Centroids

and Center of Gravity

Lecture 8

1/30/12

Center of gravity point of applica6on of the weight of the body Centroid geometric center of a body

Several Wis y

G (X,Y ) x Equivalent Force Systems

=
(x, y )
Coordinates of the centroid

! F : W = ! "W
!M !M
: xW = ! xi "Wi : yW = ! yi "Wi

Wi
xi yi

! M : summation of moments !
y x

! x dW yW = ! y dW
xW =

x
5-3

Several Wis y

G (X,Y ) x

=
W = ! gt A
W = weight of whole plate

For a homogeneous plate with uniform thickness

! x dW yW = ! y dW
xW =
dW = ! gt dA
= density (mass per volume) g = accelera6on due to gravity t = thickness dA = area of dieren6al element

! x! gt dA y ! gtA = ! y! gt dA xA = ! x dA yA = ! y dA
x ! gtA =

For a homogeneous wire with uniform cross sec6on

! x dW yW = ! y dW
xW =
dW = ! g a dL
= density (mass per volume) g = accelera6on due to gravity a = cross-sec6onal area dL =length of dieren6al element

W = ! ga L
W = weight of line element

! x! ga dL y ! gaL = ! y! ga dL xL = ! x dL yL = ! y dL
x ! gaL =

Find the center of gravity (center of mass) of the three particles. y y

m1 = 10 kg (4 , 3)

m2 = 30 kg (2 , 6)

m3 = 15 kg (8 , 2 )

Mx :
y (mT g ) = (mi g )yi
i i i i i

x (mT g ) = (mi g )xi

m x = m x x= m m
T

mi yi = mi yi y= mT mi
(10)(3) + (30)(6) + (15)(2) y= = 3.27 10 + 30 + 15

x=

(10)(4) + (30)(2) + (15)(8) = 4.0 10 + 30 + 15

5-6

QX =

y dA First moment of area about x-axis

First moment of area about y-axis

dA

y
x

QY = x dA
A

QX = yA Qy = xA

Units?

Length3 (m3 or mm3 or in3)

dA

Qx>0
x

y
x

Qx=0

y
dA

Qx<0

What does this mean? The y-coordinate of the centroid is located along the x-axis.

Centroidal axis any line passing through the centroid of the area. Axis of symmetry an axis wherein for every area on one side of the axis, there exists a corresponding area on the other side x-axis: axis of symmetry Qx = 0 y-axis: axis of symmetry Qy = 0

QY = 0

QY ' = 0
y'

QX ' = 0
x'

QX = 0

x -axis: not axis of symmetry y -axis: not axis of symmetry Note: Axis of symmetry is also centroidal axis but not vice versa.
9

Where can you nd the centroid of the gure? Why? BB is an axis of symmetry. The rst moment of the area with respect to the axis of symmetry is zero. Therefore, if an area possesses an axis of symmetry, its centroid lies on this axis. Where can you nd the centroid of the gure? Why? If an area contains two axes of symmetry, the centroid lies on the intersec6on of the two axes. Where can you nd the centroid of the gure? Why? 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.
5 - 10

Q X = y dA = Ay
A

QY = x dA = Ax
A

where

x and y
A

are the coordinates of the centroid

QX = Ay

y
x

QY = Ax

Qx y= A QY x= A

11

Using a similar derivation for line elements:

where

x and y

QX = y dL = Ly
L

QY = x dL = Lx
L

are the coordinates of the centroid of the line

dL

QX = Ly
QY = Lx
x

Qx y= L QY x= L
12

x A = xdA = x dxdy = xel dA yA = ydA = y dxdy = yel dA

y

Double integra6on to nd the rst moment may be avoided by dening dA as a thin rectangle or strip.
y
y1

y1 (x)

x1 (y)
dx

dy

x2 (y) y2 (x)
x2

y2

x1

x
xA = = yA =

! x dA = ! x [ y (x) " y (x)]dx yA = ! y dA

xA =
el x2 x1 1 2 el

!x
y2

el

dA

" x1 (y) + x2 (y) % ! y1 $ '[ x2 (y) ( x1 (y)]dy # & 2

!y
x2 x1

el

dA
2 1

# y (x) + y (x) & ! x1 % 1 2 2 ([ y1 (x) " y2 (x)]dx $ '

x2

! y [ x (y) ( x (y)]dy

x A = xel dA = x ( ydx ) yA = yel dA y = ( ydx ) 2

5 - 14

x A = xel dA =

Check if the variables in integrand are constant or are varying along x or y

a+x [ (a x )dy ] 2 yA = yel dA = y [(a x )dy ]

