Statics of Rigid Bodies

Learning Module 06

Centroids and
Center of Gravity
Learning Packet 01

Center of
Gravity

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 Statics of Rigid Bodies

Learning Packet 01

Center of Gravity
Introduction
The center of gravity of a body is the point through which the action line of the weight always
passes. In this learning packet, we will discuss the principles of center of gravity and
importance in the field of engineering. The learning packet covers the centroids by integration
and it provides the centroids for common geometric shapes.

Objectives
The objective of this learning packet is to learn how to calculate the center of gravity. To
calculate problems involving centroids of two-dimensional body.

Duration
• Topic 01: Centroids by Integration = 2 hours
• Topic 02: Centroids for Common Geometric Shapes = 1 hour

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 Statics of Rigid Bodies

Introduction
The center of gravity of a body is the point through Key Points:
• Center of Gravity
which the action line of the weight always passes. These centers • Centroids
of gravity of the body are commonly used in engineering courses
Hazard Alerts:
such as mechanics of deformable bodies, fluid mechanics, and
• Coordinates of the
other courses that deals with the properties of body or materials center of gravity is
that includes its weight and forces acting on the body. denoted by (𝑥̅ , 𝑦̅).
• 𝑥̅ is read as “bar x”
• 𝑦̅ is read as “bar y”
The principles and techniques developed in this course • c.g. means center of
gravity
packet, are based in the principle of moments of force system
• C means centroid
acting on the given body. Later in this course packet, we will • All inclined notes on
understand that the moment of force system is the main idea of solution are just notes
or reminders on that
to determine centers of gravity that leads to centroids by part of solution.
integration and to develop centroids for common geometric
figures.

Pre-Assessment
Instructions:
A. Answer the following questions.
B. After answering the pre-assessment, don’t immediately determine the correct solutions
and answers.
C. Proceed to the lesson proper and study the learning packet topics.
D. After studying the topics, answer these questions again – this will also serve as post-
assessment.
E. You may check – compare and evaluate your answers as you go along with the course
packet.

Pre and Post Assessment Problems:

1. Give the centroid of the circular arc shown in Figure 6-1 with respect to the indicated axes.
Consider the x-axis as axis of symmetry.

Figure 6-1

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 Statics of Rigid Bodies

2. The radius of the quarter circle shown in Figure 6-2 is 5.0 cm. Find the centroid of the
quarter circle with respect to the indicated axes.

Figure 6-2

3. In the Figure 6-3, determine the centroid of the given circular sector with respect to the
indicated axes. Consider the y-axis as axis of symmetry.

Figure 6-3

4. Determine the centroid by integration of the quadrant of the ellipse shown in Figure 6-4
x2 y2
with respect to the indicated axes. The equation of the ellipse is a2 + b2 = 1.

Figure 6-4

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 Statics of Rigid Bodies

Lesson Proper
Center of Gravity
A body of weight W is supported by a string
attached at A as shown in Figure 6-5. The only external
forces acting on the body are its weight and the reaction
exerted by the string. Equilibrium of the body can exist only
if these two forces are equal, opposite, and collinear. The
line of action of the weight W can be determined, therefore,
by the line of action of the support.

Let the body supported in a new position by a string

Figure 6-5
now attached to B. The body will shift its position so that the
line of action of the weight is again collinear with the string. Thus, two position of line of action
of the weight are determined experimentally. The intersections of the line of action determines
a point which is defined as the center of gravity of the body; this is the point through which the
action line of the weight always passes.

From the above discussion, it is apparent that the problem of locating the center of
gravity of a body reduces to determine the point through which the resultant weight of the
body acts.

Center of Gravity of a Flat Plate

The analytical location of the center of gravity is simply a variation of the principle of
moments; that is, the moment of the resultant is equal to the moment sum of its parts. As an
example, consider the flat plate of irregular section shown in Figure 6-6. A pictorial as well as
front and side views shown. The network shown divides the plate into small elements having
weights 𝑤1 , 𝑤2 , etc., which act at the center of each element. These gravity forces form a
parallel force system, the resultant of which is the total weight W of the plate.

Let the coordinates of each elemental weight be (𝑥1, 𝑦1 ), (𝑥2, 𝑦2 ), etc., and the
coordinates of the resultant weight be (𝑥̅ , 𝑦̅), as shown in Figure 6-6. Taking moments of the
weights about the y-axis, we get
𝑊𝑥̅ = 𝑤1 𝑥1 + 𝑤2 𝑥2 + ⋯
or 𝑊𝑥̅ = ∑ 𝑤𝑥 (Eq. 01)
With respect to the x-axis, we have
𝑊𝑦̅ = 𝑤1 𝑦1 + 𝑤2 𝑦2 + ⋯
or 𝑊𝑦̅ = ∑ 𝑤𝑦 (Eq. 02)
These equations merely state that the moment of a weight W about an axis is equal to the
moment sum of its element weights.

