ENGR-36 Lec-23 Fa12 Center of Gravity H13e

Engineering 36
Chp09: Center
of Gravity
Bruce Mayer, PE
Licensed Electrical & Mechanical Engineer
BMayer@ChabotCollege.edu
Engineering-36: Engineering Mechanics - Statics
1
Bruce Mayer, PE
BMayer@ChabotCollege.edu ENGR-36_Lec-232_Center_of_Gravity.pptx
Introduction: Center of Gravity

The earth exerts a gravitational force on
each of the particles forming a body.
These forces can be replaced by a
SINGLE equivalent force equal to the
weight of the body and applied at the
CENTER OF GRAVITY (CG) for the body
The CENTROID of an AREA is

analogous to the CG of a body.
The concept of the FIRST MOMENT of
an AREA is used to locate the centroid
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Bruce Mayer, PE
Total Mass General Case

dVn at xn , yn , zn
Given a Massive
Body in 3D Space
Divide the Body in to
Very Small Volumes
dV
Each dVn is located at
position (xn,yn,zn)
r xni yn j zn k
The DENSITY, , can

be a function of
POSITION n xn , yn , zn
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Bruce Mayer, PE
Total Mass General Case

Now since m = V, then the
incremental mass, dm
dVn at xn , yn , zn
dmn xn , yn , zn dVn
r xni yn j zn k
Integrate dm over the entire

body to obtain the total
Mass, M
dm
body
volume

4
x , y , z dV
Bruce Mayer, PE
Total WEIGHT General Case

Recall that W = Mg
Using the the previous
expression for M
W Mg
gdm
body
dVn at xn , yn , zn
g x , y , z dV
n
r xni yn j zn k
volume
x , y , z g dV
n
volume
x , y , z g dV
n
volume
Now Define SPECIFIC

WEIGHT, , as g
5
x , y , z g dV
n
volume
x , y , z dV
n
volume
Bruce Mayer, PE
Uniform Density Case

Consider a body with
UNIFORM DENSITY; i.e.
dVn at xn , yn , zn
xn , y n , z n x m , y m , z n
x n , y n , z n xm , y m , z n
r xni yn j zn k
Then M & W
dV
volume
dV
volume

6
dV
dV
volume
volume
Bruce Mayer, PE
Center of Mass Location

Use MOMENTS to Locate
Center of Mass/Gravity
Recall Defintion of a
MOMENT
Moment leverArm Intensity
dVn at xn , yn , zn
r xni yn j zn k
In the General Center-of-Mass Case

LeverArm Position Vector, rn, or its components
Intensity Incremental Mass, dm n
R M LeverArms Intensitie s
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Intensitie s
Bruce Mayer, PE

RM in Component form
dVn at xn , yn , zn
RM X M i YM j Z M k
r xni yn j zn k
Now Define the Incremental

Moment, dn
d n xni yn j zn k gdVn
LeverArm
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Intensity
Bruce Mayer, PE

Integrating d to Find for
the entire body
dVn at xn , yn , zn
r xni yn j zn k
body
x i y j z k gdV
n
volume
xi y j x k
gi
j y dV gk z dV
dV
g
n n
n n
n n
all x

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all y
all z
Bruce Mayer, PE

Now Equate to RMMg
dVn at xn , yn , zn
R M Mg Mg X M i YM j Z M k
gi xn dVn g j yn dVn gk z n dVn
all x
all y
all z
r xni yn j zn k
Canceling g, and equating

Components yields, for example, in the X-Dir
XMM
x dV
n
all x
LeverArm
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Intensity
Bruce Mayer, PE

Divide out the Total Intensity,
M, to Isolate the Overall
X-directed Lever Arm, XM
XM
dVn at xn , yn , zn
xn dVn
r xni yn j zn k
all x
And the Similar expressions

for the other CoOrd Directions
yn dVn
zn dVn
YM
all y

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ZM
all x
M
Bruce Mayer, PE
Center of Gravity of a 2D Body

Centroid of an Area
Taking Incremental Plate

Areas, Forming the x &
y, Along With the Fz=W
Yields the Expression for the
Equivalent POINT of W
application
Note Units = In-lb or N-m