Find the coordinates of the centroid of the right triangle whose base is b and whose altitude is h.

x
b
15

QX = y dA
A

Since we need Qx, we can use horizontal strips (parallel to x-axis).

dA = edy dy
y

QX = y dA = yedy
A A

Since e is not totally independent of y, express e in terms of y (using x similar triangles).

b h bh 2 Q X = y(h y )dy = h 0 6

b(h y ) e= h
Qx h y= = A 3
16

QY = x dA
A

dA = ldx
l

QY = x dA = xldx
A A

x
dx

h b hb 2 QY = x(b x )dx = b 0 6

Using similar triangles,

h(b x ) l= b

QY b x= = A 3
17

Find the x and y coordinates of the spandrel shown.

y

1 2 y= x 5

x
4.0 m
18

QY =
y

xel dA

1 y = x2 5

dA = hdx
h

The expression for dA is dxdy in the definition of first moment. Using dxdy, we will be faced with double integral in solving for Q. To avoid this, we get strips as our dA.

dx

QY =

xel dA =

! xh dx
A

Some6mes, it is more convenient to orient the strips parallel to the axis where the rst moment is required. Since we need Qy, we will use ver6cal strips (parallel to y-axis).
19

Since h is varying along x, express h in terms of x.

1 2 h= y= x 5

QY =
1 y = x2 5

xel dA =
4

! xh dx
A

dA = hdx
h

QY =
x

1 2 x x dx 5

dx

x QY = = 12.8 m 3 20 0

4 4

Note: The advantage of using strips that are parallel to the axis is that the coordinate of the centroid is the distance of the strip to the axis. (x in this example)

20

For

QY x= A

We need to solve for the area first to get

A = dA = hdx
A A

A=
x

1 2 x dx 5

x = 3.0 m

x A= = 4.27 m 2 15 0

3 4

QY 12.8 m 3 x= = = 3.0 m 2 A 4.27 m

21

Seatwork, set up the integral for nding Qx using horizontal strips.

QX =
y

y el dA
dA = bdy
y = 16 5

If we use horizontal strips:

1 y = x2 5
x = 5y

QX =

y el dA =

! yb dy
A

b
y

dy
y

Since b is varying along y, express b in terms of y.

b = 4 x = 4 5y
QX =

"

16 0

y 4 ! ( 5y )

1/2

) dy = 4.096

y=

Qx = 0.96 m A
22

QX =
y

y el dA

Alternatively, we could still use the vertical strips:

1 y = x2 5

dA = hdx
h

QX =

y el dA =

! (h / 2) h dx
A

x
4 0

1 2 h= y= x 5
Qx y= = 0.96 m A
23

dx

QX =

'

1 ! 1 2 $! 1 2 $ # x &# x & dy = 4.096 2 " 5 %" 5 %

Determine the location of the centroid of a semicircular arc of radius r. Since the curve is symmetrical about the y-axis, x = 0

dL = rd
d
x

y = r sin

dl

Q X = ydL = r 2 sin d = 2 2
L

Q X 2 2 2r y= = = L r
24

5 - 25

5 - 26

5 - 27

5 - 28

5 - 29

5 - 30

Usually, ate plates can be divided into common shapes. To nd the center of gravity, recall:

100 mm

!M !M

y x

: xW = ! xi "Wi : yW = ! yi "Wi
25 mm 50 mm

x
y

If the plate is homogeneous with uniform thickness, the center of gravity coincides with the centroid. The rst moment can be expressed as a sum of each elementary area. (Similar to integra6on).

