Module 3

VIT UNIVERSITY VELLORE
School of Mechanical Engineering
MEE1002
Engineering Mechanics
By
Dr D Mallikarjuna Reddy
Associate Professor
Design Division
School of Mechanical Engineering
VIT University Vellore -14
D. Mallikarjuna Reddy
Unit IV
Centroids and Centers
of Gravity
Introduction
• The earth exerts a gravitational force on each of the particles
forming a body. These forces can be replace by a single equivalent
force equal to the weight of the body and applied at the center of
gravity for the body
• The centroid of an area is analogous to the center of gravity of a

body. The concept of the first moment of an area is used to locate
the centroid.
Difference between Centroid, Center of mass and Center
of gravity
There are two major differences between "center of gravity" and
"center of mass":
1) The term Center of gravity applies to the bodies with mass and
weight, while the term Centroid applies to plane areas.
2) Center of gravity of a body is the point through which the resultant

gravitational force (weight) of the body acts for any orientation of the
body while centroid is the point in a plane area such that the moment
of the area, about any axis, through that point is zero.
Centroid is a purely mathematical, geometric concept- the geometric
center of a body. It can be calculated as the center of mass of an
object with constant density.
Center of mass and center of gravity are the same- although the
concepts are slightly different: the concept "center of gravity" strictly
speaking requires, a uniform gravitational field while "center of
mass" does not. But they are exactly the same point on an object.
Center of Gravity of a Two- Dimensional Body
Center of gravity of a plate
My xW   x W
  x dW
My yW   y W W   dW
  y dW D. Mallikarjuna Reddy
First Moment of Areas and Lines
xA   x dA  Q y
 first moment w.r .t. y

yA   y dA  Q x
 first moment w.r .t. x
• Coordinates of the centroids of an area can be obtained by dividing

the first moment of that area by the area itself
• If the centroid of the area is located on a coordinate axis, the first

moment of the area with respect to that axis is zero
• An area is symmetric with respect to an axis BB’ if for every point P
there exists a point P’ such that PP’ is perpendicular to BB’ and is
divided into two equal parts by BB’.
• The first moment of an area with respect to a line of symmetry is

zero.
• If an area possesses a line of symmetry, its centroid lies on that axis
• If an area possesses two lines of symmetry, its centroid lies at their
intersection.
• An area is symmetric with respect to a center O if for every

element dA at (x,y) there exists an area dA’ of equal area at (-x,-y).
• The centroid of the area coincides with the center of symmetry.

Problem 1: Consider the triangle ABC of base ‘b’ and height ‘h’. Determine the
distance of centroid from the base.
Problem 2: Consider a semi-circle of radius R. Determine its distance from diametral
axis.
Centroids of Common Shapes of Areas
Composite Plates and Areas
Composite plates
Composite area
X A   xA
Y  A   yA
If the plate is homogenous and of uniform thickness, the center of

gravity coincides with the centroid C of its area
Composite Bodies •First moments of areas, like moments
of forces, can be positive or negative.
•For example: an area whose centroid is
located to the left of Y axis will have a
negative first moment with respect to
that axis.
•Also, the area of a hole should be
assigned a negative sign.
x A x A
A1 Semicircle - + -
A2 Full rectangle + + +
A 3 Circular
D. Mallikarjuna Reddyhole + - -
Problem Locate the centroid of the plane area shown.
Several points should be emphasized when

solving these types of problems.
1. Decide how to construct the given area from common shapes.
2. It is strongly recommended that you construct a table containing

areas or length and the respective coordinates of the centroids.
3. When possible, use symmetry to help locate the centroid.

