Chapter 2

Center of Gravity, Center of Mass,

2
Centroids
30 Center of Gravity, Center of Mass, Centroids

Centroid of a Volume
The coordinates of the Centroid of
Volume of a body with volume V are
given by
 z
x dV
xc =  ,
dV
C

y dV
yc =  ,
dV
 zc y
z dV
zc =  . xc
dV x yc

Centroid of an Area

x dA
xc =  ,
dA
 y
y dA
yc =  .
dA yc C
 
Here, x dA = Cy and y dA = Cx
denote the rst moments of the area
with respect to the y- and x-axis, re- xc x
spectively.
For composite areas, where the
coordinates (xi , yi ) of the centroids
Ci of the individual subareas Ai are
known, we have
 y
xi Ai
xS =  ,
Ai yi Ci A
i

yi A i
yS =  .
Ai

xi x
Remarks:
When analyzing areas (volumes) with holes, it can be expedient to
work with negative subareas (subvolumes).
If the area (volume) has an axis of symmetry, the centroid of the
area (volume) lies on this axis.
 Center of Gravity, Center of Mass, Centroids 31

Centroid of a Line

x ds
xc =  , y
ds
 yc
y ds C
yc =  .
ds

If a line is composed of several sublines xc x

of length li with the associated coordi-
nates xi , yi of its centroids, the location
of the centroid follows from y
li

x i li yi Ci
xc =  ,
li

y i li
yc =  .
li
xi x

Center of Mass
The coordinates of the center of mass of a body with density (x, y, z)
are given by
  
xdV ydV zdV
xc =  , yc =  , zc =  .
dV dV dV

Consists a body of several subbodies Vi with (constant) densities i

and associated known coordinates xi , yi , zi , of the centroids of the
subvolumes then it holds
  
x i i Vi yi i V i zi i Vi
xc =  , yc =  , zc =  .
i Vi i Vi i Vi

Remark:
For a homogeneous body ( = const), the center of mass and the cen-
troid of the volume coincide.
32 Location of Centroids

Location of Centroids
Areas y
y x3 , y3
triangle
h
x2 , y2
x1 , y1
a x x
2
xc = 3
a xc = 13 (x1 + x2 + x3 )
1
yc = 3
h yc = 13 (y1 + y2 + y3 )
 
 
1 1 x2 x1 y2 y1 
A= ah A= 2 
2  x 3 x 1 y3 y1 

semicircle quater circle quadr. parabola quater ellipse

y y y
y
r
r r h b

x x b x a x

xc = 0 = 34 r =0 = 34 a

yc = 34 r = 34 r = 3
5
h = 34 b

A = 2 r 2 = 4 r 2 = 4
3
bh = 4 ab

Volumes Line
cone hemisphere circular arc
y
y
y
h
x
r r r
x x

xc = 0 xc = 0 xc = sin
r
1 3
yc = 4
h yc = 8
r yc = 0

V = 1
3
r 2 h V = 2
3
r 3 l = 2r
 Centroid of an Area 33

Problem 2.1 The depicted area is y P2.1

bounded by the coordinate axes and 3a
2
the quadratic parabola with its apex
at x = 0.
Determine the coordinates of the a
2
centroid.
b x

Solution The equation of the parabola is given by

y = x2 + .

The constants and follow with the aid of the points x0 = 0, y0 =

3a/2 and x1 = b, y1 = a/2 as = 3a/2 and = a/b2 . Thus, the
equation of the can be written as
 x 2 3a
y = a + .
b 2
With the innitesimal area dA = y dx, it follows
 
x dA x y dx y
xC =  = 
dA y dx
  x 2 3a 
b
x a + dx 1 2
b 2 ab 3 dA
0
= b    = 2 = b.
 x 2 3a 7 7
a + dx ab x
b 2 6 dx
0

In order to determine the y-coordinate, we choose for simplicity again

the innitesimal area element dA = y dx instead of dA = x dy,
y y dA =
dA =
xdy ydx

dy

y/2

x x x
dx
because we have already used it above. Now, we have to take into
account that its centroid is located at the height y/2. Hence, we obtain
 y
y dx b  
6 x4 3a2 9a2 87
yC = 2 = a2 4 + 2 x 2 + dx = a.
7 14 ab b b 4 140
ab 0
6
 34 Centroid

P2.2 Problem 2.2 Locate the centroid y r

of the depicted circular sector with
the opening angle 2. 2
x

Solution Due to symmetry reasons, we obtain yC = 0. In order to

determine xC we use the innitesimal sector of the circle (= triangle)
and integrate over the angle
 
