Chapter 9

Center of gravity and Centroids

Sections 9.1 & 9.2
Chapter Objectives
• Concept of the center of gravity, center of mass, and
the centroid (center of area)
• Determine the location of the center of gravity and
centroid for a system of discrete particles and a
body of arbitrary shape
• Theorems of Pappus and Guldinus
• Method for finding the resultant of a general
distributed loading
Chapter Outline
1. Center of Gravity and Center of Mass
for a System of Particles
2. Composite Bodies
3. Theorems of Pappus and Guldinus
4. Resultants of a General Distributed
Loading
5. Fluid Pressure
Applications
To design the structure for
supporting a water tank, we will
need to know the weights of the
tank and water as well as the
locations where the resultant
forces representing these
distributed loads are acting.
How can we determine these
weights and their locations?
Applications

One concern about a sport utility vehicle (SUVs) is

that it might tip over while taking a sharp turn.
One of the important factors in determining its
stability is the SUV’s center of mass.
Should it be higher or lower for making a SUV more
stable?
How do you determine its location?
Concept of CG & CM & C
The center of gravity (G) is a point which locates the resultant weight of a system
of particles or body.
?m ?m 3m 1m
3m B 4N
A  B
 •  A  •
1N G 3N
G

∑ 𝑀 𝐴=(3𝑁 ) .( 4𝑚)=12𝑁.𝑚
 
CONCEPT OF CG & CM

?m ?m 3m 1m
4m B 4N
A 
 • A  •  B
1N G 3N
G

Hence, from the definition of a resultant force, the sum of

moments due to individual particle weight about any point is
the same as the moment due to the resultant weight located
at G. For the figure above, try taking moments about A and
B. Also, note that the sum of moments due to the individual
particle’s weights about point G is equal to zero.
Similarly, the center of mass is a point which locates the resultant mass
of a system of particles or body. Generally, its location is the same as
that of G.
Concept of Centroid
The centroid C is a point which defines the geometric
center of an object.
The centroid coincides with the center
of mass or the center of gravity only if
the material of the body is
homogenous (density or specific
weight is constant throughout the
body).

line

Sometimes the centroid is located outside the

body!
Concept of Centroid
If an object has an axis of
symmetry, then the centroid
of object lies on that axis.

Understanding the difference

between Center of Area and
Center of Mass: by sticking a
coin on this surface, center
of mass will be changed!
9.1 Center of Gravity and Center of Mass for a
System of Particles
Center of Gravity
• Locates the resultant weight of a system of particles
• Consider system of n particles fixed within a region of
space
• The weights of the particles can be replaced by a
single (equivalent) resultant weight having defined
point G of application
9.1 Center of Gravity and Center of Mass for a
System of Particles
Center of Gravity
• Resultant weight = total weight of n particles
  𝑊 𝑅 =∑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 x axis,

 
• Summing moments about y axis,
9.1 Center of Gravity and Center of Mass for a
System of Particles
Center of Gravity
• Although the weights do not produce a moment
about z axis, by rotating the coordinate system 90°
about x or y axis with the particles fixed in it and
summing moments about the x axis,

• Generally,
9.1 Center of Gravity and Center of Mass for a
System of Particles
Center Mass
• Provided acceleration due to gravity g for every
particle is constant, then W = mg

• 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
9.1 Center of Gravity and Center of Mass for a
System of Particles
Center Mass
• A rigid body is composed of an infinite number of
particles
• Consider arbitrary particle having a weight of dW
9.1 Center of Gravity and Center of Mass for a
System of Particles
Centroid of a Volume
• Consider an object subdivided into volume
elements dV, for location of the centroid,
9.1 Center of Gravity and Center of Mass for a
System of Particles
Centroid of an Area
• For centroid for surface area of an object, such as
plate and shell, subdivide the area into differential
elements dA
9.1 Center of Gravity and Center of Mass for a
System of Particles
Centroid of a Line
• If the geometry of the object takes the form of a
line, the balance of moments of differential
elements dL about each of the coordinate system
yields
Steps for Determing Area Centroid
1. Choose an appropriate differential element dA at a general point (x,y).
Hint: Generally, if y is easily expressed in terms of x
(e.g., y = x2 + 1), use a vertical rectangular element. If the converse is
true, then use a horizontal rectangular element.

