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Engineering Mechanics - Centroid PDF
Engineering Mechanics - Centroid PDF
2
CENTROID AND MOMENT OF INERTIA
Under this topic first we will see how to find the areas of given figures and the volumes of given
solids. Then the terms centre of gravity and centroids are explained. Though the title of this topic
do not indicate the centroid of line segment, that term is also explained, since the centroid of line
segment will be useful in finding the surface area and volume of solids using theorems of Pappus
and Guldinus. Then the term first moment of area is explained and the method of finding centroid
of plane areas and volumes is illustrated. After explaining the term second moment of area, the
method of finding moment of inertia of plane figures about x-x or y-y axis is illustrated. The term
product moment of inertia is defined and the mehtod of finding principal moment of inertia is
presented. At the end the method of finding mass moment of inertia is presented.
In the school education methods of finding areas and volumes of simple cases are taught by
many methods. Here we will see the general approach which is common to all cases i.e. by the
method of integration. In this method the expression for an elemental area will be written then
suitable integrations are carried out so as to take care of entire surface/volume. This method is
illustrated with standard cases below, first for finding the areas and latter for finding the
volumes:
z z z
b2 d2 d/2
Area of rectangle, A = dA = dx dy
−b 2 −d 2 b/2 b/2
b2 d2 Fig. 2.1
= x −b 2
y −d 2
= bd.
70
CENTROID AND MOMENT OF INERTIA 71
z z
d2 d2 d/2 dy
y
A= dA = b ⋅ dy
−d 2 −d 2
d/2
d2
= b y −d 2 b
= bd Fig. 2.2
z z
h h
b
y
A = dA = b dy Fig. 2.3
0 0
h
h
b y2 bh
= =
h 2 2
0
(iii) Area of a circle
Consider the elemental area dA = rdθdr as shown in Fig. 2.4. Now,
dA = rdθ dr
r varies from O to R and θ varies from O to 2π
y
zz
2π R
∴ A= rdθ dr
0 0
z LMN OP
2π R
r2 dr
dθ
Q
= rd
2 r d
0 0
x
z
R
2π 2 O
R
= dθ
0 2
R2 2π
= θ 0
2
R2
. 2 π = πR
2 Fig. 2.4
=
2
In the above derivation, if we take variation of θ from 0 to π, we get the area of semicircle as
πR 2 πR 2
and if the limit is from 0 to π / 2 the area of quarter of a circle is obtained as .
2 4
72 ENGINEERING MECHANICS
z zz
α R
∴ A= dA = r dθ dr
−α 0 R dr
z LMN OPQ z
R r rdG
α α
r2 R2 dG
= dθ = dθ 0
2 2 O a
−α 0 −α
L R θOP
= M
2 α
=
R2
a f
2α = R α
2
N2 Q −α
2
(v) Area of a parabolic spandrel Fig. 2.5
Two types of parabolic curves are possible
(a) y = kx2
(b) y2 = kx
z z
a a
∴ A= dA = 2
kx dx
0 0 2
Lx O
y = kx
a h
= kM P
3 3
ka
=
N3Q 0
3 x x=a
x
We know, when x = a, y = h dx
h Fig. 2.6
i.e., h = ka2 or k =
a2
ka 3 h a3 1 1
∴ A= = 2 = ha = rd the area of rectangle of size a × h
3 a 3 3 3
Case b: In this case y2 = kx
Referring to Fig. 2.7
dA = y dx = kx dx
z z
a a
A= y dx = kx dx
0 0
CENTROID AND MOMENT OF INERTIA 73
LM 2 OP a
2 32
y
N
k x3 2
Q =
2
= k a y = kx
3 0 3
We know that, when x = a, y = h
h
h2
∴ h2 = ka or k=
a x x=a
h 2
Hence A= . . a3 2 dx
a 3 Fig. 2.7
2 2
i.e., A= ha = rd the area of rectangle of size a × h
3 3
(vi) Surface area of a cone
Consider the cone shown in Fig. 2.8. Now,
x
y= R
h
Surface area of the element,
dl
x
dA = 2π y dl = 2π R dl R
h y
a
x dx x dx
= 2π R
h sin α
∴
2 πR x2 LM OP h
h
N Q
A=
h sin α 2 0 Fig. 2.8
πRh
= = π Rl
sin α
(vii) Surface area of a sphere
Consider the sphere of radius R shown in Fig. 2.9. The element considered is the parallel
circle at distance y from the diametral axis of sphere.