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 Statics of Rigid Bodies

Front View Side View

Figure 6-6. Coordinates of the Center of Gravity

Centroids of Areas and Lines

The material on the plate in Figure 6-6 is homogeneous, the weight W may be
expressed as the product of its density 𝛾 (i.e., weight per unit volume) multiplied by tA, where
t is the thickness of the plate and A is its area. Similarly, the weight of an element is given by
𝛾ta, where a is the cross-sectional area of the element. Substituting these values in (Eq. 01) in
center of gravity of a flat plate, we have
𝛾𝑡𝐴𝑥̅ = 𝛾𝑡 ∑ 𝑎𝑥
whence, cancelling the constant terms 𝛾 and t, we get
̅ = ∑ 𝒂𝒙
𝑨𝒙
and similarly, ̅ = ∑ 𝒂𝒚
𝑨𝒚

By analogy with (Eq. 01) and (Eq. 02), the expression 𝐴𝑥̅ , as well 𝐴𝑦̅, is called the
moment of area. It is equivalent to the sum of the moments of the element areas composing
the total area. The moment of area is therefore defined as the product of the area multiplied
by the perpendicular distance from the center of area to the axis of moments.

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 Statics of Rigid Bodies

If the equations for moment of area derived above is written in the following form:
∑ 𝒂𝒙
̅=
𝒙
𝑨
∑ 𝒂𝒚
̅=
𝒚
𝑨
this gives a method of locating a point called the centroid of area. The centroid of area is
defined as the point corresponding to the center of gravity of a plate of infinitesimal thickness.
The term “centroid” rather than “center of gravity” is used when referring to area (as well as
to lines and volumes) because such figures do not have weights.

When referring to lines, the centroid may be

determined by similar means. A line may be assumed
to be the axis of a homogeneous slender wire. Thus,
Figure 6-7 represents the center line of a homogeneous
wire of length L and constant cross-sectional a lying in
the xy plane. The weight W is given by the equation W
= 𝛾aL and the weight w of an element length l by w =
𝛾al. Substituting these values in (Eq. 01) and (Eq. 02) in
center of gravity of a flat plate, we have
Figure 6-7
𝛾𝑎𝐿𝑥̅ = 𝛾𝑎 ∑ 𝑙𝑥
and
𝛾𝑎𝐿𝑦̅ = 𝛾𝑎 ∑ 𝑙𝑦
whence, cancelling the constant terms 𝛾 and a, we get
̅ = ∑ 𝒍𝒙
𝑳𝒙
̅ = ∑ 𝒍𝒚
𝑳𝒚

Importance of Centroids and Moments of Areas

In subsequent work on mechanics of deformable bodies or also known as strength of
materials, the student will find the location of the centroid of an area of great importance. For
example, they will learn that in order to produce uniform stress distribution, the loads must
be placed so that the line of action of their resultant coincides with the centroid of the cross
section of the member. The position of the centroid of an area is also important for determining
the location of the neutral axis in the bending of beams, for in strength of materials it is shown
that the neutral axis (line of zero stress) passes through the centroid of the cross section of the
beam.

An axis passing through the centroid of an area is known as a centroidal axis. The next
topic (learning module), which deals with moments of inertia, will make clear the great
importance of the position of centroidal axes of areas. Many other instances of their
importance will come to the student’s attention in their engineering studies.

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 Statics of Rigid Bodies

Of equal importance to the position of a centroid is the moment of an area. We recall

that the moment of an area with respect to an axis was defined as the product of the area
multiplied by the perpendicular distance from its centroid to the axis. In dynamics, the
moment of area is used to determine the displacement of a body subjected to variable forces.
In strength of materials, it is used to determine shearing stresses in beams. In addition, the
moment of an area is extensively used for determining the deflection of beams by area-
moment method. These instances, as well as many others that the student will encounter,
should indicate the importance of a permanent knowledge of centroids and moments of area.

Centroids Determined by Integration

We recall that integration is the process of summing up infinitesimal quantities.
Except for a change in symbols and procedure, integration is equivalent to a finite summation.
In the preceding discussion, for example, if the area of an element had been expressed as the
differential dA (i.e., a small part of the total area A), the equations for determining the centroid
of an area would become
̅ = ∫ 𝒙 𝒅𝑨
𝑨𝒙
̅ = ∫ 𝒚 𝒅𝑨
𝑨𝒚
and for determining the centroid of a line, we could use
̅ = ∫ 𝒙 𝒅𝑳
𝑳𝒙
̅ = ∫ 𝒚 𝒅𝑳
𝑳𝒚

In determining the centroid by integration, the figure is divided into differential

elements so that:
1. All points of the element are located the same distance from the axis of moments, or
2. The position of the centroid of the element is known so that the moment of the element
about the axis of moments is the product of the element and the distance of its centroid
from the axis.