Construct a table containing areas and respective coordinates of the
centroids.
Then XS A = S xA
X (1740) = 28,200
or X = 16.21 mm
and YS A = S yA
Y (1740) = 55,440
or Y = 31.9 mm
Problem 5: Determine the centroid of the composite figure about x-y coordinate. Take
x = 40 mm.
Problem 6: Determine the centroid of the following figure.
=
For the plane area shown, determine (a) the first moments with respect
to the x and y axes, (b) the location of centroid
•Since the wire is homogeneous, its center of gravity (G) coincides
with the centroid (C) of the corresponding line .
•With origin at A, we determine the centroid of each line segment and

compute the first moments with respect to the coordinate axes.
Segment L, cm X, cm Y, cm XL, cm 2 YL, cm 2
AB 24 12 0 288 0
BC 26 12 5 312 130
CA 10 0 5 0 50
SL = 60 SXL = SYL =
600 180
X∑L = SXL: X (60 in) = 600 in2, ……. X = 10 cm

Y∑L = SYL: Y (60 in) = 180 in2, ……..Y = 3 cm
Locate the centroid of the plane area shown.
Ans: X = 8.22 cm, Y = 4 cm

Ans: X = 140.0 mm, Y = 165.0 mm

Ans: X = 18.02 mm, Y = 84.9 mm

Determine the centroid of the area shown in Fig. with respect to the
axis shown
Ans: x = 2.995 m, y = 1.890m
Ans: X = 8.32 cm, Y = 3.61 cm
Ans: X= - 3.17 cm, Y = 0.668 cm

The gravity wall is made of concrete. Determine the location (x, y) of
the center of mass G for the wall.
Ans: X= 2.22 m, Y = 1.41 m

Locate the centroid (x, y) of the composite area
Ans: X = 4.83 in, Y = 2.56 in
Determination of Centroids by Integration
x A   xdA   x dxdy   xel dA

yA   ydA   y dxdy   yel dA
• Double integration to find the first moment may be avoided by

defining dA as a thin rectangle or strip.
Q y
 x A   xel dA
  x  ydx 
Q x
 yA  y el dA
y
   ydx 
2
x A   x el dA
xA  x dA 2r
el
1 2 
ax
 cos   r d 
  a  x dx  3 2 
 2
yA   y el dA
yA  y dA el
2r 1 2 
  y a  x dx   sin   r d 
D. Mallikarjuna Reddy 3 2 
Determine by direct integration the location of the centroid of a
parabolic spandrel.
Determine by direct integration the centroid of the area shown.
Express your answer in terms of a and h.
Express your answer in terms of a and b.
Theorems of Pappus-Guldinus
• Surface of revolution is generated by rotating a plane curve about a
fixed axis.
• Theorem I: Area of a surface of revolution is equal to the length of

the generating curve times the distance traveled by the centroid
through the rotation.
A  2 yL
• Body of revolution is generated by rotating a plane area about a
fixed axis.
• Theorem II: Volume of a body of revolution is equal to the

generating area times the distance traveled by the centroid through
the rotation.
V  2 y A
For both the theorems of Pappu’s and Guldinus to be valid, the axis
of rotation should not intersect the generating curves or generating
areas, and if it did, the two sections on the either side of the axis
would generate the areas having opposite signs, and then the theorem
will not be applicable.
The outside diameter of a pulley is 0.8 m, and the cross section of its
rim is as shown. Knowing that the pulley is made of steel and that the
density of steel is ρ = 7.85 × 103 kg/m3, determine the mass and the
weight of the rim.
D. Mallikarjuna Reddy Ans: m = 60 kg, W = 589 N

Using the theorems of Pappus-Guldinus, determine (a) the centroid of
a semicircular area, (b) the centroid of a semicircular arc.
Determine the surface area and volume of the full solid in Fig.
Ans: Area = 143 in2, Volume = 47.3 in3

Determine the surface area and volume of the solid formed by
revolving the shaded area 360° about the z axis.
Ans: Area = 141 in2, Volume = 49.1 in3

Determine the surface area 3nd volume of the solid formed by
revolving lhe shaded area 3600 about z axis .
Determine the volume of the solid formed by revolving the shaded
area 360° about the z axis.
Ans: Volume = 0.0486 m3

Determine the surface area and volume of the solid formed by
revolving the shaded area 360° about the z axis.
Ans: Area = 1.06 m2, Volume = 0.0376 m3

