ENS 161

(Statics of Rigid Bodies)

Lecture 9: Center of Gravity and Centroid

Center of Gravity, G
It represents a point where the weight of the body can be considered
concentrated.
Centroid, C
It represents the geometric center of a body.

IMPORTANT POINTS:

▸ Locating centroid or center of gravity simply uses the balance

between the sum of moments of all the parts of the system and the
moment of the “resultant” for the system.

▸ Center of gravity coincides with the center of mass provided the

acceleration of gravity is constant, which is normally assumed.

▸ Centroid coincides with the center of mass provided the material is

homogeneous, i.e., the density of the material is the same throughout.

▸ The centroid will always lie on any axis of symmetry for the body.
IMPORTANT POINTS: (cont.)

▸ In some cases, the centroid and center of gravity 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.

▸ For bodies having a continuous shape, centroids and centers of

gravity are determined by integration using the following given
formulas.
Center of Gravity, G

Centroid, C
Locating Centroid or Center of Gravity by Integration
IMPORTANT POINTS: (cont.)

▸ If the centroid for a volume, area or line is already known by specific

formulas usually given on textbooks, integration is no longer needed.

▸ If the body is a composite of several shapes, each having a known

location for its center of gravity or centroid, then the location of the
center of gravity or centroid of the body can be determined from a
discrete summation using its composite parts.
Center of Gravity, G

▸ The formulas for the centroid of composite lines, areas, and

volumes is analogous to the given equation of center of gravity above,
where W’s are replaced by L’s, A’s, and V’s respectively.
Locating
Centroid
or Center
of Gravity
for
Composite
Bodies
Centroids
of Some
Common
Plane
Areas and
Curves
(from
Pytel-
Kiusalaas
Book)
Centroids
of Some
Common
Volumes
and
Surfaces
(from
Pytel-
Kiusalaas
Book)
Sample Problem
Locate the centroid of the rod bent into shape of a parabolic arc as shown.
(2) Eq’n of the length of
differential element, dL
2
2 2
𝑑𝑥
𝑑𝐿 = 𝑑𝑥 + 𝑑𝑦 = + 1 𝑑𝑦
𝑑𝑦

𝑑𝐿 = 2𝑦 2 + 1 𝑑𝑦
(3) Using centroid integration formula

2 1 2 2
𝑥 2𝑦 + 1 𝑑𝑦 0
𝑦 2𝑦 + 1 𝑑𝑦
𝑥= = 1
2𝑦 2 + 1 𝑑𝑦 2𝑦 2 + 1 𝑑𝑦
0
Solution:
(1) Given eq’n of the curve 0.6063
𝑥= = 𝟎. 𝟒𝟏 𝒎
and its derivative: 1.4789
𝑥 = 𝑦2
1 2
𝑑𝑥 = 2𝑦 𝑑𝑦 0
𝑦 2𝑦 + 1 𝑑𝑦 0.8484
𝑥= 1 = = 𝟎. 𝟓𝟕 𝒎
2𝑦 2 + 1 𝑑𝑦 1.4789
𝑑𝑥 0
= 2𝑦
𝑑𝑦
Sample Problem Sample Problem
Locate the centroid of the Locate the centroid of the semi-elliptical area.
area shown.

Solution:
Solution: 𝑥=𝟎 (axis of symmetry)
▸ By formula: ▸ By formula:
(Half parabolic complement) (from quarter ellipse formula)
3 3 4 4
𝑥= 𝑏 = 1 𝑚 = 𝟎. 𝟕𝟓 𝒎 𝑦= 𝑏= 1 𝑓𝑡 = 𝟎. 𝟒𝟐 𝒇𝒕
4 4 3𝜋 3𝜋
3 3
𝑦= ℎ= 1 𝑚 = 𝟎. 𝟑𝟎 𝒎
10 10
Sample Problem
Locate the centroid for the
paraboloid of revolution
shown.
Sample Problem
Determine the location of the center of mass of
the cylinder shown, if its density varies directly
with the distance from its base, i.e., 𝜌 =
200 𝑧 𝑘𝑔/𝑚3 . Solution:
𝑥=𝑦=𝟎
(Axes of symmetry)