If a plane figure has a line of symmetry, its centroid is located on that line. This
statement may be demonstrated by balancing a plate on its line of symmetry, whence the
moments of the weights (also areas if the plate has constant thickness) on either side of the
line of symmetry must be numerically equal and of opposite sign. If a plane figure has two
line of symmetry, the centroid is located at the point of intersection of the lines.

Source: Engineering Mechanics Second Edition by Ferdinand L. Singer

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 Statics of Rigid Bodies

Examples (Problems from Engineering Mechanics Second Edition by Ferdinand L. Singer):

1. Determine the centroid of the line which is an arc of a circle, as shown in Figure 6-8.
(Note that the red marks are not included on the given, it is part of the solution.)

Figure 6-8

Solution:
Let the axis of symmetry be chosen as the x-axis. Then, the centroid from x-axis is 𝑦̅ = 0. If the
radius of the arc is denoted by r and the subtended angle by 2α, the element of arc dL and its distance
from y-axis are
dL = r dθ *
x = r cos θ **

* From arc of a circle: L = rθ

𝑥
** From function of right triangle: cos θ = 𝑟

Solving for x̅:

Lx̅ = ∫ x dL
where: L = r (2α) = 2αr
𝛼
2αr 𝑥̅ = ∫−𝛼 r cos θ (r dθ)
𝛼
2αr 𝑥̅ = r 2 ∫−𝛼 cos θ dθ
2α 𝑥̅ = r [sin θ]𝛼−𝛼
2α 𝑥̅ = r [sin α − sin(−α)]
2α 𝑥̅ = r (2 sin α)
r sin α
𝑥̅ = α
Answers:
𝐫 𝐬𝐢𝐧 𝛂
̅=
𝒙 𝛂
̅=𝟎
𝒚

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 Statics of Rigid Bodies

𝜋
If the arc is a semicircle, that is, α = 90° = radians and sin α = 1. Substituting these values in the
2
above result gives
r sin α
𝑥̅ = α
r (1)
𝑥̅ = 𝜋
2
𝟐𝐫
̅=
𝒙 𝛑

2. The triangle shown in Figure 6-9 has a base b and an altitude h. Locate the centroid of the
triangular area with respect to the base.

Figure 6-9

Solution:
In accordance to rule 1 given earlier, select strips
parallel to the base as the differential elements of area.
The area of any differential element is then:
dA = x dy

Solving for centroid with respect to the base, y̅:

Ay̅ = ∫ y dA
1
where: A = 𝑏ℎ
2
1
bh y̅ = ∫ y (x dy)
2

Since the equation have y as its independent variable, change x into an equation involving variable y.
From similar triangles:
x b
=h
h−y
b
x = h (h – y)
Determine the centroid with respect to the base, y̅:
1
bh y̅ = ∫ y (x dy)
2
1 h b
bh y̅ = ∫0 y (h) (h − y) dy
2

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 Statics of Rigid Bodies

1 b h
bh y̅ = h ∫0 (hy − y 2 ) dy
2
h
2 hy2 y3
y̅ = h2 [ − ]
2 3 0
2 h(h)2 (h)3 h(0)2 (0)3
y̅ = h2 [ − − + ]
2 3 2 3
2 h3
y̅ = h2 [ 6 ]
𝟏
𝐲̅ = 𝟑 𝐡

Observe that for any triangle the distance from the centroid to any side is equal to one-third of the
altitude measured from that side. Furthermore, the centroid of a triangle is located on a median because
the median to any side contains the centroids of all strips drawn parallel to that side. Therefore, the
centroid is at the intersection of the median.

3. Determine the location of the centroid of the area of the sector of the circle shown in Figure
6-10. Let the radius of the circle be r and the subtended angle be 2α. (Note that the red marks
are not included on the given, it is part of the solution.)

Figure 6-10
Solution:
Let the axis of symmetry be taken as the x-axis; then 𝑦̅ = 0. Consider the element of area is the
red marked sector.

Solving for centroid with respect to the base, x̅:

Ax̅ = ∫ x dA
where:
A = area of sector
1
A = 2 r 2 (2α)
A = r 2α
dA = area of the element
1
dA = 2 r 2 dθ

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 Statics of Rigid Bodies

x = centroid of the element from y-axis

See blue marked triangle in the illustration:
(Note that the variable x is also the centroid of the
blue marked triangle from y-axis.)
2
∴ x = 3 r cos θ

Determine the centroid, x̅:

Ax̅ = ∫ x dA
𝛼 2 1
r 2 α x̅ = ∫−𝛼 3 r cos θ (2 r 2 dθ)
1 𝛼
r 2 α x̅ = r 3 ∫−𝛼 cos θ dθ
3
𝑟
x̅ = 3𝛼 [sin θ]𝛼−𝛼
𝑟
x̅ = 3𝛼 [sin 𝛼 − sin(−𝛼)]
𝑟
x̅ = 3𝛼 [2 sin 𝛼 ] or
2 𝑟 sin 𝛼
x̅ = 3 𝛼
Answers:
𝟐 𝒓 𝐬𝐢𝐧 𝜶
𝐱̅ = 𝟑 𝜶
𝐲̅ = 𝟎

Centroids for Common Geometric Shapes

The following centroids for common geometric shapes are derived using centroids by
integration as discussed in the preceding problems.