The process tank is used to store liquids during manufacturing.
Estimate both the volume of the tank and its surface area. The tank
has a flat top and a thin wall.
Ans: V= 207 m3, A = 118 m2

Moment of Inertia of an Area
Moment of Inertia of an Area 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
Integrals Ix and Iy are called as rectangular moments of inertia of area A
• Evaluation of the integrals is simplified by choosing dA to be a thin
strip parallel to one of the coordinate axes.
Moment of inertia of a Rectangular Area,
h
I x   y 2 dA   y 2bdy  13 bh 3
0
Computing the Ix and Iy using the same Elemental Strip
Set b = dx and h = y
dI x  1 y 3 dx 2
dI y  x dA  x y dx 2
3
Polar Moment of Inertia
• The polar moment of inertia is an important parameter in problems
involving torsion of cylindrical shafts and rotations of slabs.
2
J 0   r dA
• The polar moment of inertia is related to the rectangular moments of

inertia,
 
J 0   r 2 dA   x 2  y 2 dA   x 2 dA   y 2 dA
J 0
 I y  Ix
Radius of Gyration of an Area
• Consider area A with moment of inertia Ix. Imagine that the area is
concentrated in a thin strip parallel to the x axis with equivalent Ix.
Ix
Ix  k x2 A kx 
A
kx = radius of gyration with respect to the x axis

Similarly,
2
Iy
Iy  k A
y ky 
A
2 JO
J O  k A kO 
O
A
2 2 2
kO  kx  ky
For the rectangle shown in Fig. Compute the radius of gyration kx with
respect to its base
Determine the moment of inertia of a triangle
with respect to its base.
Solution: A differential strip parallel to the x axis is chosen for dA.

dI x  y 2dA dA  l dy
For similar triangles,
l h y h y h y
 l b dA  b dy
b h h h
Integrating dIx from y = 0 to y = h,
h
h y bh 2
2 2
I x   y dA   y b
h
 
dy   hy  y 3 dy
h0
0
h
b  y3 y 4  bh3
 h  D. Mallikarjuna I x
 Reddy 12
h 3 4
0
(a)Determine the moment of inertia of the shaded area shown with
respect to each of the coordinate axes.
(b) Using the results of part a, determine the radius of gyration of the
shaded area with respect to each of the coordinate axes.
Determine by direct integration the moment of inertia of the shaded
area with respect to the x and y axis.
Ix = 5/17 ab3 , Iy = 5/33 a3b
Determine the moment of inertia and the radius of gyration of the
shaded area shown with respect to the x and y axis.
Determine the radius of gyration about y axis of the shaded area
shown.
Ans: ky = 53.1 mm
Determine the moment of inertia of the shaded area about y axis
Ans: Iy = 27.4 × 104 mm4

Parallel Axis Theorem
Consider moment of inertia I of an area A with respect to the axis AA’
2
I   y 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

Substituting k2A for I and k2A for I, the theorem can also be expressed
as
A similar theorem can be used to relate the polar moment of inertia JO

of an area about a point O to the polar moment of inertia JC of the
same area about its centroid C. if d be the distance between O and C,
then.
or
Moments of Inertia of Composite Areas
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
1 bh 3
 36
Calculate the moment of inertia about x axis for the area shown.
Ans : Ix = 5.76 × 106 mm4
Find the moment of inertia about x – axis of the semicircular area.
Ans: Ix = 36.4× 104 mm4

Determine the moment of inertia of the shaded area with respect to the
x axis.
Determine the moment of inertia of the Z section about its centroidal
x0 and y0 axis
I x = 22.6 × 106 mm4, Iy = 9.81 × 106 mm4

shaded area with respect to the x axis and y axis.
Ans: Ix = 614.2× 103 mm4, Kx = 19 mm

