Structural Mechanics

9.0 Center of Gravity and Centroid

Chapter Objective:
• Concept of the center of gravity, center of mass, and the centroid
• Determine the location of the center of gravity and centroid for a system of
discrete particles and a body of arbitrary shape
• Method for finding the resultant of a general distributed loading

Contents:
9.1 Center of Gravity and Center of Mass for a System of Particles
9.2 Composite Bodies
9.3 Resultants of a General Distributed Loading
9.4 Fluid Pressure

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.

• Consider arbitrary particle having a weight of dW

• Resultant weight = total weight of n particles
• 𝑊 = ∑ 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 y-axis, 𝑥̅ 𝑊𝑅 = ∑ 𝑥̃𝑑𝑊 = ∫ 𝑥̃𝑑𝑊
• Summing moments about the x-axis, 𝑦̅𝑊𝑅 = ∑ 𝑦̃𝑑𝑊 = ∫ 𝑦̃𝑑𝑊
• Although the weights do not produce a moment about z axis, by rotating the
coordinate system 90 ° about y axis with the particles fixed and summing
moments about the y axis, 𝑧̅𝑊𝑅 = ∑ 𝑧̃ 𝑑𝑊 = ∫ 𝑧̃ 𝑑𝑊

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 ∑ 𝑥̃𝑊 ∫ 𝑥̃𝑑𝑊 ∑ 𝑦̃𝑊 ∫ 𝑦̃𝑑𝑊 ∑ 𝑧̃𝑊 ∫ 𝑧̃𝑑𝑊
• Generally, 𝑥̅ = ∑𝑊
= ; 𝑦̅ = ∑𝑊
= ;; 𝑧̅ = ∑𝑊
= ;
∫ 𝑑𝑊 ∫ 𝑑𝑊 ∫ 𝑑𝑊

Here, 𝑥̅ , 𝑦̅, 𝑧̅ are the coordinates of the center of gravity G,

𝑥̃, 𝑦̃, 𝑧̃ are the coordinates of each particle in the body.

Center of Mass
• Provided acceleration due to gravity g for every particle is constant, then 𝑊 =
𝑚𝑔
• Center of mass can be determined by substituting 𝑑𝑊 = 𝑔 𝑑𝑚 into the
equations for center of gravity.
• Since g is constant, it cancels out, so
∫ 𝑥̃𝑑𝑚 ∫ 𝑦̃𝑑𝑚 ∫ 𝑧̃𝑑𝑚
𝑥̅ = ; 𝑦̅ = ; 𝑧̅ =
∫ 𝑑𝑚 ∫ 𝑑𝑚 ∫ 𝑑𝑚

• By comparison, the location of the center of gravity coincides with that of center
of mass if g is constant.
• Particles have weight only when under the influence of gravitational attraction,
whereas center of mass is independent of gravity.

Centroid of a Volume
• If the body is made from a homogeneous material, then its density will be
constant.
• A differential element of volume dV has a mass 𝑑𝑚 = 𝜌𝑑𝑉.
• Consider an object subdivided into volume elements dV, for location of the
∫𝑉 𝑥̃𝑑𝑉 ∫𝑉 𝑦̃𝑑𝑉 ∫𝑉 𝑧̃𝑑𝑉
centroid, 𝑥̅ = ; 𝑦̅ = ; 𝑧̅ =
∫𝑉 𝑑𝑉 ∫𝑉 𝑑𝑉 ∫𝑉 𝑑𝑉

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Centroid of an Area
• For centroid for surface area of an object, such as plate and shell, subdivide the
∫𝐴 𝑥̃𝑑𝐴 ∫𝐴 𝑦̃𝑑𝐴 ∫𝐴 𝑧̃𝑑𝐴
area into differential elements dA, 𝑥̅ = ; 𝑦̅ = ; 𝑧̅ =
∫𝐴 𝑑𝐴 ∫𝐴 𝑑𝐴 ∫𝐴 𝑑𝐴

Important Points:
• The centroid represents the geometric center of a body. This point coincides
with the center of mass or the center of gravity only if the material composing
the body is uniform (i.e. homogeneous).
• Formulas used to locate the center of gravity, or the centroid simply represent a
balance between the sum of moments of all the parts of the system and the
moment of the “resultant” for the system.

Example:
Determine the distance 𝑦̅ measured from the axis to the centroid of the area of the
triangle.

