M EC 412

Adapted from: Engineering

Statics
VECTOR MECHANICS
FOR ENGINEERS:
STATICS Ferdinand P. Beer
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Chapter 4A Texas Tech University

2007 The McGraw-Hill Companies,

Inc, All right reserved

Centroids and Centers Edited by

of Gravity AKH_and_FMY

Complimentary:
ZAR
3-1
 M EC 412

Contents
Engineering
Statics

Introduction
Center of Gravity of a 3D Body:
Center of Gravity of a 2D Body Centroid of a Volume
Centroids and First Moments of Areas Centroids of Common 3D Shapes
and Lines Composite 3D Bodies
Centroids of Common Shapes of Areas
Sample Problem 5.12
Centroids of Common Shapes of Lines
Composite Plates and Areas
Sample Problem 5.1
Determination of Centroids by
Integration
Sample Problem 5.4

5-2
 M EC 412
Engineering
Statics
CENTROID

• CENTROID is geometric centre of a line, area or volume

• It is important to know centroid location on an object while designing

the object in order to get better stability of the object during functioning.
Different shape will give different point of centroid.

• Centre of gravity is on the centroid point of an object provided that the

object has uniform density throughout the object.

• Actually, the earth exerts a gravitational force on each of the particles

forming a body. These multiple points of gravity force onto an object can
be replaced by a single equivalent force that is equal to the weight of the
body on the centroid point or centre of gravity. It means that the total
weight of the body is assumed to be concentrated on the centre of gravity
or centroid point.
5-3
 M EC 412
Engineering
Statics
 M EC 412
Engineering
Statics
 M EC 412
Engineering
Statics

Important of Centre of Gravity

to avoid topple of object.
 M EC 412
Engineering
Statics
 MEC412
Engineering
Statics
Center of Gravity of a 2D Body

• Center of gravity of a plate • Center of gravity of a wire

෍ 𝑀𝑦 𝑥𝑊
lj = ෍ 𝑥Δ𝑊

= න𝑥𝑑𝑊

෍ 𝑀𝑥 𝑦𝑊
lj = ෍ 𝑦Δ𝑊

= න𝑦𝑑𝑊

5-8
 MEC412
Engineering
Centroids and First Moments of Statics

Areas and Lines

• Centroid of an area • Centroid of a line

x W =  x dW
𝑥𝑊
lj = න𝑥𝑑𝑊
x ( La ) =  x ( a )dL
𝑥lj 𝛾𝐴𝑡 = න𝑥 𝛾𝑡 𝑑𝐴
x L =  x dL
𝑥𝐴
lj = න𝑥𝑑𝐴 = 𝑄𝑦 yL =  y dL
= Qy = first moment with respect
𝑦𝐴
lj = න𝑦𝑑𝐴 = 𝑄𝑥
= Qx = first moment with respect

5-9
 M EC 412
Centroid of an area Engineering
Statics
 M EC 412
Engineering
Centroids of Common Shapes of Areas Statics

5 - 11
 Centroids of Common Shapes
M EC 412
Engineering

of Lines
Statics

5 - 12
CENTROID OF COMMON SHAPE OF LINE
Common-shaped components Centroid Length / Area

1. Quarter-Circular arc

y 1 r
2r
x =y =  2

C
r
x

2. Semi-Circular arc
y
2r r
x =0 y = 
C
r
x

3. Circular segment
y 2 r

r sin
r x = 
y =0

C x

4. Quarter-circular area
1 r2
y 4

4r
x = y =
3
C
r
x
5. Semi-circular plate
y
4r 1 r2

r C x = 0 y = 3 2

6. Circular sector
y
2 r sin   r2
x = 3  y =0
r
C
 x

7. Rectangular plate
y
y

b h
x = y = bh
2 2
h x
C

b x
8. Triangular plate

y y y a
x = 1b y = 1h
y 3 3 1 bh
2
h h
x x x = 1 (a + b) y = 1 h
C C 3 3
b x b x

9. Parabolic spandrel
y y = kx2
3 3 1
x = b y= h bh
h 4 10 3
x
O b
 M EC 412

Composite Plates and Areas

Engineering
Statics

• Composite plates
X W =  x W
Y  W =  yW

• Composite area
X  A =  xA
Y  A =  yA

5-1
 M EC 412
Engineering
Statics
Centroid of composite
of wire (line), plate (area) and 3D body (volume)

Centroid of composite of x =  xLi i

y =  yL i i

wire/line : L i L i

Centroid of composite of x =  xAi i

y =  yA i i

plate/area : A i A i

Centroid of composite of x =  xV i i
y =  yV
i i
z =  zVi i

3D body /volume : V i V i V i
 M EC 412
Sample Problem 5.1 Engineering
Statics
Centroid of composite area
SOLUTION:
• Divide the area into a triangle, rectangle,
and semicircle with a circular cutout.

• Find the total area and first moments of

For the plane area shown, determine
the first moments with respect to the x
and y axes and the location of the
centroid.
the triangle, rectangle, and semicircle.
Subtract the area and first moment of the
circular cutout.
• Compute the coordinates of the area
centroid.