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Centroid of a Line
x W x W
x dW
y
yW y W
y dW
Bruce Mayer, PE
Centroids of Areas & Lines

Centroid of an Area
x W x dW
x At x t dA
x A x dA x
For Plate of Uniform

Thickness
Specific Weight
t Plate Thickness
dW = tdA
1st moment w.r .t. y axis
yA y dA y
1st moment w.r .t. to x axis

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Centroid of a Line
x W x dW
x La x a dL
Wire of
Uniform
Thickness
x L x dL
yL y dL
Bruce Mayer, PE
Specific
Weight
a X-Sec
Area
dW = a(dL)
First Moments of Areas & Lines

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
the Area is divided into 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).
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The centroid of the area coincides

with the center of symmetry, O.
Bruce Mayer, PE
Centroids of Common Area Shapes

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Bruce Mayer, PE
Centroids of Common Line Shapes
Recall that for a SMALL Angle,
sin

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xr
Bruce Mayer, PE
Composite Plates and Areas

Composite plates
X W xk Wk
Y W yk W k
X W x1W1 x 2W2 x 3W3

Composite area
X A xk Ak
Y A yk Ak
Y A y1 A1 y 2 A2 y 3 A3
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Bruce Mayer, PE
Example: Composite Plate

Solution Plan
For the plane area

shown, determine the
first moments with
respect to the x and y
axes, and the location
of the centroid.
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Divide the area into a triangle,

rectangle, semicircle, and a
circular cutout
Calculate the first moments of
each area w/ respect to the axes
Find the total area and first
moments of the triangle,
rectangle, and semicircle.
Subtract the area and first
moment of the circular cutout
Calc the coordinates of the area
centroid by dividing the
NET first moment by
the total area
Bruce Mayer, PE

19
Bruce Mayer, PE
Find the total area and first moments of the

x 757.7 103 mm 3
triangle, rectangle, and semicircle. Subtract
3
3
506
.
2
10
mm
the area and first moment of the circular cutout y
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Bruce Mayer, PE

Solution
3
3
x
A
757
.
7
10
mm
X
A 13.828 103 mm 2
X 54.8 mm
Find the coordinates

of the area centroid
by dividing the
first moment totals
by the total area
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3
3
y
A
506
.
2
10
mm
Y
A 13.828103 mm 2
Y 36.6 mm
Bruce Mayer, PE
Centroids by Strip Integration

x A xdA x dxdy xel dA
yA y dA y dxdy yel dA
x A xel dA
x ydx
yA yel dA
y
ydx
2
x A xel dA
x A xel dA
ax
a x dy
2
yA yel dA

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Double integration to find the first

moment may be avoided by defining
dA as a thin rectangle or strip.
y a x dy
2r
1
cos r 2 d
3
2
yA yel dA
2r
1
sin r 2 d
3
2
Bruce Mayer, PE
Example: Centroid by Integration

Solution Plan
Determine by direct
integration the
location of the
centroid of a
parabolic spandrel.
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Determine Constant k
Calculate the Total Area
Using either vertical or
horizontal STRIPS,
perform a single
integration to find the
first moments
Evaluate the centroid
coordinates by dividing
the Total 1st Moment
by Total Area.
Bruce Mayer, PE

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Bruce Mayer, PE

Solution
Determine Constant k
y k x 2 ; and y b when x a
b
bka k 2
a
b
a
y 2 x 2 or x 1 2 y1 2
a
b
2
Calculate the Total Area

A dA Use Vertical Strips
b x
b 2
y dx 2 x dx 2
a
a 3
0
ab
3
Bruce Mayer, PE
a

25

Solution
Calc the 1st Moments, i
a
b 2
x dx
2
a
x xel dA x y dx x
0
b x
b 3
2 x dx 2
a
a 4
0
a
a 2b
0
Using vertical strips,
a
y
1
perform a single
y yel dA y dx
2
2
0
integration to find
a
2
5
the first moments.
b x
ab 2
2
a
5

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10
Bruce Mayer, PE
b 2
x dx
2
a

Finally the Answers
xA x
2
ab a b
x
3
4
Evaluate the
centroid coordinates
Divide x and y
by the total Area