 2 1
r cos r r d 1
3 2 r 3 2 sin 2 dA = r r d
xC =  1 = r 2

3 r2 3
r r d d
2
C
2 sin
= r.
3

In the limit case of a semicircular area ( = /2), the centroid is located

4
xC = r.
3

Remark: Alternatively, the determination

of the centroid may be done by the decom-
position of the area into circular rings and
integration over x. In this case the centroid C
C of the circular rings has to be known or
determined a priori.
We may determine the centroid of a circular segment with the aid of
the above calculations and by subtraction:

r
C s AI CI AII CII
A

xC xCI xCII

2 sin 2 1 2
xCI AI xCII AII r r s r cos r cos s3
xC = = 3 2 3 = .
AI AII 1 12A
r 2 s r cos
2
 Centroid of an Area 35

Problem 2.3 Locate the centroids of the depicted proles. The measu- P2.3
rements are given in mm.
a) b)

20 20
6 6

20 5 30 5

4 4
45 45

Solution a) The coordinate system is placed, such that the y-axis

coincides with the symmetry axis of the system. Therefore, we know
xC = 0. In order to determine yC , the system is decomposed into three
rectangles with known centroids and it follows

yi A i
yC =  y
Ai
2 (4 45) + 14(5 20) + 27 (6 20)
=
4 45 + 5 20 + 6 20
5000
= = 12.5 mm .
400 x

b) The origin of the coordinate system is placed in the lower left corner.
Decomposition of the system into rectangles leads to
22.5 (4 45) + 2.5 (5 20) + 10 (6 20)
xC =
4 45 + 5 20 + 6 20 y
5500
= = 13.75 mm ,
400

2 (4 45) + 14 (5 20) + 27 (6 20)

yC = x
400
= 12.5 mm .

Remark: Note that a displacement of the system in the x-direction does

not change the y-coordinate of the centroid.
 36 Centroid of an Area
y
P2.4 Problem 2.4 Locate the
centroid of the depicted 4
area with a rectangu-
lar cutout. The measure-
ments are given in cm. 2
2 2
1
x
3 1 1 2

Solution First we decompose the system into two triangles (I,II) and
one rectangle (III), from which we subtract the rectangular cutout (IV).
The centroids are known for each subsystem.

IV

I II

III

The calculation is conveniently done by using a table.

Sub- Ai xi xi Ai yi yi A i
system
i [cm2 ] [cm] [cm3] [cm] [cm3 ]

10 100 10 100
I 10
3 3 3 3
17 68 10 40
II 4
3 3 3 3
7
III 14 49 1 14
2
7
IV -2 -7 2 -4
2

   170
A= Ai = 26 xi Ai = 98 yi A i =
3
Thus, we obtain
 
xi Ai 98 49 yi A i 170/3 85
xC = = = cm , yC = = = cm .
A 26 13 A 26 39
 Centroid of a Line 37

Problem 2.5 A wire with constant P2.5

thickness is deformed into the depic-
ted gure. The measurements are gi- 40
ven in mm. 80
Locate the centroid. 30

Solution We choose coordinate axes, such that y is the symmetry

axis. Then, due to symmetry reasons, we can identify xC = 0. The
y-coordinate of the centroid follows generally by decomposition as


y i li
yC =  .
li
Three alternative solutions will be shown. The total length of the wire
is

l= li = 2 30 + 2 80 + 40 = 260 mm .

a)
I
1
yC = (80 40 + 2 40 80)
260      
I II II II
9600 y
III III
= = 36.92 mm .
260 x

b) I
1 y 40
yC = (40 40 2 40 30)
260       II x
I III
= 3.08 mm .
III III

c) We choose a specic subsystem IV

such that its centroid coincides with the IV y 40
origin of the coordinate system: x
V V
1 
yC = 2 (40) 10 = 3.08 mm .
260    10 10
V

The advantage of alternative c) is, that only the rst moment of sub-
system V has to be taken into account.
 38 Centroid of a Line
y
y = a cosh x
a + 2a
P2.6 Problem 2.6 A thin wire is bent
to a hyperbolic function.
a C
Locate the centroid.
a a x