dS = 2π x Rdθ
= 2π R cos θ Rdθ, since x = R cos θ
z
π2
∴ S = 2π R2 cos θ dθ
−π 2 dy x
Rd
2 π2 d
= 2π R sin θ −π 2
y
= 4π R2
Fig. 2.9
74 ENGINEERING MECHANICS
zzz
abc
V= dx dy dz
000
a b c
= x 0
y 0
z 0
= abc
(ii) Volume of a cone:
Referring to Fig. 2.8
x2 2 x
dV = πy2 . dx = π 2
R dx , since y = R
h h
LM x OP
z
h
π h
π 3
2
x dx =
2 2
N3Q
V= R R
h2 0 h2 0
π 2 h πR h 3 2
= 2
R =
h 3 3
(iii) Volume of a sphere
Referring to Fig. 2.9
dV = π x2 dy
But x2 + y2 = R2
i.e., x 2 = R2 – y2
∴ dV = π (R 2 – y2)dy
z ej
R
V= π R2 − y 2 dy
−R
L y OP
= π MR y −
2
3 R
MN 3 PQ −R
L R| a− Rf U|OP
= π MR ⋅ R −
3
− S− R − V|P
3
R
MN
2 3
3 |T 3 WQ
L 1 1O 4 π R
= π R M1 − + 1 − P =
N 3 3Q 3
3 3
The surface areas and volumes of solids of revolutions like cone, spheres may be easily found
using theorems of Pappus and Guldinus. This will be taken up latter in this chapter, since it needs
the term centroid of generating lines.
CENTROID AND MOMENT OF INERTIA 75
T T
1 1 2
w1
G
W
1
2
1
W = å w1 W = å w1
1(a) (b)
Fig. 2.10
The above method of locating centre of gravity is the prac-
tical method. If one desires to locating centre of gravity of a
body analytically, it is to be noted that the resultant of weight
of various portions of the body is to be determined. For this G
W
Varignon’s theorem, which states the moment of resultant Wi
force is equal to the sum of moments of component forces,
yi yc
can be used. O x
Referring to Fig. 2.11, let Wi be the weight of an element in zi
zc
the given body. W be the total weight of the body. Let the xi
coordinates of the element be xi, yi, zi and that of centroid G xc
z
be xc, yc, zc. Since W is the resultant of Wi forces,
Fig. 2.11
W = W1 + W2 + W3 . . .
= ΣWi
and Wxc = W1x1 + W2x2 + W3x3 + . . .
∴ Wxc = ΣWixi = Ü xdw U|
Similarly, Wyc = ΣWiyi = Ü ydw V| Eqn. (2.1)
and Wz c = ΣWizc = Ü zdw W
76 ENGINEERING MECHANICS
xc Wi
z dL
yc (xi, yc)
Wi = A dL
LM x OP
z
L 2 L
L2
x dx = =
N2Q
Lxc =
0 0
2
L
∴ xc =
2
Thus the centroid lies at midpoint of a straight line, whatever be the orientation of line (Ref.
Fig. 2.15).
y y
G
G
O x G
L L cos
L 2
2 L
2 sin
L 2
x
O
Fig. 2.15
(ii) Centroid of an Arc of a Circle
Referring to Fig. 2.16,
L = Length of arc = R 2α
dL = Rdθ
Hence from eqn. 2.5
Rd
z
α x
d
xcL = xdL
−α
O x
z
α
i.e., xc R 2α = R cos θ . Rdθ
−α
α
= R2 sin θ −α
(i)
R 2 × 2 sin α R sin α
∴ xc = =
2 Rα α
z z
α α Fig. 2.16
and yc L y dL = R sin θ . Rdθ
−α −α
α
= R2 − cos θ −α
(ii)
=0
∴ yc = 0
From equation (i) and (ii) we can get the centroid of semicircle shown in Fig. 2.17 by
putting α = π/2 and for quarter of a circle shown in Fig. 2.18 by putting α varying from zero to
π/2.
78 ENGINEERING MECHANICS
G
R R
G
Example 2.1 Determine the centroid of the wire shown in Fig. 2.19.
D
y
G3
30
0
m
m
45° C
G2 200 mm
G1
A B k
600 mm
Fig. 2.19
CENTROID AND MOMENT OF INERTIA 79
Solution. The wire is divided into three segments AB, BC and CD. Taking A as origin the coordi-
nates of the centroids of AB, BC and CD are
G1(300, 0); G2(600, 100) and G3(600 – 150 cos 45°; 200 + 150 sin 45°)
i.e. G3(493.93, 306.07)
L1 = 600 mm, L2 = 200 mm, L3 = 300 mm
∴ Total length L = 600 + 200 + 300 = 1100 mm
∴ From the eqn. Lxc = ΣLixi, we get
1100 xc = L1x1 + L2x2 + L3x3
= 600 × 300 + 200 × 600 + 300 × 493.93
∴ xc = 407.44 mm Ans.