5-3
 M EC 412

Sample Problem 5.1

Engineering
Statics

• Find the total area and also total of area times Q x = +506.2103 mm 3
centroid (first moments) or Sum xA and Sum yA
Q y = +757.7103 mm 3
of the triangle, rectangle, and semicircle.
5-4
 M EC 412

Sample Problem 5.1

Engineering
Statics

• Compute the coordinates of the area centroid

 x A + 757.7103 mm 3
X = =
 A 13.828103 mm 2

X = 54.8 mm

 y A + 506.2103 mm 3
Y = =
 A 13.828103 mm 2
Y = 36.6 mm
5-5
Worksheet 6-1 :
Problem Statement: A composite plate is made Data & Diagram:
into shape with dimensions as shown. All
dimensions are in mm. y R = 17.5 mm
48
Find:
a) Describe the difference between the
36
center of gravity G of a plate and the
centroid C of an area.
b) Determine the location of the centroid of R
36
this area with respect to the x and y axes.
c) If each section is made of different
x
materials, how different would it be than 96
your answers in part b).
Assumption(s):
Theory:
1. The composite plate is made of the same
x =  i i and y =  Ai y i
Ax material i.e. homogeneous plate.
 Ai  Ai 2. It is also uniform i.e. uniform thickness.

SOLUTION
Component Area, Ai (mm2) xi yi x iAi (mm3) y iAi (mm3)
(mm) (mm)
Rectangle (96)(72) = 6912 48 36 3.318(105) 2.488(105)
Triangle – 1 (48)(72) = – 1728 80 48 – 1.382(105) – 0.829(105)
2
Circle – (17.5)2 = – 962.1 48 36 – 0.462(105) – 0.346(105)
 4221.9 1.474(105) 1.313(105)

Location of centroid:

[ x A = A x ] x =
 Ax =
1.474(10 5 )
= 34.9 mm [ans]
A 4221.4

[ y A = A y ] y =
 Ay =
1.313(10 5 )
= 31.1 mm [ans]
A 4221.4
 Worksheet 6-2 :
Problem Statement: A composite plate is made Data & Diagram:
into shape with dimensions as shown. All
y R = 350 mm
dimensions are in mm.

Find:
R
d) Describe the difference between the center
of gravity G of a plate and the centroid C of 680
an area.
e) Determine the location of the centroid of this
area with respect to the x and y axes.
O x
f) If each section is made of different materials, 510 510
how different would it be than your answers
in part b). Assumption(s):
Theory: 3. The composite plate is made of the same

x =
A x i i
and y =
A y i i
material i.e. homogeneous plate.
4. It is also uniform i.e. uniform thickness.
A i A i

SOLUTION
Component Area, Ai (mm2) x i (mm) y i (mm) x iAi (mm3) y iAi (mm3)
Rectangle
Triangle
Quarter circle


Location of centroid:

[ x A = A x ] x =  Ax = mm [ans]
A
[ y A = A y ] y =  Ay = mm [ans]
A
Comment(s): What is the first moment of this composite area with respect to the y axis?
 Center of Gravity of a 3D
M EC 412
Engineering

Body: Centroid of a
Statics

Volume

• Center of gravity G • Results are independent of body orientation,

−W j =  (− W j ) xW =  xdW yW =  ydW zW =  zdW

→ • For homogeneous bodies,

rG  (−W j )=  r→ (− W j )
→ → → → W =  V and dW =  dV
rGW  (− j )= ( r W ) (− j )
→ xV =  xdV yV =  ydV zV =  zdV
W =  dW r W = r→dW
5-6
G 
 M EC 412
Engineering
Statics

Centroid of a volume of homogeneous density of bodies

xV =  xdV yV =  ydV zV =  zdV

 M EC 412
Engineering
Centroids of Common 3D Shapes Statics

5-8
 M EC 412
Engineering
Statics
xzy zxyiVVi M EC 412
Vii
Composite 3D Bodies
Engineering
Statics

• Moment of the total weight concentrated at the

center of gravity G is equal to the sum of the
moments of the weights of the component parts.
X  W =  xW Y  W =  yW Z  W =  zW

• For composite of homogeneous 3D bodies,

X  V =  xV Y  V =  yV Z  V =  zV

• For composite of homogeneous 3D bodies

x=  z=
xiVi yiVi ziVi
y =
V i Vi V i

5 - 10
 M EC 412

Sample Problem 5.12

Engineering
Statics

SOLUTION:
• Form the machine element from a
rectangular parallelepiped and a
quarter cylinder and then subtracting
two 1-in. diameter cylinders.

Locate the center of gravity of the steel

machine element. The diameter of each
hole is 1 cm.