Iy =
D. Mallikarjuna 1.894 × 106 mm4, Ky = 33.4 mm
Reddy
Calculate the moment of inertia and radius of gyration about x- axis
for the area shown.
Ans: Ix = 4.05 × 106 mm4, k = 34 mm

Determine the moment of inertia of the composite area about the x
and y axis
Ans: Iy = 10.3 × 109 mm4

Calculate the moment of inertia of the cross section of the beam about
its centroidal x axis
Ans: Ix = 10.76 × 106 mm4

shaded area with respect to the x axis.
Determine the polar moment of inertia of the area shown with respect
to (a) point O, (b) the centroid of the area.
Ans: a) 11.57 × 106 mm4, b) 7.81 × 106 mm4

Product of Inertia
Product of Inertia: I xy   xy dA
Which is obtained by multiplying each element dA of an area A
by its coordinates x and y and integrating over the area
• When the x axis, the y axis, or both are an axis of

symmetry, the product of inertia is zero.
• Parallel axis theorem for products of inertia:
I xy  I x ' y '  x yA
If either of the centroidal axes of a component area is an axis of
symmetry for that area the product of inertia of Ix’y’ for that area is
zero. Thus Ix’y’ is zero for the component areas such as circles,
semicircles, rectangles which possess an axis of symmetry parallel to
one of the coordinate axis.
Principal Axes and Principal Moments of Inertia
Given I x   y 2 dA I y   x 2 dA
I xy   xy dA
we wish to determine moments

and product of inertia with
respect to new axes x’ and y’.
Note:
x  x cos  y sin
y  y cos  x sin
• The change of axes yields
Ix  Iy Ix  Iy
I x   cos 2   I xy sin 2 
2 2
Ix  Iy Ix  Iy
I y   cos 2   I xy sin 2 
2 2
Ix  Iy
I x y   sin 2   I xy cos 2 
2
The angle which makes Ix’ and Iy’ maximum or minimum may be
determine by setting the derivative of either Ix’ or Iy’ with respect to θ
equal to 0
Denoting this by critical angle by θm gives

2 I xy
tan 2 m 
I y
 I x
Expressions for principle moment of inertia
2
Ix  Iy  Ix  Iy  2
I max, min      I xy
2  2 
Ix  Iy Ix  Iy
I x   cos 2   I xy sin 2 
2 2
Ix  Iy Ix  Iy
I y   cos 2   I xy sin 2 
2 2
Ix  Iy
I x y   sin 2   I xy cos 2 
2
2 I xy
tan 2 m 
I y
 I x
Anticlockwise direction : θ is positive
Clockwise direction : θ is negative

Using the parallel-axis theorem, determine the product of inertia of the
area shown with respect to the centroidal x and y axes.
Determine the moments of inertia and the product of inertia of the area
with respect to new centroidal axes obtained by rotating the x and y
axes through 30o clockwise.
Ans: Ixy = 138.2 × 106 mm4D., Mallikarjuna

Ix’= 323.27 6 4 6
Reddy× 10 mm , Iy’ = 165.29 × 10 mm
4
For the same area determine the orientation of the principal axis at
origin and corresponding values of moment of inertia
θm = 29.70 & 119.74 0,I = 405 × 106 mm4, Imin = 83.9 × 106 mm4
maxReddy
D. Mallikarjuna
Using the parallel-axis theorem, determine the product of inertia of the area shown with
respect to the centroidal x and y axes.
Determine the moments of inertia and the product of inertia of the area with respect to
new centroidal axes obtained by rotating the x and y axes through 60o
counterclockwise.
Ans: Ixy = 1.573 × 106 mm4, I x’ = 4.608 ×D.10 6 mm4, I = 3.825 × 106mm4, I
Mallikarjuna y’
Reddy
6
x’y’ = -3.825 × 10 mm
4
For the section shown, the moments of inertia with respect to the x and
y axes have been computed and are known to be
Ix = 5 10.38 in4 Iy = 5 6.97 in4
Determine (a) the orientation of the principal axes of the section about
O,
(b) the values of the principal moments of inertia of the section about
O.
Ans: θm =D.37.7 0 & 127.7