Now, Lyc = ΣLiyi
1100 yc = 600 × 0 + 200 × 100 + 300 × 306.07
yc = 101.66 mm Ans.
Example 2.2 Locate the centroid of the uniform wire bent as shown in Fig. 2.20.
G2
D
250
G1 150 G3
A B 30°
C
400 mm
All dimensions in mm
Fig. 2.20
Solution. The composite figure is divided into 3 simple figures and taking A as origin coordinates
of their centroids noted as shown below:
AB—a straight line
L1 = 400 mm, G1 (200, 0)
BC—a semicircle
FG 2 × 150 IJ
L2 = 150 π = 471.24,
H
G 2 475 ,
π K
i.e., G2 (475, 92.49)
CD—a straight line
250
L3 = 250; x3 = 400 + 300 + cos 30° = 808.25 mm
2
y3 = 125 sin 30 = 62.5 mm
∴ Total length L = L1 + L2 + L3 = 1121.24 mm
∴ Lxc = ΣLixi gives
1121.24 xc = 400 × 200 + 471.24 × 475 + 250 × 808.25
xc = 451.20 mm Ans.
Lyc = ΣLiyi gives
80 ENGINEERING MECHANICS
Example 2.3 Locate the centroid of uniform wire shown in Fig. 2.21. Note: portion AB is in x-z
plane, BC in y-z plane and CD in x-y plane. AB and BC are semi circular in shape.
z
r = 140
y
10
0 B C 45°
r=
A
x
D
Fig. 2.21
Solution. The length and the centroid of portions AB, BC and CD are as shown in table below:
Table 2.1
Portion Li xi yi zi
2 × 100
AB 100π 100 0
π
2 × 140
BC 140π 0 140
π
CD 300 300 sin 45° 280 + 300 cos 45°
= 492.13 0
xc =
∑ W i xi , yc =
∑ Wi y i and zc =
∑ W i zi
W W W
CENTROID AND MOMENT OF INERTIA 81
From the above equation we can make the statement that distance of centre of gravity of a
body from an axis is obtained by dividing moment of the gravitational forces acting on the
body, about the axis, by the total weight of the body. Similarly from equation 2.4, we have,
xc =
∑ Ai xi , yc =
∑ Ai y i
A A
By terming ΣAix: as the moment of area about the axis, we can say centroid of plane area from
any axis is equal to moment of area about the axis divided by the total area. The moment of area
ΣAix: is termed as first moment of area also just to differentiate this from the term ΣAix E , which
will be dealt latter. It may be noted that since the moment of area about an axis divided by total
area gives the distance of the centroid from that axis, the moment of area is zero about any
centroidal axis.
b
b/2
G G
d
d/2
—
y =
z ydA
A
A
—
x =
z xdA
The location of the centroid using the above equations may be considered as finding centroid
from first principles. Now, let us find centroid of some standard figures from first principles.
Centroid of a Triangle
Consider the triangle ABC of base width b and height h as shown in Fig. 2.25. Let us locate the
distance of centroid from the base. Let b1 be the width of elemental strip of thickness dy at a
distance y from the base. Since DAEF and DABC are similar triangles, we can write:
b1 h−y
= A
b h
FG h − y IJ b = FG 1 − y IJ b dy
b1 =
H h K H hK E F
h
∴ Area of the element b1
y
= dA = b1dy
FG yIJ B
H K
C
= 1− b dy b
h
Fig. 2.25
1
Area of the triangle A = bh
2
∴ From eqn. 2.4
—
y =
Movement of area
Total area
=
z ydA
A
z
h
FG y IJ
Now,
H
∫ ydA = y 1 − h b dy
0
K
CENTROID AND MOMENT OF INERTIA 83
z FGH I
h
y2
=
0
y−
h JK
b dy
L y y OP
= bM −
2 3 h
MN 2 3h PQ 0
2
bh
=
z
6
ydA bh 2 1
∴
—
y = = ×
A 6 1
bh
2
— h
∴ y =
3
h 2h
Thus the centroid of a triangle is at a distance from the base (or from the apex) of
3 3
the triangle where h is the height of the triangle.