Solution:
Differential element: Consider a rectangular element having a thickness dy, and located
in an arbitrary position so that it intersects the boundary at (𝑥, 𝑦).
𝑏
Area and moment arms: The area of the element is 𝑑𝐴 = 𝑥𝑑𝑦 = ℎ (ℎ − 𝑦)𝑑𝑦, and its

centroid is located a distance 𝑦̅ = y from the x-axis.

ℎ 𝑏 1
∫𝐴 𝑦̃𝑑𝐴 ∫0 𝑦[ℎ(ℎ−𝑦)𝑑𝑦] 𝑏ℎ2 ℎ
Integration: 𝑦̅ = = ℎ𝑏 = 61 =
∫𝐴 𝑑𝐴 ∫0 ℎ(ℎ−𝑦)𝑑𝑦 𝑏ℎ 3
2

Note: this result is valid for any shape of triangle. It states that the centroid is located
at one-third the height, measured from the base of the triangle.

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Example:
Locate the centroid of the area.

Solution:
𝑦
The area of the element is 𝑑𝐴 = 𝑦𝑑𝑥, and its centroid is located at 𝑥̃ = 𝑥, 𝑦̃ = ⁄2.
1 1 1
∫𝐴 𝑥̃𝑑𝐴 ∫0 𝑥𝑦𝑑𝑥 ∫0 𝑥 3 𝑑𝑥 4
𝑥̅ = = 1 = 1 = 1 = 0.75m
∫𝐴 𝑑𝐴 ∫0 𝑦𝑑𝑥 ∫0 𝑥 2 𝑑𝑥 3
1 𝑦 1 2 1
∫𝐴 𝑦̃𝑑𝐴 ∫0 ( ⁄2)𝑦𝑑𝑥 ∫0 (𝑥 ⁄2)𝑥 2𝑑𝑥 10
𝑦̅ = = 1 = 1 = 1 = 0.3m
∫𝐴 𝑑𝐴 ∫0 𝑦𝑑𝑥 ∫0 𝑥 2 𝑑𝑥 3

Alternative solution:
The area of the element is 𝑑𝐴 = (1 − 𝑥)𝑑𝑦,
1−𝑥 1+𝑥
and its centroid is located at 𝑥̃ = 𝑥 + ( )= , 𝑦̃ = 𝑦
2 2
1 (1+𝑥) 1 1
∫𝐴 𝑥̃𝑑𝐴 ∫0 [ ⁄2](1−𝑥)𝑑𝑦 ∫ (1−𝑦)𝑑𝑦
𝑥̅ = = 1 = 2 10 = 0.75m
∫𝐴 𝑑𝐴 ∫0 (1−𝑥)𝑑𝑦 ∫0 (1−√𝑦)𝑑𝑦
1 1 3
∫𝐴 𝑦̃𝑑𝐴 ∫0 𝑦(1−𝑥)𝑑𝑦 ∫0 (𝑦−𝑦 ⁄2 )𝑑𝑦
𝑦̅ = = 1 = 1 = 0.3m
∫𝐴 𝑑𝐴 ∫0 (1−𝑥)𝑑𝑦 ∫0 (1−√𝑦)𝑑𝑦

9.2 Composite Bodies

⚫ Consists of a series of connected “simpler” shaped bodies, which may be
rectangular, triangular or semicircular, etc.
⚫ A composite body can be sectioned or divided into its composite parts that have
simpler shapes and the weight and location of the center of gravity of each of
these parts are known.
∑ 𝑥̃𝑊 ∑ 𝑦̃𝑊 ∑ 𝑧̃𝑊
⚫ Accounting for finite number of weights, 𝑥̅ = ∑𝑊
; 𝑦̅ = ∑𝑊
; 𝑧̅ = ∑𝑊

Here, 𝑥̅ , 𝑦̅, 𝑧̅ represent the coordinates of the center of gravity G of the composite body;
𝑥̃, 𝑦̃, 𝑧̃ represent the coordinates of the center of gravity of each composite part of
the body;
∑ 𝑊is the sum of the weights of all the composite parts of the body, or simply the
total weight of the body.

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⚫ 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.
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.

Example:
Locate the centroid of the plate area.

Solution:
Composite Parts
Plate divided into 3 segments.
Area of small rectangle considered “negative”.