▸ Eq’n of the mass of

differential element, dL
𝑑𝑚 = 𝜌 𝑑𝑉
𝑑𝑚 = 200 𝑧 𝜋 0.52 𝑑𝑧
𝑑𝑚 = 50𝜋 𝑧 𝑑𝑧

Solution:
▸ Using the integration formula:
▸ By formula:
1
(Paraboloid of revolution) 𝑧 𝑑𝑚 0
𝑧 50𝜋 𝑧 𝑑𝑧
2 2 𝑧= = 1 = 𝟎. 𝟔𝟕 𝒎
𝑑𝑚 50𝜋 𝑧 𝑑𝑧
𝑦 = ℎ = 100 𝑚𝑚 0
3 3
𝑦 = 𝟔𝟔. 𝟕 𝒎𝒎
Sample Problem
Locate the centroid of the wire shown.
(2) Locate the centroid of each composite part:
▸ All centroids can easily be located because
of symmetry except for 𝑦 of the half-circle arc.
(from quarter
2 2
𝑦 = 𝑅 = 60 𝑚𝑚 = 38.20 𝑚𝑚 circular arc
𝜋 𝜋 formula)

(3) Summation:
Solution: 𝜋 60 60 + 40 0 + 20 0
𝑥= = 𝟒𝟓. 𝟓𝟏 𝒎𝒎
(1) Divide the wire into simpler 𝜋 60 + 40 + 20
shapes (three composite parts):
𝜋 60 −38.2 + 40 20 + 20 40
𝑦=
𝜋 60 + 40 + 20
= −𝟐𝟐. 𝟓𝟒 𝒎𝒎

𝜋 60 0 + 40 0 + 20 −10
𝑧= = −𝟎. 𝟖𝟎 𝒎𝒎
𝜋 60 + 40 + 20
Sample Problem
Locate the centroid of the plate area shown.
𝑦
(2) Locate the centroid of each composite part:
▸ Centroids can easily be located from those simple areas.

(3) Summation:

1
4.5
Solution:
𝑥= 3 ∙ 3 + 9 −1.5 − 2 −2.5 = −𝟎. 𝟑𝟓 𝒇𝒕
(1) Divide the area into simpler 0.5 3 3 + 3 3 − [1 2 ]
shapes: 𝑦

1
4.5
3 ∙ 3 + 9 1.5 − 2 2
𝑦= = 𝟏. 𝟐𝟐 𝒇𝒕
0.5 3 3 + 3 3 − [1 2 ]

(Area 3 will be
negative since it
should be deducted
from area 2)
 𝑧
Sample Problem
Locate the center of mass of the assembly shown. The
conical frustum has a density of 𝜌𝑐 = 8 𝑀𝑔 𝑚3 , and the
hemisphere has a density of 𝜌ℎ = 4 𝑀𝑔 𝑚3 . There is a
25-mm-radius cylindrical hole in the center of the frustum. 𝑦

Solution:
(1) Divide the assembly into simpler objects:
(200 mm is solved by
ratio and proportion)
𝑥 𝑥 − 100
=
50 25

(2) Calculate the volume and centroid of each composite part:

𝜋 2 𝜋
𝑉1 = 𝑅 ℎ = 50 2 200 = 523599 𝑚𝑚4 𝑉2 = 2𝜋 𝑅3 = 2𝜋 50 3 = 261799 𝑚𝑚4
3 3 3 3
1 1 3 3
𝑧1 = ℎ = 200 = 50 𝑚𝑚 𝑧2 = 𝑅 = 50 = 18.75 𝑚𝑚
4 4 8 8
(z is measured from
1 (z2 is measured from the
the base of the cone) center of hemisphere)
(2) Calculate the volume and centroid of each composite part: (cont.)
𝜋 2 𝜋
𝑉3 = 𝑅 ℎ = 25 2 100 = 65450 𝑚𝑚4 𝑉4 = 𝜋𝑅2 ℎ = 𝜋 25 2
100 = 196350 𝑚𝑚4
3 3
1 1
𝑧3 = ℎ = 100 = 25 𝑚𝑚 𝑧4 = 50 𝑚𝑚
4 4
(3) Summation:
𝑥=𝑦=𝟎 (Axes of symmetry)
(Since the units of the density will just cancel out,
𝑚 = 𝜌 ∙𝑉 there is no need for unit conversion)

8 523599 50 − 65450 100 + 25 − 196350 50 + 4 261799 −18.75

𝑧=
8 523599 − 65450 − 196350 + 4 261799
𝑧 = 𝟏𝟒. 𝟓𝟖 𝒎𝒎
 ENS 161
(Statics of Rigid Bodies)

Lecture 10: Moments of Inertia

Area Moment of Inertia, I
It represents the second moment of the area about an axis.
IMPORTANT POINTS:
▸ If the area is a common shape, then the moment of inertia can be
directly calculated by the formulas given on various textbooks.
▸ If the area is a composite of common shapes, then then its moment
of inertia is equal to the algebraic sum of the moments of inertia of
each of its parts.
▸ If the area shape is irregular but can be described mathematically,
then integration of differential element over the entire area must be
performed to determine the moment of inertia.