Solution The centroid is located on the y-axis due to the symmetry

of the system (xC = 0). We obtain the innitesimal arc length ds with
aid of the derivative y  = sinh x
a as
  
x x
ds = (dx)2 + (dy)2 = 1 + (y  )2 dx = 1 + sinh2 dx = cosh dx .
a a
The total arc length follows by integration:
  +a
x
s = ds = cosh dx = 2 a sinh 1 .
a a
The rst moment of the line with respect to the x-axis is given by
  
2 1
Sx = y ds = a 4 sinh 1 sinh 2 1 .
2
Hence, the centroid is located at

y ds 4 a2 sinh 1 12 a2 sinh 2 a
yC =  = = 0.803 a .
ds 2 a sinh 1

P2.7 Problem 2.7 From the

triangular-shaped metal sheet A
ABC, the triangle CDE has II I
been cut out. The system is 3
a
pin supported in A. 2
x D
Determine x such that BC ad-
justs horizontal. B a E 3 C
a
2 2

Solution The system is in the required position, if the centroid is

located vertically below A. Consequently, the rst moments of the
triangular-shaped subsystems ADC and ABE have to be equal with
respect to the point A:
 
1 3 3 1 3 1 a 3 1 a 4
ax a a = a ; x= 3 a.
2 2 2 3 
2  2 2 2  
3 2 9
  
area ADC distance area ABE distance
 Center of Gravity 39

Problem 2.8 A piece of a pipe of P2.8

weight W is xed by three spring scales as
depicted. The spring scales are equally dis-
tributed along the edge of the pipe. They
measure the following forces: 1 2
F1 = 0.334 W , F2 = 0.331 W ,
F3 = 0.335 W .
Now an additional weight shall be attached 3
to the pipe in order to shift the centroid of
the total system into the center of the pipe
(=static balancing). Determine the location
and the magnitude of the additional weight.

Solution We know, due to the dierent

measured forces, that the system is not ba-
lanced. Thus, the gravity center C (=locati- y
1 2
on of the resulting weight) is not located in
the middle of the ring, but coincides with
30
the location of the resultant of the spring x
forces. Therefore, in a rst step, we determi-
ne the location of the center of these forces.
This can be done by the equilibrium of mo-
ments about the x- and y-axis: 3

yC W = r sin 30 (0.334 W + 0.331 W ) r 0.335 W ,

; yC = 0.0025 r ,

xC W = r cos 30 (0.331 W 0.334 W ) ,

; xC = 0.0026 r .
I Z
y
In order to recalibrate the gravity center
into the center M of the ring, the additional M
required weight Z has to be applied on the x
intersection point of the ring and the line C
CM . The weight of Z can be determined
from the equilibrium of the moments about I
the perpendicular axis I:

r Z = CM W ; r Z = x2C + yC 2
W

; Z= (0.0025)2 + (0.0026)2 W = 0.0036 W .
 40 Center of Mass

P2.9 Problem 2.9 A thin sheet

with constant thickness and z 2
density, consisting of a square
and two triangles, is bent to the 3
depicted gure (measurements II
in cm). 3 III y
I
Locate the center of gravity. 4
x 4

Solution The body is composed by three parts with already known

location of centers of mass. The location of the center of mass of the
complete system can be determined from
  
i x i Vi i yi Vi i zi Vi
xC =  , yC =  , zC =  .
i Vi i Vi i Vi
Since the thickness and the density of the sheet is constant, these terms
cancel out and we obtain
  
xi Ai yi A i zi Vi
xC =  , yC =  , zC =  .
Ai Ai Ai
The total area is
 1 1
A= Ai = 4 4 + 4 3 + 4 3 = 28 cm2 .
2 2
Calculating the rst area moments of the total system about each axis,
in each case one rst moment of a subsystem drops out because of zero
distance: xII = 0, yIII = 0, zI = 0. Thus, we obtain
2
xI AI + xIII AIII 2 16 + ( 4) 6
xC = = 3 = 1.71 cm ,
A 28

yI AI + yII AII 2 16 + 2 6
yC = = = 1.57 cm ,
A 28

1 1
zII AII + zIII AIII ( 3) 6 + ( 3) 6
zC = = 3 3 = 0.43 cm .
A 28
 Center of Mass 41