Centroid of a Semicircle
Consider the semicircle of radius R as shown in Fig. 2.26. Due to symmetry centroid must lie on y
axis. Let its distance from diametral axis be y . To find y , consider an element at a distance r
from the centre O of the semicircle, radial width being dr and bound by radii at θ and θ + dθ.
Area of element = r dθdr.
Its moment about diametral axis x is given by: Y
Lr O
zz sin θ dr dθ = z M P
πR π 3 R
sin θ dθ
2 dq
N3Q
r
r dr
00 0 0
3 q
R π
− cos θ 0
= O X
3 R
R3 2R
3
= 1+ 1 = Fig. 2.26
3 3
1 2
Area of semicircle A = πR
2
2R 3
Moment of area 3
∴
—
y = =
Total area 1 2
πR
2
4R
=
3π
4R
Thus, the centroid of the circle is at a distance from the diametral axis.
3π
84 ENGINEERING MECHANICS
= r cos θ drdθ
2 dr
zz
d
α R
= r cos θ drdθ
2
O
2 G X
−α 0
Lr O
= M P
3 R
sin θ
α
N3Q 0
−α R
R3
= 2 sin α
3
Total area of the sector Fig. 2.27
zz
α R
= rdrdθ
−α 0
z LMN OP
α R
r2
dθ
Q
=
−α 2 0
2
R α
= θ −α
2
= R 2α
\ The distance of centroid from centre O
Moment of area about y axis
=
Area of the figure
2R 3
sin α
3 2R
= = sin α
R α2
3α
Width of element = dx
∴ Area of the element = kx2dx
z
a
∴ Total area of spandrel = kx 2dx
0
LM kx OP 3 a
=
ka 3
N3Q
= Y 2 h
0
3 y = kx
z
a
O
= kx 2 dx × x x X
dx
0 a
z
a
= kx 3 dx Fig. 2.28
0
L kx OP
= M
4 a
N4Q 0
4
ka
=
4
z
α
Moment of area about x axis = dAy 2
0
LM k x OP
z z 2 5 a
a a
kx 2 k2x4
=2
dx =
N2×5 Q
= kx dx
0 2 0 2 0
k 2 a5
=
10
ka 4 ka 3 3a
∴ x = ÷ =
4 3 4
2 5 3
k a ka 3
y = ÷ = ka 2
10 3 10
From the Fig. 2.28, at x = a, y =h
h
∴ h = ka2 or k =
a2
3 h 3h
∴ y = × a2 =
10 a 2 10
FG 3a , 3h IJ
Thus, centroid of spandrel is
H 4 10 K
Centroids of some common figures are shown in Table 2.2.
86 ENGINEERING MECHANICS
h bh
Triangle h G —
3 2
x
b
4R πR2
Semicircle G r 0
3π 2
x
y
G 4R 4R πR2
Quarter circle
x 3π 3π 4
R
y
2R
Sector of a circle G x sin a 0 αR 2
2 3α
h 3h 4ah
Parabola G 0
5 3
x
2a
3a 3h 2ah
Semi parabola
8 5 3
h 3a 3h ah
Parabolic spandrel
G 4 10 3
x
a
reference axis. After determining moment of each area about reference axis, the distance of
centroid from the axis is obtained by dividing total moment of area by total area of the composite
section.
100 × 20 × 10 + 20 × 100 × 70 A2
y =
100 × 20 + 20 × 100
= 40 mm
Hence, centroid of T-section is on the symmetric axis at a 20
Example 2.6 Locate the centroid of the I-section shown in Fig. 2.31.
Y
100
20 A1 g1
20
A2
100 g2
G
–
y
30 A3 g3
X
O
150
All dimensions in mm
Fig. 2.31
Solution. Selecting the co-ordinate system as shown in Fig. 2.31, due to symmetry centroid must
lie on y axis,
i.e., x =0
Now, the composite section may be split into three rectangles
A1 = 100 × 20 = 2000 mm2
Centroid of A1 from the origin is:
20
y1 = 30 + 100 + = 140 mm
2
Similarly A2 = 100 × 20 = 2000 mm2
100
y2 = 30 + = 80 mm
2
A3 = 150 × 30 = 4500 mm2, and
30
y3 = = 15 mm
2
A y + A2 y 2 + A3 y 3
∴ y = 1 1
A
2000 + 140 + 2000 × 80 + 4500 × 15
=
2000 + 2000 + 4500
= 59.71 mm
Thus, the centroid is on the symmetric axis at a distance 59.71 mm from the bottom as shown in
Fig. 2.31. Ans.