Composite Area

Qy = X!A = !xA Qx = Y !A = !yA

75 mm

200 mm 30 O

125 mm

Composite Line

AT = A1 + A2 + A3 = total area
xT = x coord. of centroid (composite) yT = y coord. of centroid (composite) y

Ai = area of ith sub area

xi = x coord. of centroid (sub areas)

yi = y coord. of centroid (sub areas)

AT

A1

(xT , yT )
x

(x1 , y1 )
A3

A2

(x2 , y2 )

(x3 , y3 )
32

QY1 QX 1

A2
QX 2 QY 2

A1

x
QX 3 QY 3

A3

QXT = QX 1 + QX 2 + QX 3

QYT = QY 1 + QY 2 + QY 3

AT yT = A1 y1 + A2 y 2 + A3 y3
yT

A y = A
i i

AT xT = A1 x1 + A2 x2 + A3 x3
xT

Ax = A
i i

33

y
Determine the x and y coordinate of the centroid.
# A1 A2 A3 Total Area Ai (mm2) 2500 2500 491 5491 xi bar (mm) -12.5 16.67 -10.61 yi bar (mm) 50.0 33.33 10.61
25 mm

A1

100 mm

(x1 , y1 )
A3

A2

(x2 , y2 )

(x3 , y3 )

50 mm

xT

yT

A x = 2500(12.5) + 2500(16.67 ) + 491(10.61) = 0.945 mm = 5491 A A y = 2500(50) + 2500(33.33) + 491( 10.61) = 37.0 mm = 5491 A
i i i

34

AT = A1 + A2 A3
A3

AT =

A1

A2

AT yT = A1 x1 + A2 x2 ! A3 x3
AT yT = A1 y1 + A2 y2 A3 y3

QXT = QX 1 + QX 2 QX 3
QYT = QY 1 + QY 2 ! QY 3

35

A (mm2) A1 A2 A3 37500 5625 -(8835.7293) 34289

x 125 275 75

y 75 50 118.1690

xA (mm3) 4687500 1546875 -662679 5571695

yA (mm3) 2812500 281250 -1044109 2049640

A3

AT =

A1

A2

x = 162.49mm y = 59.77mm

A composite line can be broken down into sub-lines wherein the geometric proper6es (lengths and individual centroids) of sub-lines are available.
LT = L1 + L2 + L3 = total length
xT = x coord. of centroid (composite)

Li = length of ith sub line

xi = x coord. of centroid ( sub areas)
yi = y coord. of centroid (sub areas)
y

yT = y coord. of centroid(composite)
y

LT

L2

(xT , yT )
x

L3

L1

(x2 , y2 )

(x3 , y3 )

x
37

(x1 , y1 )

y
QYT
LT

QX 2 L2 QY 2

L3
Q X 3 QY 3

QXT

L1
QY1 QX 1

QXT = QX 1 + QX 2 + QX 3
LT yT = L1 y1 + L2 y2 + L3 y3
yT

QYT = QY 1 + QY 2 + QY 3
LT xT = L1 x1 + L2 x2 + L3 x3
xT

L y = L
i i

L x = L
i

i i

38

# L1 L2 L3 Total Length

Li (mm) 125 235.6 200 560.6

xi bar (mm) -137.5 0 161.6

yi bar (mm) 0 47.75 50

L1
125 mm

L2
75 mm

L3
200 mm 30
O

LT = L1 + L2 + L3

xT
yT

L x = L L y = L
i
i i

i i

125( 137.5) + 235.6(0) + 200(161.6) = 27.0 mm 560.6

125(0) + 235.6(47.75) + 200(50 ) = = 37.9 mm 560.6

39

To find the center of gravity: W j = ( W j )

Results are independent of body orienta6on,

xW = xdW

yW = ydW

zW = zdW

rG ( W j ) = [r ( W j )] rGW ( j ) = ( r W ) ( j )

For homogeneous bodies,

W = V and dW = dV

W = dW

5 - 41

rGW = r dW

xV = xdV

yV = ydV

zV = zdV

First Moment of a Volume w.r.t. a plane

dV = dxdydz
dV
z
y

QXY = z dV
V

QXZ = y dV
V

QYZ = x dV
V

Unit: length to the fourth power e.g.

m 4 , cm 4 , ft 4
42

The first moment of a volume, Q can have a positive, negative or zero value (+, - , or 0) depending upon the location of the volume relative to the axis where moment is required. Here are some examples
z

dV = dxdydz
dV
z
y

QXY = +
The perpendicular distances from the xy-plane (zs) are all positive (above xy-plane) thus yielding a positive Qxy.