Problem 2.10 A semi-circular P2.10

t
bucket is produced from a steel sheet
with the thickness t and density S . b

a) Determine the required distance of

the bearing pivots to the upper edge, r
such that it is easy to turn the empty
bucket around the pivots.
b) Consider a steel bucket which is lled with material of the density
M . How does this change the required distance of the pivots?
Given: b = r, t = r/100, M = S /3
Solution The bucket tilts easiest by positioning the pivots in the axis
of the center of mass.
a) In case of an empty bucket (=homogeneous body), the center of
mass coincides with the center of volume. Since the sheet thickness is
constant, it cancels out. With the centroids of the subareas
4r
semi circle z1 =
3
2r zC z
semi circular arc z2 =

we obtain
4r r 2 2r
z1 A 1 + z2 A 2 2 + rb 4r +6b
z CE = = 3 2 = r.
2
A1 + A2 r 3 (r + b)
2 + rb
2
b) In case of the
! lled" bucket, we obtain with the mass of the steel
bucket mS = r 2 + rb tS and the mass of the lling mM = 12 r 2 b M
the location of the mass center as

4r
z CE m S + mM 4 (2r + 3b) t S + 4 rb M
z CF = 3 =  r.
mS + mM 3 2 (r + b) t S + r b M

Using the given data b = r, t = r/100, M = S /3 , it follows

1 1
10 45 +4
z CE = r = 0.53 r , z CF =  100 3 r = 0.44 r .
3 2 1 1
3 4 +
100 3
Remark: Since the mass of the lling is much bigger than the mass of
the bucket, we nd the common center of mass close to the center of
mass of the lling: zCM = 4r/(3) = 0.424 r.
 42 Center of Mass

P2.11 Problem 2.11 The depicted stirrer

consists of a homogenous wire that rotates
about the sketched vertical axis.
a/2
Determine the length l, such that the cen-
a
ter of mass C is located on the rotation
axis.
a
C
Solution Using the given coordinate
system and decomposing the stirrer in-
to four subparts, we obtain the center of l
mass from

x i li
xC =  .
li

For convenience, we use a table.

i li xi x i li
1 a 0 0
a a a2
2
2 4 8
a a2 1
3 a
2 2
a l al l2 y 2
4 l C
3
2 2 2 2 x
 5a 5a2 al l2
+l + 4
2 8 2 2
The centroid shall lie on the rotation axis. Therefore, from the condition
xC = 0, follows the quadratic equation
 5a2 al l2 5a2
x i li = + =0 ; l2 al = 0.
8 2 2 4
It has two solutions

a a2 5a2 a 6
l1,2 = + = a,
2 4 4 2 2
from which only the positive one is physically reasonable:
a
l = (1 + 6) .
2
 Center of Mass 43

Problem 2.12 Determine the y P2.12

location of the centroid for the
depicted surface of a hemisphere
with the radius r.
r

Solution We choose the

coordinate system, such that the
y-axis coincides with the symme- x
try axis. Therefore, we know: z
xC = 0 , zC = 0 .

T he remaining coordinate yC , fol-

lows from y

y dA
yC =  . dA R
dA

As innitesimal area element, we r

choose the circular ring with the y

width r d and the circumference
2 R as our innitesimal area ele-
ment: x
z
dA = 2 R r d .

Using R = r cos and y = r sin , it follows

dA = 2 r 2 cos d.

Now, we can determine the surface area as

  /2 /2

A= dA = 2 r 2 cos d = 2 r 2 sin  = 2 r 2
=0 0

and the rst moment of the area as

  /2 /2
1 
y dA = 2 r 3 d = 2 r 3 sin2 
sin cos  = r3 .
=0 2 0
d sin
Thus, the location of the centroid results as

1 r
yC = y dA = .
A 2
 44 Center of Mass
y
P2.13 Problem 2.13 Determine the center
of the volume for the depicted he-
misphere of radius r.
r
Solution Due to the axisymmetric
geometry, we know
x
xc = 0 , zc = 0 .
z
The remaining coordinate is deter- y
mined from

y dV dy
yC =  . R
dV

As innitesimal volume element r y

we select the circular disk with ra-

dius R and thickness dy:
x
dV = R2 dy . z
By parametrization of the radius R and coordinate y

R = r cos , y = r sin ; dy = r cos d ,

the volume of the hemisphere follows as

  /2  /2
V= dV = r 3 cos3 d = r 3 (1 sin2 ) cos 
d
=0 =0
  /2 d sin
sin3  2
=r 3
sin  = r3 .
3  3
0

With the the rst moment of the area as

  /2 /2
r4  r4
y dV = r 4 3
cos sin d = cos4
 = ,
   4  4
=0 0
d cos
the center of the volume is determined as

1 r 4 3 3
yC = y dV = = r.
V 4 2 r 3 8
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