2. Express dA in terms of the differentiating element dx (or dy).

3. Determine coordinates (x ,~y )~of the centroid of the rectangular
element in terms of the general point (x,y).
4. Express all the variables and integral limits in the formula using
either x or y depending on whether the differential element is in
terms of dx or dy, respectively, and integrate.

Note: Similar steps are used for determining CG, CM, etc. These steps
will become clearer by doing a few examples.
Steps for Determing Area Centroid

Consider a
y is expressed in
vertical d
terms of x Ce A =
element n tr
oi d y d
: (x x
,y
/2
)

x dy , y)
= /2
Consider a dA oid: (x
x is expressed in n tr
horizontal Ce
terms of y
element
Example 9.1: Locate the centroid of the
rod bent into the shape of a parabolic arc.
Solution of Example 9.1

Differential element
Located on the curve at the arbitrary point (x, y)
Area and Moment Arms
For differential length of the element dL

Since x = y2 and then dx/dy = 2y

The centroid is located at

Solution of Example 9.1
Integrations
EXAMPLE

Given: The area as shown.

Find: The centroid location ( x , y )

Solution
1. Since y is given in terms of x, choose
x,y dA as a vertical rectangular strip.
• ~ ~
x,y
2. dA = y dx = (9 – x2) dx
•
3. x~ = x and ~ y = y/2
EXAMPLE

~
4. x = ( A x dA ) / ( A dA )
3
0  x ( 9 – x 2
) d x[ 9 (x 2
)/2 – (x 4
) / 4] 3
0
= =
3
0  ( 9 – x2 ) d x [ 9 x – (x3) / 3 ] 3 0
= ( 9 ( 9 ) / 2 – 81 / 4 ) / ( 9 ( 3 ) – ( 27 / 3 ) )
= 1.13 ft
~ 3
A y dA 0  ½ ( 9 – x 2
) ( 9 – x 2
) dx
y = = = 3.60 ft
A dA 0  ( 9 – 32
x )dx
EXAMPLE

Given: The area as shown.

Find: The x of the centroid.

Solution
1. Choose dA as a horizontal
(x1,,y) rectangular strip.
(x2,y)
2. dA = ( x2 – x1) dy
= ((2 – y) – y2) dy
3. ~
x = ( x 1 + x2) / 2
= 0.5 (( 2 – y) + y2 )
EXAMPLE

~
4. x = ( A x dA ) / ( A dA )
1
A dA = 0 ( 2 – y – y2) dy
[ 2 y – y2 / 2 – y3 / 3] 10 = 1.167 m2
1
~
A x dA = 0 0.5 ( 2 – y + y2 ) ( 2 – y – y2 ) dy
1
= 0.5 0 ( 4 – 4 y + y2 – y4 ) dy
= 0.5 [ 4 y – 4 y2 / 2 + y3 / 3 – y5 / 5 ] 1 0
= 1.067 m3

x = 1.067 / 1.167 = 0.914 m

Example 9.3 Determine the distance y
measured from the x axis to the
centroid of the area of the triangle
shown in
9.2 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

Centroid
  ∑~𝑥 𝐴 ∑~
𝑦𝐴 ∑~
𝑧𝐴
¯𝑥 = 𝑦=
¯ 𝑧
¯ =
∑𝐴 ∑𝐴 ∑𝐴
9.2 Composite Bodies
Procedure for Analysis
Composite Parts
• Divide the body or object into a finite number of
composite parts that have simpler shapes
• Treat the hole in composite as an additional
composite part having negative weight or size

Moment Arms
• Establish the coordinate axes and determine the
coordinates of the center of gravity or centroid of
each part
9.2 Composite Bodies
Procedure for Analysis
Summations
• Determine the coordinates of the center of
gravity by applying the center of gravity
equations
• If an object is symmetrical about an axis, the
centroid of the objects lies on the axis
Applications
The I-beam is commonly
used in building structures.
When doing a stress
analysis on an I - beam, the
location of the centroid is
very important.
How can we easily
determine the location of
the centroid for a given
beam shape?
Applications
Cars, trucks, bikes, etc., are
assembled using many individual
components.