Mallikarjuna Reddy 0 , I max = 15.45 in4, Imin = 1.897 in4
Mohr’s Circle for Moments and Products of Inertia
• Mohr’s circle may be used to graphically or analytically determine
the moments and product of inertia for any other rectangular axes
including the principal axes and principal moments and products of
inertia.
For the section shown, the moments and product of inertia with respect to the x and y
axes are known to be Ix = 7.20×106 mm4 Iy = 2.59×106 mm4 Ixy = -2.54×106 mm4
Using Mohr’s circle, determine (a) the principal axes of the section about O,
(b) the values of the principal moments of inertia of the section about O,
(c) the moments and product of inertia of the section with respect to the x’ and y’
axes which form an angle of 60° with the x and y axes.
Using Mohr’s circle, determine the moments of inertia and the product
of inertia of the L5 × 3 × 1/2 -in. angle cross section , respect to new
centroidal axes obtained by rotating the x and y axes through 30o
counterclockwise.
Ix = 9.45 in4 , Iy = 2.58 in4
Ixy = 2.8125 in4
Using Mohr’s circle, determine the moments of inertia and the product
of inertia of the area with respect to new centroidal axes obtained by
rotating the x and y axes through 30o clockwise.
I x = 162.86 × 106 mm4, I y = 325.72 × 106 mm4, Ixy = 138.24 × 106 mm4
Moment of Inertia of a Mass
• Angular acceleration about the axis AA’ of the
small mass ∆m due to the application of a couple
is proportional to r2∆m.
r2 ∆ m = moment of inertia of the mass ∆ m with
respect to the axis AA’
• For a body of mass m the resistance to rotation about the axis AA’ is
I  r12 m  r22 m  r32 m  

  r 2 dm  mass moment of inertia
• The radius of gyration for a
concentrated mass with equivalent
mass moment of inertia is
2 I
I k m k
m
• Moment of inertia with respect to the y
coordinate axis is
 
I y   r 2 dm   z 2  x 2 dm
• Similarly, for the moment of inertia with

respect to the x and z axes,
 
I x   y 2  z 2 dm
I z   x 2  y 2 dm

In SI units: I   r 2 dm  kg  m 2 
• For the rectangular axes with origin at O and parallel centroidal axes,
   2 2
I x   y 2  z 2 dm    y  y    z   z  dm 
   
  y2  z 2 dm  2 y  y dm  2 z  z dm  y 2  z 2  dm

I x  I x  m y 2  z 2

I y  I y  m z 2  x 2 
I z  I z  mx 2  y 2 
• Generalizing for any axis AA’ and a parallel
centroidal axis,
I  I  md 2
2 2 2
k  k 
D. Mallikarjuna Reddy d
Moments of Inertia of Thin Plates
For a thin plate of uniform thickness t and homogeneous material of
density ρ. The mass moment of inertia with respect to axis AA’
contained in the plate is
2
I AA , mass   r dm
Since, dm  tdA
2
 t  r dA
  t I AA,area
Similarly, for perpendicular axis BB’ which is also contained in the
plate,
I BB ,mass   t I BB,area
For the axis CC’ which is perpendicular to the plate,
I CC,mass   t J C ,area   t I AA,area  I BB,area 

 I AA  I BB
• For the principal centroidal axes on a rectangular plate,
 
1 a 3b  1 ma 2
I AA   t I AA,area   t 12 12
I BB   t I BB,area   t 12

1 ab 3   1 mb 2
12
I CC   I AA,mass  I BB,mass  12 1 m a 2  b 2 
• For centroidal axes on a circular plate,

 
I AA  I BB   t I AA,area   t 14  r 4  14 mr 2
I CC   I AA  I BB  12 mr 2
A thin semicircular plate has a radius a and a mass m. Determine the
mass moment of inertia of the plate with respect to (a) the centroidal
axis BB′, (b) the centroidal axis CC′ that is perpendicular to the plate.
The thin circular ring shown was cut from a thin, uniform plate.
Denoting the mass of the ring by m, determine its mass moment of
inertia with respect to (a) the centroidal axis AA′ of the ring, (b) the
centroidal axis CC′ that is perpendicular to the plane of the ring
A thin steel plate which is 4 mm thick is cut and bent to form the
machine part shown. Knowing that the density of steel is 7850 kg/m3,
determine the moments of inertia of the machine part with respect to the
coordinate axes.

