patm Problem:

Determine the net hydrostatic force F and


z moment M on the submerged hemisphere of
radius R with respect to the coordinate system
shown through integration of the pressure forces.

zo Express the line of action of the resultant force in

parametric form and locate the center of pressure,
i.e. the intersection of the force line of action with
n̂ the hemisphere.



x x
θ
y
n̂ ϕ Pressure at origin: po = patm − γ zo

x Pressure at surface: p( x ) = po − γ z

Solution:

The general equations for hydrostatic force and moment for a submerged body of surface area A are,







F = − ∫ p dA = − ∫ p nˆ dA M = − ∫ x × p dA = − ∫ x × nˆ p dA
A A A A

Since the analytic expression for the surface location vector x and local outward unit normal vector n̂ to the surface
are different for the circular base and hemispherical dome, one has to split the integrals into two parts.

Circular Base:

 cos ϕ 
x = r  sin ϕ 


where 0 ≤ r ≤ R and 0 ≤ ϕ ≤ 2π
 0 
 

0
nˆ =  0 


dA = r dϕ dr p( x ) = po
 −1 
 

R 2π 0  0 R 2π


FB = − ∫ ∫ po  0  r dϕ dr = po  0  ∫ ∫ r dϕ dr
0 0  −1   0 0
  1

2π R
R2
Since ∫ dϕ = 2π and
0
∫ r dr =
0
2
,

1
  0


FB = π R po  0 
2

1
 

R 2π  cos ϕ   0  R 2π  − sin ϕ 


M B = − ∫ ∫ r  sin ϕ  ×  0  po r dϕ dr = ∫∫
 cos ϕ  p r 2 dϕ dr
  o
0 0  0   −1  0 0  0 
     

2π 2π
Since ∫ sin ϕ dϕ = ∫ cos ϕ dϕ = 0 ,
0 0

 0


M B =  0 
 0
 

Hemispherical Dome:

 sin θ cos ϕ 
x = R  sin θ sin ϕ 


where 0≤θ ≤π /2 and 0 ≤ ϕ ≤ 2π
 cos θ 
 

 sin θ cos ϕ 
nˆ =
=  sin θ sin ϕ 
x 

dA = R 2 sin θ d θ d ϕ p ( x ) = po − γ R cos θ
x  
 cos θ 

π /2 2π  sin θ cos ϕ 


FD = − ∫ ∫ ( po − γ R cos θ )  sin θ sin ϕ  R 2 sin θ dϕ dθ (integrate with respect to ϕ first)
0 0  cos θ 
 

2π 2π 2π
Since ∫ sin ϕ dϕ = 0 ,
0
∫ cos ϕ dϕ = 0 , and
0
∫ dϕ = 2π ,
0

 0   0   0 

π /2  
π /2
3 
π /2
2 
FD = ∫ 2π (γ R cos θ − po )  0  R dθ = ∫ 2π γ R 
2
0  dθ − ∫ 2π po R  0  dθ
0  sin θ cos θ  0  sin θ cos 2θ  0  sin θ cos θ 
     

π /2 π /2
1 1
Since ∫
0
sin θ ⋅ cos2θ dθ =
3
and ∫ sin θ ⋅ cos θ dθ = 2 ,
0

 0 0

2 3  0
FD = π γ R  0  − π R 2 po  
3  1  
  1

2
 2π π /2



M D = − ∫ ∫ x × nˆ ( po − γ R cos θ ) R 2 sin θ dθ dϕ
o o

Since x = R nˆ , x × nˆ = 0 , and thus M D = 0

Entire Hemisphere:

 0 0  0




F = FB + FD = π R po  0  + π γ R  0  − π R po  0 
  3 
2 2 2

1 3    
  1 1

 0

2  0
F = π R 3γ   ⇒ The force magnitude is equal to the weight of the displaced water.
3 1
 

 0  0




M = M B + M D =  0  +  0 
 0  0
   

 0

 
M =  0 ⇒ The net moment is zero with respect to the origin around all axes.
 0
 

Force Line of Action:

Since F ⋅ M = 0 , one can solve for the locus of points x of the force line of action by solving x × F = M ,

x  0   0  y 23 π γ R 3   0 y=0
 y  ×  0  =  0  3  
      ⇒ 2
 −x 3 π γ R  =  0 ⇒ x=0
 z   2 π γ R3       0
  3   0  0    z = free

 0  0

 
 
For z = 0 , we get a point on the line, p =  0  , and with the direction of the force, s =  0  , the force line of action
 0 1
   




can be expressed in parametric form, x = p + t s , with t as the free parameter,

 0 0
x =  0  + t  0 


where t ∈ 
 0  
  1

The force line of action runs through the origin, which is also the center of pressure of the hemisphere.