Centre of Mass Conceptually, the point where the whole mass of body or system can be assumed to be concentrated for

simplified study of its motion is called the centre of mass. The centre of mass of an object is the single point that moves in the same way as a point mass having mass equal to the object would move when subjected to the same external forces that acts on the object. That is, if the resultant force acting on an object (or system of objects) of mass m is F->, the acceleration of the centre of mass of the object (or system) is given by . a->cm = F->/m . One should also understand that any point having an acceleration = F->/m, does not necessarily have to be the centre of mass i.e., it is a necessary but not sufficient condition. If the system is considered to be composed of tiny masses m1, m2, m3, ..., at coordinates (x1, y1, z1), (x2, y2, z2), ..., then the co-ordinates of the centre of mass are given by xcm = ximi / mi, ycm = yimi / mi, zcm = zimi / mi

where the summations extend over all masses composing the object. Similarly, xcoordinate of centre of gravity is defined as Xcg = ximi / mi. In a uniform gravitational field, the centre of mass and the centre of gravity coincide. The position vector rcm of the centre of mass can be expressed in terms of the position vectors r1, r2, ... of the particles as

In statistical language, the location of centre of mass is a mass-weighted average of the locations of all particles. For a discrete system of particles the position (see Figure given below) of the centre of mass is

where M = imi and, ri = position vector of particle mi So, the co-ordinates of centre of mass in three-dimensional Cartesian system will

be,

Xcm = 1/M imixi , Ycm = 1/M imiyi , Zcm = 1/M imizi,

Illustration: Particle of masses 2 kg, 2 kg, 1 kg and 1 kg are placed at the corners A, B, C, D of a square of side L as shown in the figure. Find the centre of mass of the system.

Solution: If A is taken as origin, then xcm = (m1 x1 + m2 x2 + m3 x3 + m4 x4) / (m1 + m2 + m3 + m4 ) = (2.0+2.L+1.L+1.0)/6 = 1/2 L

ycm = (m1 x1 + m2 x2 + m3 x3 + m4 x4) / (m1 + m2 + m3 + m4 ) = (2.0+2.0+1.L+1.L)/6=L/3

Illustration: Locate the centre of mass of the given system of three particles located at the vertices of an equilateral triangle.

Solution: xcm = (10+20+3(b/2))/(1+2+3), = 7/12, ycm = (10+20+33(b/2))/(1+2+3), = (3b3)/12.

The centre of mass after removal of a part of a body If a portion of a body is taken out, the remaining portion may be considered as, original mass (M) -mass of the removed part (m) = {Original mass (M)} + {- mass of the removed part (m)}

The formula changes to: Xcm = (Mx-mx')/(M-m) and Ycm = (My-my')/(M-m) where primed ones represent the coordinate of the C.M. of the removed part. Centre of Mass for a Continuous Distribution For a continuous distribution of mass, we can treat an element of mass dm at any position as a point mass and replace the summation by integration as shown below: R->cm = 1/M x dm So, we get Xcm = 1/M x dm Ycm = 1/M y dm Zcm = 1/M z dm,

Note:

For centre of mass the following are self-explanatory.

(1) There may or may not be any mass present at the centre of mass as can be seen in the figures below. In the first body there is mass present at the centre of mass but in the second example of a ring there is no mass at the centre of mass.

(2) Its position depends on the shape of the body. It is nearer to the region where more mass is concentrated (because of vector r).

(3) For symmetrical bodies having homogeneous distribution of mass coincides with the centre of symmetry (again think in terms of vector r). (4) Centre of mass and centre of gravity need not be at the same points (consider a very high mountain and apply the concept of variation of g with height). Illustration: Find the centre of mass of uniform straight rod of length l ?

Solution: Consider the mass and length of rod as M and L. Mass per unit length l = M/L. Let us consider a small element dx at distance x from O. Mass of this element dm = M/L dx. Hence centre of mass of the system = 1/M 0L x dm = 1/M 0L M/L x dx = L/2 Ans.

Illustration: A thin homogeneous lamina is in the form of a circular disc of radius R. From it a circular hole exactly half the radius of the lamina and touching the lamina's circumference is cut off. Find the centre of mass of the remaining part.

Solution:

Let the centre of the lamina be the origin. Due to symmetry, the C.M. will lie on the xaxis. Let m be the mass of the circular lamina. Then, mass m' of the removed circular hole is m' = M/( R2 ) ( r2 )=M/R2 (R/2)=M/4 => xcm = (M.0-m'.r)/(M-m' )

The negative sign of m' denotes that it has been removed. => xcm = (-M/4 * R/2)/(M-M/4) - R/6

Thus, the centre of mass of the remaining part lies at a distance R/6 towards left of the origin, i.e. initial centre of mass of the disc.

Shift in the position of centre of mass Shift in the position of c.m. x = (m1 x1 + m2 x2 + ...)/(m1 + m1 +...) y = (m1 y1 + m2 y2 + ...)/(m1 + m1 +...) where Dx and Dy are the changes in the co-ordinates of the C.M. of the system and Dx1, Dx2, ...... and Dy1, Dy2, ...... are the changes in the position of the c.m. of the individual masses. In vector form, displacement of centre of mass, r-> = (mr
-> 1

+ mr

->

2)/(m1

+ m2 )

where vectors r1, r2, r3, ...... are the displacement of m1, m2, m3, ...... etc.

Note: If centre of mass of a system is stationary initially and no net external force acts on it, then the centre of mass of the system remains at rest even if the parts of the system may be moving.

Motion of Centre of Mass Since, Rcm-> = (m1 r1-> + m2 r1-> + ...)/(m1 + m2 + ...) The velocity of the centre of mass can be obtained by differentiating the above equation w.r.t. t.