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VIT UNIVERSITY VELLORE

School of Mechanical Engineering

• The centroid of an area is analogous to the center of gravity of a

2) Center of gravity of a body is the point through which the resultant

 first moment w.r .t. y

 first moment w.r .t. x

• Coordinates of the centroids of an area can be obtained by dividing

• If the centroid of the area is located on a coordinate axis, the first

• The first moment of an area with respect to a line of symmetry is

• If an area possesses a line of symmetry, its centroid lies on that axis

• An area is symmetric with respect to a center O if for every

• The centroid of the area coincides with the center of symmetry.

If the plate is homogenous and of uniform thickness, the center of

Several points should be emphasized when

1. Decide how to construct the given area from common shapes.

2. It is strongly recommended that you construct a table containing

3. When possible, use symmetry to help locate the centroid.

•With origin at A, we determine the centroid of each line segment and

X∑L = SXL: X (60 in) = 600 in2, ……. X = 10 cm

Ans: X = 8.22 cm, Y = 4 cm

Ans: X = 140.0 mm, Y = 165.0 mm

Ans: X = 18.02 mm, Y = 84.9 mm

Ans: x = 2.995 m, y = 1.890m

Ans: X = 8.32 cm, Y = 3.61 cm

Ans: X= - 3.17 cm, Y = 0.668 cm

Ans: X= 2.22 m, Y = 1.41 m

Ans: X = 4.83 in, Y = 2.56 in

x A   xdA   x dxdy   xel dA

• Double integration to find the first moment may be avoided by

• Theorem I: Area of a surface of revolution is equal to the length of

• Theorem II: Volume of a body of revolution is equal to the

D. Mallikarjuna Reddy Ans: m = 60 kg, W = 589 N

Ans: Area = 143 in2, Volume = 47.3 in3

Ans: Area = 141 in2, Volume = 49.1 in3

Ans: Volume = 0.0486 m3

Ans: Area = 1.06 m2, Volume = 0.0376 m3

Ans: V= 207 m3, A = 118 m2

• Second moments or moments of inertia of an area with respect to the

Integrals Ix and Iy are called as rectangular moments of inertia of area A

• The polar moment of inertia is related to the rectangular moments of

kx = radius of gyration with respect to the x axis

Solution: A differential strip parallel to the x axis is chosen for dA.

Ix = 5/17 ab3 , Iy = 5/33 a3b

Ans: Iy = 27.4 × 104 mm4

I  I  Ad 2 parallel axis theorem

A similar theorem can be used to relate the polar moment of inertia JO

Moment of inertia of a triangle with respect to a centroidal axis,

Ans : Ix = 5.76 × 106 mm4

Ans: Ix = 36.4× 104 mm4

I x = 22.6 × 106 mm4, Iy = 9.81 × 106 mm4

Ans: Ix = 614.2× 103 mm4, Kx = 19 mm

Ans: Ix = 4.05 × 106 mm4, k = 34 mm

Ans: Iy = 10.3 × 109 mm4

Ans: Ix = 10.76 × 106 mm4

Ans: a) 11.57 × 106 mm4, b) 7.81 × 106 mm4

• When the x axis, the y axis, or both are an axis of

• Parallel axis theorem for products of inertia:

we wish to determine moments

Denoting this by critical angle by θm gives

Anticlockwise direction : θ is positive

Clockwise direction : θ is negative

Ans: Ixy = 138.2 × 106 mm4D., Mallikarjuna

Ans: θm =D.37.7 0 & 127.7