When designing for stability on

the road, it is important to know
the location of the bikes’ center
of gravity (CG).

If we know the weight and CG of individual components, how

can we determine the location of the CG of the assembled unit?
Steps for Analysis
1. Divide the body into pieces that are known shapes.
Holes are considered as pieces with negative weight or size.

2. Make a table with the first column for segment number, the
second column for weight, mass, or size (depending on the
problem), the next set of columns for the moment arms, and,
finally, several columns for recording results of simple
intermediate calculations.
3. Fix the coordinate axes, determine the coordinates of the
center of gravity of centroid of each piece, and then fill-in the
table.
4. Sum the columns to get x, y, and z. Use formulas like

x = (  x A ) / (  A ) or x = (  x W ) / (  W )
i i i i i i

This approach will become clear by doing examples!

Centroids of Common Shapes

y y'
y c
y, y'
y'

r C x' x' h x'

C
C
x r x
x
x 0 b

4r 4r x  13 (b  c )
y xy
3 3 y  13 h
A  12  r 2 A  14  r 2
A  12 bh
P  r (2   ) P  r ( 2  12  )
Creating a table always makes computations easier.

Area Area x y Ax Ay
Name (A)
Area 1 - - - Ax1 Ay1
Area 2 - - - Ax2 Ay2
Area n - - - Axn Ayn
(Total (Summ (Summ
Total - - ation of ation of
Area)
Ax) Ay)

  ∑~
𝑥 𝐴 ∑~
𝑦 𝐴
𝑥
¯ = 𝑦
¯ =
∑𝐴 ∑ 𝐴
Example 9.10: Locate the centroid of the plate area.
Solution
Composite Parts
Plate divided into 3 segments.
Area of small rectangle considered “negative”.

___
Solution
Moment Arm
Location of the centroid for each piece is determined
and indicated in the diagram.

Summations
Example
Given:The part shown.
a
Find: The centroid of c
the part. b

Solution:
1. This body can be divided into the
following pieces: rectangle (a) +
triangle (b) + quarter circular (c) –
semicircular area (d)
EXAMPLE

Steps 2 & 3: Make up and fill a

the table using parts a, b,
c b
c, and d.
d

Segment Area A
x y Ax
 Ay

(in2) (in) (in) ( in3) ( in3)

Rectangle 18 3 1.5 54 27
Triangle 4.5 7 1 31.5 4.5
Q. Circle 9/4 – 4(3) / (3 ) 4(3) / (3 ) –9 9
Semi-Circle –/2 0 4(1) / (3 ) 0 - 2/3

 28.0 76.5 39.83

EXAMPLE

·C

4. Now use the table data and these formulas to find the
coordinates of the centroid.

x = (  x A) / (  A ) = 76.5 in3/ 28.0 in2 = 2.73 in
y = (  y A) / ( A ) = 39.83 in3 / 28.0 in2 = 1.42 in
Problem *9–64.
Locate the centroid (x, y) of the shaded area.
9–61.: Determine the location y of the centroid C of the beam
having the cross-sectional area shown.
Finding the Centroid via the Method of Composite Parts
Locate the centroid of the shaded area in Fig
Area Name Area (A) x y Ax Ay
Area 1 75000 0 125 0 9375000
Area 2 - 7200 110 210 -792000 -1512000
1689548.52 -
Area 3 - 5000pi - 107.56 135 2120575.04
9
1
Total 52092.04     897548.529 5742424.95
9

Cx = ΣAx / ΣA
Cx = 897548.529 / 52092.04
Cx = 17.23 millimeters
Cy = ΣAy / ΣA Cy = 5742424.959 / 52092.04
Cy = 110.24 millimeters
Exercise
9.3 Theorems of Pappus and Guldinus