▸ The units for moment of inertia involve length raised to the fourth
power, e.g., m4, mm4, or ft4, in4.
Parallel-Axis Theorem
“The moment of inertia for an area about an axis is equal to its
moment of inertia about a parallel axis passing through the area’s
centroid plus the product of the area and the square of the
perpendicular distance between the axes.”

Radius of Gyration

Product on Inertia
It is used in formulas to determine the orientation of an axis about
which the moment of inertia for the area is a maximum or minimum.
Calculating
Moment of Inertia
by Integration
Calculating
Moment of
Inertia for
Composite
Shapes
Inertial
Properties of
Some Common
Plane Areas
(from Pytel-
Kiusalaas Book)
 Sample Problem Sample Problem
Determine the moment of Determine the moment of inertia of the area shown
inertia for the shaded area about the x axis. (1) Divide it into simpler shapes:
shown about the x axis.

(2) Calculate inertia and centroid of each part:

▸ Centroids can easily be located from those simple areas.
(Rectangle)
𝑏ℎ3 100 150 3
𝐼𝑥,𝑟𝑒𝑐 = = = 112.5 106 𝑚𝑚4
3 3
Solution: (Circle)
▸ By formula: (Half parabola) 𝜋𝑅4 𝜋 25 4
𝐼𝑥,𝑐𝑖𝑟𝑐 = + 𝜋𝑅2 𝑦 2 = + 𝜋 25 2
752
2𝑏ℎ3 2 100 200 3 4 4
𝐼𝑥 = =
15 15 𝐼𝑥,𝑐𝑖𝑟𝑐 = 11351457.83 𝑚𝑚4 (parallel-axis theorem
𝐼𝑥 = 𝟏𝟎𝟔. 𝟔𝟕 𝟏𝟎𝟔 𝒎𝒎𝟒 (3) Summation: application)

(The used formula is Iy on our given 𝐼𝑥 = 112.5 106 − 11351457.83

formula for half parabola, since the
orientation is different.) 𝐼𝑥 = 𝟏𝟎𝟏. 𝟏𝟓 𝟏𝟎𝟔 𝒎𝒎𝟒
 Sample Problem
Determine the moments of inertia for the cross-
sectional area of the member shown about the x
and y centroidal axes.
(2) Calculate inertia and centroid of each part:
▸ Centroids can easily be located from those simple areas.
𝑏ℎ3
𝐼𝑥,𝐴 = 𝐼𝑥,𝐷 = + 𝑏ℎ 𝑦 2
12
100 300 3
𝐼𝑥,𝐴/𝐷 = + 100 300 2002 = 1425 106
12
𝑏ℎ3 600 100 3
Solution: 𝐼𝑥,𝐵 = = = 50 106
12 12
(1) Divide into simpler shapes: 𝑏3ℎ
𝐼𝑦,𝐴 = 𝐼𝑦,𝐷 = + 𝑏ℎ 𝑥 2
12
100 3 300
𝐼𝑦,𝐴/𝐷 = + 100 300 2502 = 1900 106
12 3
𝑏3ℎ 600 100
𝐼𝑥,𝐵 = = = 1800 106
12 12
(3) Summation:
𝐼𝑥 = 2 1425 106 + 50 106 = 𝟐𝟗𝟎𝟎 𝟏𝟎𝟔 𝒎𝒎𝟒

𝐼𝑦 = 2 1900 106 + 1800 106 = 𝟓𝟔𝟎𝟎 𝟏𝟎𝟔 𝒎𝒎𝟒

 “The most effective way of learning the
principles of engineering mechanics is to
solve problems.”
ASSIGNMENT!
Answer the following problems from our textbook:

[i] Chapter 9 review problems in page 508-509: Problems 9-120

to 9-127.
[ii] Chapter 10 review problems in page 560-561: Problems 10-
112 to 10-119.

Write the solutions neatly and in an organized manner on short

bond papers (Do not encode). Scan them and save them to one
file as PDF.

Due date: December 27, 2021 (for both sections Ff and Uu1)