5 - 11
 M EC 412

Sample Problem 5.12

Engineering
Statics

5 - 12
 M EC 412

Sample Problem 5.12

Engineering
Statics

(
X =  xV  V = 3.08 cm 4 )(5.286 cm3 )
X = 0.577 cm

(
Y =  yV  V = − 5.047 cm 4 )(5.286 cm3 )
Y = 0.577 cm

(
Z =  zV V = 1.618 cm4 )(5.286 cm3 )
Z = 0.577 cm
5 - 13
 Worksheet 6-3 :
Problem Statement: The composite body is made Data & Diagram:
from many sections of several shapes and sizes
as shown. All dimensions are in mm. z b = 25 mm
h h = 20 mm
Find:
a) Describe the difference between the center
of gravity G of a plate and the centroid C of R = 30 mm 120
an area.
b) Determine the location of the centroid of this O
area with respect to the x and y axes. y
150
c) If each section is made of different materials, b
how different would it be than your answers 100
in part b). x
Theory: Assumption(s):

x =  xV i i
y =  yV i i
and z =  zV i i
1. The composite body is made of the same
material i.e. homogeneous material.
V i V i V i

SOLUTION

z b = 25 mm
h h = 20 mm

R = 30 mm 120

O

y
150
b 
100
x

Volume, Vi (mm3) xi yi zi x iVi (mm4) y iVi (mm4) z iVi (mm4)

Component (mm)
(mm) (mm)
 25(100)(120) = 300000 12.5 50 60 3.75(106)
 125(20)(120) = 300000 87.5 10 60 26.25(106)
 (30)2(20) = – 56571 87.5 10 60 – 4.95(106)
 543429 25.05(106)

Location of centroid:
x =  xV i i
6
= 25.05(10 ) = 46.1 mm
V i 5.43(10 5 )

y =  yV i i
= mm
V i

z =  zV i i
= mm
V i
 MEC412
Engineering
Statics

Adapted from:

VECTOR MECHANICS
for ENGINEERs:
STATICS Ferdinand P. Beer
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Texas Tech University
Chapter 4B
2007 The McGraw-Hill Companies,
Inc, All right reserved

Moments of Inertia

Edited by AKH

3 - 32
 MEC412
Engineering
Moment of Inertia of an Area Statics

by Integration

• Second moments or moments of inertia of

an area with respect to the x and y axes,
I x =  y 2 dA I y =  x 2 dA

• Evaluation of the integrals is simplified by

choosing dA to be a thin strip parallel to
one of the coordinate axes.

• For a rectangular area,

h
I x =  y dA =  y 2bdy = 13 bh3
2

• The formula for rectangular areas may also

be applied to strips parallel to the axes,
dI x = 13 y 3 dx dI y = x 2 dA = x 2 y dx

9 - 33
 MEC412
Engineering
Statics
Parallel Axis Theorem

• Consider moment of inertia I of an area A

with respect to the axis AA’

I =  y 2 dA

• The axis BB’ passes through the area centroid

and is called a centroidal axis.

I =  y 2 dA =  ( y  + d )2 dA
=  y  2 dA + 2d  y dA + d 2  dA

I = I + Ad 2 parallel axis theorem

9 - 34
 MEC412
Engineering
Statics
Parallel Axis Theorem

• Moment of inertia IT of a circular area with

respect to a tangent to the circle,
( )
I T = I + Ad 2 = 14  r 4 +  r 2 r 2

= 54  r 4

• Moment of inertia of a triangle with respect to a

centroidal axis,
I AA = I BB + Ad 2

I BB = I AA − Ad 2 = 12 ( )2
1 bh 3 − 1 bh 1 h
2 3
= 36
1 bh 3

9 - 35
 MEC412
Engineering
Moments of Inertia of Statics

Composite Areas

• The moment of inertia of a composite area A about a given axis is

obtained by adding the moments of inertia of the component areas
A1, A2, A3, ... , with respect to the same axis.

9 - 36
 MEC412
Engineering
Statics
Sample Problem 9.5

SOLUTION:
• Compute the moments of inertia of the
bounding rectangle and half-circle with
respect to the x axis.
• The moment of inertia of the shaded area is
obtained by subtracting the moment of
inertia of the half-circle from the moment
of inertia of the rectangle.
Determine the moment of inertia of
the shaded area with respect to the x
axis.

9 - 37
 MEC412
Engineering
Statics
Sample Problem 9.5

SOLUTION:
• Compute the moments of inertia of the bounding
rectangle and half-circle with respect to the x axis.
Rectangle:
I x = 13 bh 3 = 13 (240)(120) = 138.2  106 mm 4

Half-circle:
moment of inertia with respect to AA’,
I AA = 18 r 4 = 18  (90 )4 = 25.76  106 mm 4
moment of inertia with respect to x’,

4r (4 )(90 )
( )(
I x = I AA − Aa 2 = 25.76  106 12.72  103 )
a= = = 38.2 mm
3 3 = 7.20  106 mm 4
b = 120 - a = 81.8 mm
moment of inertia with respect to x,
A= 1 r 2 = 1 (90) ( )
2
2 2 I x = I x + Ab 2 = 7.20  106 + 12.72  103 (81.8)2
= 12.72  10 mm 23
= 92.3  106 mm 4

9 - 38
 MEC412
Engineering
Statics
Sample Problem 9.5

• The moment of inertia of the shaded area is obtained by

subtracting the moment of inertia of the half-circle from
the moment of inertia of the rectangle.

Ix = 138.2  106 mm 4 − 92.3  106 mm 4

I x = 45.9  106 mm 4

9 - 39