• A surface area of revolution is generated by

revolving a plane curve about a non-intersecting
fixed axis in the plane of the curve
• A volume of revolution is generated by revolving a
plane area bout a nonintersecting fixed axis in the
plane of area
9.3 Theorems of Pappus and Guldinus

• The theorems of Pappus and Guldinus are used to

find the surfaces area and volume of any object of
revolution provided the generating curves and
areas do not cross the axis they are rotated

Surface Area
• Area of a surface of revolution = product of length
of the curve and distance traveled by the centroid
in generating the surface area
9.3 Theorems of Pappus and Guldinus

Volume
• Volume of a body of revolution = product of
generating area and distance traveled by the
centroid in generating the volume
Example 9.12
Show that the surface area of a sphere is A = 4πR2 and
its volume V = 4/3 πR3.

Solution
Surface Area
Generated by rotating semi-arc about the x axis
For centroid,

For surface area,

Solution
Volume
Generated by rotating semicircular area about the x
axis
For centroid,

For volume,
9.4 Resultant of a General Distributed Loading

Pressure Distribution over a Surface

• Consider the flat plate subjected to the loading
function ρ = ρ(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 = [ρ(x, y) N/m2](d A m2)
= [ρ(x, y) d A]N
• Entire loading represented as
infinite parallel forces acting on
separate differential area dA
9.4 Resultant of a General Distributed Loading

Pressure Distribution over a Surface

• This system will be simplified to a single resultant
force FR acting through a unique point on the plate
9.4 Resultant of a General Distributed Loading
Magnitude of Resultant Force
• To determine magnitude of FR, sum the differential
forces dF acting over the plate’s entire surface area
dA
• Magnitude of resultant force = total volume under
the distributed loading diagram
• Location of Resultant Force is
9.5 Fluid Pressure
• According to Pascal’s law, a fluid at rest creates a
pressure ρ at a point that is the same in all
directions
• Magnitude of ρ depends on the specific weight γ or
mass density ρ of the fluid and the depth z of the
point from the fluid surface
ρ = γz = ρgz
• Valid for incompressible fluids
• Gas are compressible fluids and the above equation
cannot be used
9.5 Fluid Pressure
Flat Plate of Constant Width
• Consider flat rectangular plate of constant width
submerged in a liquid having a specific weight γ
• Plane of the plate makes an angle with the
horizontal as shown
9.5 Fluid Pressure
Flat Plate of Constant Width
• As pressure varies linearly with depth, the
distribution of pressure over the plate’s surface is
represented by a trapezoidal volume having an
intensity of ρ1= γz1 at depth z1 and ρ2 = γz2 at depth
z2
• Magnitude of the resultant force FR
= volume of this loading diagram
9.5 Fluid Pressure
Curved Plate of Constant Width
• When the submerged plate is curved, the pressure
acting normal to the plate continuously changes
direction
• Integration can be used to determine FR and
location of center of centroid C or pressure P
9.5 Fluid Pressure
Flat Plate of Variable Width
• Consider the pressure distribution acting on the
surface of a submerged plate having a variable width
• Since uniform pressure ρ = γz (force/area) acts on
dA, the magnitude of the differential force dF
dF = dV = ρ dA = γz(xdy’)
9.5 Fluid Pressure
Flat Plate of Variable Width
• Centroid V defines the point which FR acts

• The center of pressure which lies on the surface of the

plate just below C has the coordinates P defined by the
equations

• This point should not be mistaken for centroid of the

plate’s area
Example 9.14
Determine the magnitude and location of the
resultant hydrostatic force acting on the submerged
rectangular plate AB. The plate has a width of 1.5m;
ρw = 1000kg/m3.
Solution
The water pressures at depth A and B are

For intensities of the load at A and B,

Solution
For magnitude of the resultant force FR created by the
distributed load.

This force acts through the centroid

of the area,

measured upwards from B

Solution
Same results can be obtained by considering two
components of FR defined by the triangle and
rectangle.
Each force acts through its associated centroid and
has a magnitude of

Hence
Solution
Location of FR is determined by summing moments
about B