27
yA y
2
ab ab
y
3 10
3
x a
4
3
y b
10
Bruce Mayer, PE
Theorems of Pappus-Guldinus
Surface of
revolution is
generated by
rotating a plane
curve about a fixed
axis.
Area of a surface of revolution
is equal to the length of the
generating curve, L, times the
distance traveled by the
centroid through the rotation.
A 2ydL 2 ydL
A 2 yL as
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yL y ydL
Bruce Mayer, PE
Theorems of Pappus-Guldinus
Body of revolution is
generated by
rotating a plane
area about a fixed
axis.
Volume of a body of revolution

is equal to the generating area,
A, times the distance traveled
by the centroid through the
rotation.
V dV 2ydA

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V 2 ydA 2 yA
Bruce Mayer, PE
Example: Pappus-Guldinus
Solution Plan
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, =
7850 kg/m3, determine the
mass and weight of the rim.
30
Apply the theorem of PappusGuldinus to evaluate the

volumes of revolution for the
rectangular rim section and
the inner cutout section.
Multiply by density and
acceleration of gravity to get
the mass and weight.
Bruce Mayer, PE
Example: P-G
Apply Pappus-Guldinus
to Sections I & II
Subtract: I-II
9 3
m V 7.85 10 kg m 7.65 10 mm 10 m mm
W 589 N
W mg 60.0 kg 9.81 m s 2
3

31
m 60.0 kg
Bruce Mayer, PE
WhiteBoard Work
Find the
Areal &
Lineal
Centroids

32
Find for Area

XA
& YA
Find for OutSide Line

XL & YL
Bruce Mayer, PE
Engineering 36
Appendix
dy
x s
sinh
dx
T0 T0
Bruce Mayer, PE
Registered Electrical & Mechanical Engineer
BMayer@ChabotCollege.edu
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Bruce Mayer, PE

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Bruce Mayer, PE

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Bruce Mayer, PE

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Bruce Mayer, PE

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Bruce Mayer, PE

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Bruce Mayer, PE

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Bruce Mayer, PE

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Bruce Mayer, PE

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Engineering 36

Introduction: Center of Gravity

The CENTROID of an AREA is

Total Mass General Case

The DENSITY, , can

Total Mass General Case

Integrate dm over the entire

Engineering-36: Engineering Mechanics - Statics

Total WEIGHT General Case

Now Define SPECIFIC

Uniform Density Case

Engineering-36: Engineering Mechanics - Statics

Center of Mass Location

Moment leverArm Intensity

In the General Center-of-Mass Case

Center of Mass Location

Now Define the Incremental

Center of Mass Location

Engineering-36: Engineering Mechanics - Statics

Center of Mass Location

Canceling g, and equating

Center of Mass Location

And the Similar expressions

Engineering-36: Engineering Mechanics - Statics

Center of Gravity of a 2D Body

Taking Incremental Plate

Engineering-36: Engineering Mechanics - Statics

Centroids of Areas & Lines

For Plate of Uniform

1st moment w.r .t. y axis

1st moment w.r .t. to x axis

Engineering-36: Engineering Mechanics - Statics

First Moments of Areas & Lines

The centroid of the area coincides

Centroids of Common Area Shapes

Engineering-36: Engineering Mechanics - Statics

Centroids of Common Line Shapes

Recall that for a SMALL Angle,

Engineering-36: Engineering Mechanics - Statics

Composite Plates and Areas

X W x1W1 x 2W2 x 3W3

Example: Composite Plate

For the plane area

Divide the area into a triangle,

Engineering-36: Engineering Mechanics - Statics

Example: Composite Plate

Find the total area and first moments of the

Example: Composite Plate

Find the coordinates

Centroids by Strip Integration

Engineering-36: Engineering Mechanics - Statics

Double integration to find the first

Example: Centroid by Integration

Engineering-36: Engineering Mechanics - Statics

Example: Centroid by Integration

Calculate the Total Area

Engineering-36: Engineering Mechanics - Statics

Example: Centroid by Integration

Engineering-36: Engineering Mechanics - Statics

Example: Centroid by Integration

Engineering-36: Engineering Mechanics - Statics

Volume of a body of revolution

Engineering-36: Engineering Mechanics - Statics

The outside diameter of a