QYZ = +
The perpendicular distances from the yz-plane (xs) are all positive (front of yz-plane) thus yielding a positive Qyz.
43

QXZ = +

The perpendicular distances from the xy-plane (zs) are all positive (above xy-plane) thus yielding a positive Qxy. The perpendicular distances from the xz-plane (ys) are all negative (left of xz-plane) thus yielding a positive Qxz. The perpendicular distances from the yz-plane (xs) are all positive (front of yz-plane) thus yielding a positive Qyz.

QXY = +
dV

QXZ =

z x y
x

QYZ = +

44

When the sum of the rst moments of the volumes above QXY = + the xy-plane (posi6ve z-values) dV equals the sum of the rst z y moments of the volumes below z the xy-plane (nega6ve z-values) dV QXY = will result to

Qxy= 0
45

z
Centroidal plane any plane that passes through the centroid of the volume. The first moment of the volume about any of these planes is zero. Qxy = 0. xy -plane is a centroidal plane thus Qxy =0. xy-plane: centroidal plane Qxy = 0 yz-plane: centroidal plane Qyz = 0 xz-plane: centroidal plane Qxz = 0 xy -plane: centroidal plane Qxy = 0
x
46
C

dV
C

QXY = +
y

z z

dV

QXY =
xy ' plane
y

Plane of symmetry a plane wherein for every point P there exists a point P of the same volume, and the line PP is perpendicular to the given plane and is bisected by that plane. Which are planes of symmetry in the figure? xy -plane: NOT plane of symmetry but still Qxy = 0

dV
C

QXY = +
y

z z

dV

QXY =

xy ' plane
y

Note: Plane of symmetry is also centroidal plane but not vice versa.

x
47

The first moment of a volume can also be expressed as the product of the volume and some value.

Q XY = z dV = V z
V

QXZ = y dV = V y
V

QYZ = x dV = V x
V

where

x, y and z

locate the centroid of the volume.

z
x

QYZ V QXZ y= V Q XY z= V x=
48

The centroid of a volume bounded by analy6cal surfaces can be determined by evalua6ng:

x

dV
C

dV

x V = x dV

y V = y dV

z V = z dV

dV use cube of size dx, dy, dz as dieren6al volume requires triple integra6on

y When a volume V possesses a plane of symmetry, the rst moment of V with respect to that plane is zero

yV = ydV = 0 First moment wrt x-z

zV = zdV = 0 First moment wrt x-y
x

xV = xdV
z

First moment wrt y-z

Single integration can be used by choosing a thin slab for dV.

Illustration: For bodies of revolution, use circular slabs for dV

y xel r z

y=z =0
x V = xel dV

xel = x
x

dV = r dx
express xel and dV in terms of x

dx

Given a right circular cone of height h and radius r, determine the loca6on of the centroid with respect to the given coordinate system.
yz-plane: plane of symmetry Qyz = 0 x = 0 xz-plane: plane of symmetry Qxz = 0 y = 0 If we re going to get dV = dxdydz, we will have to integrate three times (triple integral). In order to avoid that, we ll take dV as infinitesimal disks/ plates.

h
r

dV = dxdydz
z

x
z
dz

dV = e 2 dz e
y

dV = e 2 dz

x
52

But e is varying along z

dV = e dz
z

dz

dV = e 2 dz
y

The relationship e and z can be found using similar triangles.

r (h z ) 2 Qxy = zdV = z e dz = z dz h V V 0

r (h z ) e= h

Qxy =

r h
12

2 2

12 = h z= = r 2h V 4 3

Qxy

r 2h2

53

Sample Problem 5.13 Determine the loca6on of the centroid of the half right circular cone shown.

SOLUTION: Volume is symmetric about the x-y plane; z coordinate of centroid is 0.

z =0

x V = xel dV

y V = yel dV

1 2 dV = r dx 2 4r xel = x yel = 3 r a a = r= x x h h

First moment wrt y-z plane: x V = xel dV

1 2 dV = r dx 2 4r xel = x yel = 3 r a a = r= x x h h

First moment wrt x-z plane:

y V = yel dV

57

 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 homogeneous bodies,

X V = xV

Y V = yV

Z V = zV

58

For homogeneous bodies, X V = xV Y V = yV

Z V = zV

59

60

X = x V V = 3.08 in 4

) (5.286 in 3 )
) (5.286 in 3 )

X = 0.577 in.
Y = yV V = 5.047 in 4

Y = 0.577 in.
Z = z V V = 1.618 in 4

) (5.286 in 3 )
61

Z = 0.577 in.