Once again, we can differentiate the above equation w.r.t. t to get acceleration of centre of mass i.e.

=> (m1 + m2 + m3 +...) acm-> , = m1a1-> + m2a2->+ ..... => Fcm-> = m1a1-> + m2a2->+ ..... Where Fcm-> is the force acting on the centre of mass of the system. We can write. Fcm-> = F1-> + F2-> + F3-> + .... Where Fcm-> = M acm, here M is the total mass of the system. Hence the total mass of the system times the acceleration of its centre of mass is equal to vector sum of all the forces acting on the group of particles.

Illustration: Consider three particles of different masses acted upon by external forces as shown in Figure given below. Find the acceleration of the centre of mass of the system. (ii) Find the centre of mass of the system?

Solution:

(i)

Centre of mass of the system Xcm = (m1 x1 + m2 x2 + m3 x3)/(m1 + m2 + m3 ) = ((84)+(4-2)+(4-11))/16 = 1.8m Ycm = (m1 y1 + m2 y2 + m3 y3)/(m1 + m2 + m3 ) = ((81)+(42)+(43))/16 = 0.25m

(ii)

Acceleration of centre of mass:

To find the acceleration of centre of mass, we have to find the resultant forces acting on the system, described in question. The resultant force is F-> = F1-> + F2-> + F3-> = 16j - 6j + 14i = (14j + 10j)N And F-> = Macm Where M = m1 + m2 + m3 = 16 kg. So acm = (14j + 10j)N, = 7/8 i + 5/8 j m/s2 Ans.

Illustration: A dog of mass 10 kg is standing on a flat 10 m long boat so that is 20 meters from the shore. It walks 8 m on the boat towards the shore and then stops. The mass of the boat is 40 kg and friction between the boat and the water surface is negligible. How far is the dog from the shore now?

Solution: Take boat and dog as a system. Initially, centre of mass of the system is at rest. Since no external force is acting on the system, hence centre of mass of the system will remain stationary.

Let initially distance of the centre of mass of the boat from the shore be x m. Then, x1.c.m. = (40 x 10 20)/(40 + 10) m (i) where x1.c.m. = distance of the C.M. of the system from the shore. Since dog moves towards the shore, for the centre of mass of the system to be at rest, the boat has to move away from the shore. Let distance moved by the boat be x. Then, x2.c.m. = (40 (x+x' ) + 10(20 - 8 + x'))/(40 + 10) As x1.c.m. = x2.c.m. => (40x + 200)/50 + (40(x + x' ) + 10(12 + x'))/50 => 50x = 80 => x = 1.6 m. Hence, distance of the dog from the shore is (20 8 + 1.6)m = 13.6 cm Alternatively As there is no external force acting on the system (dog + boat) along the x-axis and initially centre of mass of the system is at rest, therefore the motion of the dog will not change x-coordinate of the centre of mass of the system

i.e. X->cm = (md x

-> d

+ mb x->b)/(mb + md ) (i)

Let the displacement of boat be s i. The displacement of the dog with respect to boat, r->(d,b) = -li. The displacement of the dog, r->d = r->(d,b) + r->b = li + si = (-l -s) i From (i), md (l + s)i + mbs i = 0 => s = (md l)/((md + mb ) ) = (10 8)/((10 + 40) ) = 1.6 m Hence position of dog from the shore L'-> = L-> + r->b = 20 i + (8+1.6) i = 13.6 i . Centre of mass of a body having continuous distribution of mass If the bodies given are not discrete and their distances are not specific, the centre of

mass can be found out by taking an infinitesimal part of mass dm at a distance x and y from the origin of the chosen coordinate system. Xcm = (x dm)/(dm); In vector form, r Illustration:
->

Ycm = (y dm)/(dm);

Xcm = (z dm)/(dm)

cm=(r-> dm)/(dm).

Find the centre of mass of a uniform semi-circular ring of radius R and mass M. Solution: Consider the centre of the ring as origin. Consider a differential element of length dl of the ring whose radius vector makes an angle with the x-axis. If the angle subtended by the length dl is d at the centre, then, dl = Rd.

Let be the mass per unit length. Then, mass of this element is dm = R d => Xcm = 1/m x dm = 1/m 0(R sin ). Rd = 0

and Ycm = 1/m 0(R sin ). Rd = ( R2)/m 0 sin d = ( R2)/ R [-cos ]0 => Ycm = 2R/

Illustration: If the linear mass density of a rod of length L varies as = A + Bx (where A and B are constants), then find the coordinates of centre of mass. Solution: As the rod is kept along x-axis, therefore Ycm = 0 and Zcm = 0

For x-coordinate: xcm = (0L x dm)/(0L dm) dm = .dx = (A + Bx) dx

Hence, coordinates of centre of mass are (L(3A+2BL)/3(2A+BL) ,0,0). Velocity of the centre of mass of a system of particles Position vector of the centre of mass of a system of particle is given by

Differentiating both sides with respect to time, we obtain

=> The velocity of the centre of mass of the system is given by

Differentiating both sides with respect to time, we obtain

=> Acceleration of the C.M. of a system of particles,

Note: Hence, in the absence of any net external force, the centre of mass of a system of particles is either at rest or moves with constant velocity. Illustration: A dog of mass 10 kg chases a rabbit running with a speed of 7 km/hr and mass 2kg with a speed of 13 km/hr along a straight line. Find the speed of the centre of mass of the dog rabbit system. Solution: Velocity of centre of mass, vcm = (m1 v1 + m2 v2)/(m1 + m2 ) = (10 13 + 2 7)/(10 + 2) = 12 km/hr