x, y) dA] N β

= dV
 Entire loading represented as
infinite parallel forces acting on
separate differential area dA

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Pressure Distribution over a Surface
 This system will be simplified to a single resultant force FR
acting through a unique point on the plate

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Magnitude: magnitude of the resultant force is equal to the total
volume under the distributed-loading diagram.

Location: the line of action of the resultant force passes through

the geometric center or centroid of the volume under the
distributed loading diagram.

 To determine magnitude of FR, sum up the differential

forces dF acting over the plate’s entire surface area A
 To determine location of FR, the moment of FR about the
respective axis = the moments of all the differential forces
dF about this same axis
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Loading Along a Straight Axis

p(x): force per

unit area

If we multiply p=p(x) by the width a m of the plate,

w(x) N/m= [p(x) N/m2][a m]
w(x): force = dA
per unit Since dF is acting on an element of length dx,
and w(x) is a force per unit length,
length then at the location x,

dF = w(x)dx = dA

Coplanar distributed load

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The magnitude of the resultant force is
equal to the total area A under the
loading diagram w = w(x). The
resultant force has a line of action
which passes through the centroid of
the area defined by the distributed-
loading diagram w(x).

The centroids for such common shapes can be obtained directly from the
table in Appendix.

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Example 6.6

A =
S dA
=

hidx = {
iox ' dx : ( 60

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Example 6.7

ts

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9
1
9 160 x 3
  0
x A
xdA x (160 x )dx

3 0 38880
 6
AdA  (160 x)dx
9
FR 6480
0

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Homework:
6-34: FR = w0L/2 ↓
6-36: w1 = 3.766 kN/m, w2 = 5.633 kN/m

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6.4 Moments of Inertia for Areas
• Centroid for an area is determined by the first moment of an
area about an axis
• Second moment of an area is referred as the moment of
inertia
• Moment of inertia of an area originates whenever one relates
the normal stress s , acting on the transverse cross section of
an elastic beam, to the applied external moment M

the stress within the beam varies linearly

s  kz
the force acting on the area element dA

dF  sdA  kzdA
the moment of dF about the y axis

dM  zdF  kz 2 dA
the resulting moment of the entire stress distribution

M  k  z 2 dA
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另外一種度量面積分佈的方法
Moment of Inertia
• Consider area A lying in the x-y plane
• By definition, moments of inertia of the differential
plane area dA about the x and y axes
dI x  y 2 dA
dI y  x 2 dA
• For the entire area, moments of
inertia are given by

I x   y 2 dA
A

I y   x 2 dA
A

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Polar moment of Inertia
• Formulate the second moment of dA about the pole O or z
axis
• This is referred to the polar axis, and defined as
dJ O  r 2 dA
where r is distance from the pole (z axis) to the element dA
• Polar moment of inertia for entire area,
J O   r 2 dA  I x  I y
A

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6.5 Parallel-Axis Theorem
• For moment of inertia of an area known about an axis
passing through its centroid, determine the moment of inertia
of area about a corresponding parallel axis using the parallel
axis theorem
• Consider moment of
inertia of the shaded area
• A differential element dA is
located at an arbitrary distance y’
from the centroidal x’ axis
• The fixed distance between the
parallel x and x’ axes is defined ′
(𝑥 , 𝑦′) =(0,0)

as dy
• For moment of inertia of dA
about x axis
dI x   y ' d y  dA
2

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6.5 Parallel-Axis Theorem
 For entire area

I x   ( y  d y )2 dA   y2dA  2d y  ydA  d y2  dA
A A A A

 First integral represents the moment of inertia of the area

about the centroidal axis
 Second integral = 0 since x’ axis passes through the area’s
centroid C
 ydA  y dA  0 y  0

 Third integral represents the total area A



 Similarly

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 For polar moment of inertia about an axis perpendicular to
the x-y plane and passing through pole O (z axis)

 To find the moment of inertia of an area about any axis

that is parallel to an axis passing through the centroid
and about which the moment of inertia is known.
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Homework:
6-48: Ix = 0.205 m4

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MOMENTS OF INERTIA FOR COMPOSITE
AREAS

• Composite area consist of a series of connected

simpler parts or shapes
• The moment of inertia of the composite area = algebraic
sum of the moments of inertia of all its parts

Procedure for Analysis

Composite Parts
• Divide the area into its composite parts and indicate the
perpendicular distance from the centroid of each part to
the reference axis
MOMENTS OF INERTIA FOR COMPOSITE
AREAS (cont)
Parallel Axis Theorem
• The moment of inertia of each part is determined about
its centroidal axis, which is parallel to the reference axis
• When the centroidal axis does not coincide with the
reference axis, the parallel axis theorem is used
Summation
• The moment of inertia of the entire area about the
reference axis is determined by summing the results of
its composite parts
• If a composite part has a “hole”, its moment of inertia is
found by “subtracting” the moment of inertia for the hole
from the moment of inertia of the entire part including the
hole
Example 6.11

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Example 6.12

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面
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Homework:
6-60: Ix = 155 x 104 mm4
6-70: 𝑦 = 170 mm, Ix’ = 722 x 106 mm4

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