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Moment Arm
Location of the centroid for each piece is determined and indicated in the diagram.
Segment A (m2) 𝑥̃ (m) 𝑦̃ (m) 𝑥̃𝐴 (m3) 𝑦̃A (m3)
1 1 1 1 4.5 4.5
(3)(3) = 4.5
2

2 9 -1.5 1.5 -13.5 13.5

3 -2 -2.5 2 5 -4
∑ 𝐴 = 11.5 ∑ 𝑥̃𝐴 = −4 ∑ 𝑦̃ 𝐴 = 14
Summations
∑ 𝑥̃𝐴 −4 ∑ 𝑦̃𝐴 14
𝑥̅ = ∑𝐴
= 11.5 = −0.348mm; 𝑦̅ = ∑𝐴
= 11.5 = 1.22mm

9.3 Resultants of a General Distributed Loading

⚫ 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 ](𝑑𝐴m2 ) = [𝑝(𝑥, 𝑦)𝑑𝐴]N
• Entire loading represented as infinite parallel forces acting on separate
differential area dA.

• This system will be simplified to a single resultant force FR acting through a

unique point on the plate.

⚫ Magnitude and Location 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: 𝐹𝑅 = ∫𝐴 𝑝(𝑥, 𝑦)𝑑𝐴 = ∫𝑉 𝑑𝑉 = 𝑉

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 • Location of Resultant Force is
∫𝐴 𝑥 𝑝(𝑥,𝑦)𝑑𝐴 ∫𝑉 𝑥𝑑𝑉 ∫𝐴 𝑦 𝑝(𝑥,𝑦)𝑑𝐴 ∫𝑉 𝑦𝑑𝑉
𝑥̅ = = ; 𝑦̅ = =
∫𝐴 𝑝(𝑥,𝑦)𝑑𝐴 ∫𝑉 𝑑𝑉 ∫𝐴 𝑝(𝑥,𝑦)𝑑𝐴 ∫𝑉 𝑑𝑉

9.4 Fluid Pressure

⚫ According to Pascal’s law, a fluid at rest creates a pressure p at a point that is the
same in all directions.
⚫ The magnitude of p, measured as a force per unit area, depends on the specific
weight γ or mass density 𝜌 of the fluid and the depth z of the point from the fluid
surface: 𝑝 = 𝛾𝑧 = 𝜌𝑔𝑧.

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

• 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
𝑝1 = 𝛾𝑧1 at depth z1 and 𝑝2 = 𝛾𝑧2 at depth z2
• Magnitude of the resultant force FR = volume of this loading diagram
• FR has a line of action that passes through the volume’s centroid C.

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.

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Example:
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 = 1000 kg⁄m3.

Solution:

The water pressures at depth A and B are

𝑝𝐴 = 𝜌𝑤 𝑔𝑧𝐴 = (1000 kg⁄m3)(9.81 m⁄s2 )(2m) = 19.62kPa
𝑝𝐵 = 𝜌𝑤 𝑔𝑧𝐵 = (1000 kg⁄m3)(9.81 m⁄s2 )(5m) = 49.05kPa

Since the plate has a constant width, the pressure loading can be viewed in two
dimensions.
The intensities of the load at A and B,
𝑤𝐴 = 𝑏𝜌𝐴 = (1.5m)(19.62kPa) = 29.43 kN⁄m
𝑤𝐵 = 𝑏𝜌𝐵 = (1.5m)(49.05kPa) = 73.58 kN⁄m

The magnitude of the resultant force FR created by the distributed load is:
1
𝐹𝑅 = area of a trapezoid = 2 (3)(29.4 + 73.6) = 154.5kN

This force acts through the centroid of this area,

1 2(29.43)+73.58
ℎ = 3( ) (3) = 1.29m, measured upward from B.
29.43+73.58

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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
𝐹𝑅𝑒 = (29.43 kN⁄m)(3m) = 88.3kN
1
𝐹𝑡 = (44.15 kN⁄m)(3m) = 66.2kN
2
𝐹𝑅 = 𝐹𝑅𝑒 + 𝐹𝑅 = 88.3kN + 66.2kN = 154.5kN

Location of FR is determined by summing moments about B,

∑(𝑀𝑅 )𝐵 = ∑ 𝑀𝐵 ;
(154.5)ℎ = 88.3(1.5) + 66.2(1);
ℎ = 1.29m