Rectangle: Any Triangle:

1
A = bd A = 2 bh
b h
𝑥̅ = 2 𝑦̅ = 3
d
𝑦̅ = 2

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 Statics of Rigid Bodies

Right Triangle: Semicircle:

1 𝜋r2
A = 2 bh A= 2
b
𝑥̅ = 𝑥̅ = 0
3
h 4r
𝑦̅ = 3 𝑦̅ = 3𝜋

Quarter Circle: Circular Sector:

𝜋r2
A= 4
4r
𝑥̅ = 3𝜋
4r 2 𝑟 sin 𝛼
𝑦̅ = 3𝜋 A = r 2𝛼 𝑥̅ = 3 𝑦̅ = 0
𝛼

Segment of Arc Area Under Spandrel

bh
L=2rα A = n+1
𝑟 sin 𝛼 b
𝑥̅ = 𝑥̅ = b – x’ x’ = n+2
𝛼
h (n+1)
𝑦̅ = 0 𝑦̅ =
4n+2

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 Statics of Rigid Bodies

Parabolic Segment

2 2
A = bh A = bh
3 3
3 2
𝑥̅ = 8 b 𝑥̅ = b – x’ x’ = 5 b
2 3
𝑦̅ = 5 h 𝑥̅ = 5 b
3
𝑦̅ = 8 h
Examples:
4. Determine the centroids of the following figure with respect to the indicated axes.

Figure 6-11 Figure 6-12 Figure 6-13

(Triangle) (Rectangle) (Semicircle)

Solution:
To determine the centroids, it is suggested to indicate the centroid in the given figure for better
evaluation of what formula/s and equation/s to be used.

For Figure 6-11:

Solving for 𝑥̅ :
1
𝑥̅ = 3 (2.7’)
̅ = 0.9’
𝒙
Solving for 𝑦̅:
2
𝑦̅ = 3 (3.9’)
̅ = 2.6’
𝒚

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 Statics of Rigid Bodies

For Figure 6-12:

Solving for 𝑥̅ :
4 cm
𝑥̅ = − 2
̅ = − 2 cm
𝒙
Solving for 𝑦̅:
3 cm
𝑦̅ = 2
̅ = 1.5 cm
𝒚

For Figure 6-13:

Solving for 𝑥̅ :
𝑥̅ = r – 0.75 m
𝑥̅ = 2.0 m – 0.75 m
̅ = 1.25 m
𝒙
Solving for 𝑦̅:
4r
𝑦̅ = − (1.5 m − 3𝜋)
4(2.0 m)
𝑦̅ = − [1.5 m − ]
3𝜋
̅ = − 0.651 m
𝒚

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 Statics of Rigid Bodies

Answer Key. Pre and Post Assessment.

𝑦̅ = 3𝜋
4b
𝑥̅ = 3𝜋 4.
4a
𝑦̅ = 9.207 in.
𝑥̅ = 0 3.
𝑦̅ = 2.122 cm
𝑥̅ = - 7.122 cm 2.
𝑦̅ = 0
𝑥̅ = 4.135 m 1.

Answer Key. Practice Problems.

𝑦̅ = 8 𝑏
3
𝑥̅ = 5 𝑎 2.
3
𝑦̅ = 2.3 𝑓𝑡
𝑥̅ = −10.3 𝑓𝑡 1.

References.
▪ Lectures, figures and selected problems from Engineering Mechanics Second Edition
by Ferdinand L. Singer, Harper International Edition
▪ https://mathalino.com/
▪ Practice Problem 2, see solution at
https://mathalino.com/reviewer/engineering-mechanics/705-centroid-parabolic-
segment-integration

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 Statics of Rigid Bodies

Practice Problems
Instructions:
A. The students are enjoined to answer these questions.
B. Answer the following problem on this page. If this page is not been produce, copy the
problem to your notebook and answer the problem.
C. Show your solution for each problem.
D. For clarification, you may post your questions on our google classroom.

Problems:
1. Determine the centroids of Figure 6-14 with respect to the indicated axes.

Figure 6-14
(Quarter Circle, r = 4 ft)

2. Determine the centroid by integration of the shaded area shown in Figure 6-15, which is
bounded by the x-axis, the line x = a and the parabola y2 = kx.

Figure 6-15

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