Slides - Chapter 09

Engineering Mechanics: Statics in SI Units, 12e
9
Center of Gravity and Centroid
Copyright 2010 Pearson Education South Asia Pte Ltd
Chapter Objectives
Concept of the center of gravity, center of mass, and the centroid Determine the location of the center of gravity and centroid for a system of discrete particles and a body of arbitrary shape Theorems of Pappus and Guldinus Method for finding the resultant of a general distributed loading
Chapter Outline
1. Center of Gravity and Center of Mass for a System of Particles 2. Composite Bodies 3. Theorems of Pappus and Guldinus 4. Resultants of a General Distributed Loading 5. Fluid Pressure
9.1 Center of Gravity and Center of Mass for a System of Particles

Center of Gravity Locates the resultant weight of a system of particles Consider system of n particles fixed within a region of space The weights of the particles can be replaced by a single (equivalent) resultant weight having defined point G of application

Center of Gravity Resultant weight = total weight of n particles WR ! W Sum of moments of weights of all the particles about x, y, z axes = moment of resultant weight about these axes Summing moments about the x axis, x WR ! ~1W1 ~2W2 ... ~nWn x x x Summing moments about y axis, yW ! ~ W ~ W ... ~ W y y y
R 1 1 2 2 n n

Center of Gravity Although the weights do not produce a moment about z axis, by rotating the coordinate system 90 about x or y axis with the particles fixed in it and summing moments about the x axis,
z W ! ~1W1 ~2W2 ... ~nWn z z z

Generally,
~m x ~m y ~m z x! ;y ! ,z ! m m m

Center Mass Provided acceleration due to gravity g for every particle is constant, then W = mg
~m x ~m y ~m z x! ;y ! ,z ! m m m
By comparison, the location of the center of gravity coincides with that of center of mass Particles have weight only when under the influence of gravitational attraction, whereas center of mass is independent of gravity

Center Mass A rigid body is composed of an infinite number of particles Consider arbitrary particle having a weight of dW
~dW ~dW ~dW x y ; y ! ;z ! z x! dW dW dW

Centroid of a Volume Consider an object subdivided into volume elements dV, for location of the centroid,
~dV x x !V
~dV y ;y !V
~dV z ;z ! V
dV
dV
dV

Centroid of an Area For centroid for surface area of an object, such as plate and shell, subdivide the area into differential elements dA ~dA ~dA ~dA x y z
x!A
dA
A
;y ! A
dA
A
;z ! A
dA
A

Centroid of a Line If the geometry of the object takes the form of a line, the balance of moments of differential elements dL about each of the coordinate system yields
~dL x x!L
~dL y
~dL z
dL
L
;y ! L
dL
L
;z ! L
dL
L
Example 9.1
Locate the centroid of the rod bent into the shape of a parabolic arc.
Example 9.1
Differential element Located on the curve at the arbitrary point (x, y) Area and Moment Arms For differential length of the element dL
d ! dx dx 2 dy 2 ! 1 dy dy
2
Since x = y2 and then dx/dy = 2y

d !
2 y 2 1 dy
The centroid is located at

~ ! x, ~ ! y x y
Example 9.1
Integrations
~dL x x!
L
dL
L
0 1 0
x 4 y 1 dy
!
4 y 2 1 dy
1 2 y 0 1
4 y 2 1 dy 4 y 2 1 dy
0.6063 ! 0.410 m 1.479 ~dL y 1 y 4 y 2 1 dy ! 01 y!L dL 4 y 2 1 dy

L 0
0.8484 ! 0.574m 1.479

9.2 Center of Gravity and Center of Mass and Centroid for a Body
Example 9.2 Locate the centroid of the circular wire segment.
Solution Differential element A differential circular arc is selected This element intersects the curve at (R, ) Length and Moment Arms For differential length of the element
dL ! RdU
For centroid,
~ ! R cosU x
~ ! R sin U y
Solution Integrations
~dL x x!
L
dL
L
! 0
T /2
R cosU R dU
T /2
R2
T /2
cosU dU dU
R dU
T /2
2R T
y ~dL T / 2 R sin U R dU R 2 T / 2 sin U dU 0 ! 0 T /2 ! y!L T /2 dL R dU 0 R dU 0

L
2R T
Example 9.3 Determine the distance from the x axis to the centroid of the area of the triangle
Solution Differential element Consider a rectangular element having thickness dy which intersects the boundary at (x, y) Length and Moment Arms For area of the element Centroid is located y distance from the x ~!y axis y
b dA ! xdy ! h y dy h
b 0 h h y dy y! A ! dA 0h b h y dy A h 1 2 bh h 6 ! ! 1 bh 3 2
h
~dA y
Example 9.4 Locate the centroid for the area of a quarter circle.
Solution Method 1 Differential element Use polar coordinates for circular boundary Triangular element intersects at point (R, ) Length and Moment Arms For area of the element Centroid is located y distance from the x axis
~ ! 2 R cosU x 3 ~ ! 2 R sin U y 3 R2 1 dA ! ( R )( R cosU ) ! dU 2 2
Solution Integrations 2 T / 2 2 ~dA R dU x 0 R cosU
x!
A
dA
A
0 0
T / 2 R2
2 R 3 !
0 0
T /2
cos U dU dU
T /2
dU
4R 3T y ~dA
T / 2 2 A 2 R 2 T /2 sin U dU R sin U dU R 0 3 3 2 ! T /2 T / 2 R2 dU dU 0 0 2
y!
dA
A
4R 3T
Solution Method 2 Differential element Circular arc element having thickness of dr Element intersects the axes at point (r,0) and (r, /2)
Solution Area and Moment Arms For area of the element
dA! 2Tr / 4 dr Centroid is located y distance from the x axis ~ ! 2r /T ~ ! 2r /T x y
Solution Integrations R 2 r 2Tr ~dA R 2 x dr 0 T 4 0 r dr A ! ! x! R 2Tr T R dr dA 0 4 0 r dr 2
A
4R 3T
y ~dA 0R 2r 2Tr dr R r 2 dr T 4 A ! ! 0 R y! R 2Tr T dA dr 0 4 0 r dr 2

A
4R 3T
Example 9.5 Locate the centroid of the area.
Solution Method 1 Differential element Differential element of thickness dx Element intersects curve at point (x, y), height y Area and Moment Arms For area of the element
d ! ydx
For centroid
~!x x
~ ! y/2 y
Solution Integrations ~dA x 1 xy dx 1 x3 dx x!A ! 01 ! 0 1 2 dA 0 y dx 0 x dx A
! 0.250 ! 0.75m 0.333 y ~dA 1( y / 2) y dx y!A ! 0 1 ! dA y dx
A 0
( x 2 / 2) x 2 dx
1 2 x dx 0
0.100 ! 0.3m 0.333
Solution Method 2 Differential element Differential element of thickness dy Element intersects curve at point (x, y) Length = (1 x)
d ! x dy 1
Centroid is located y distance from the x axis

~ ! x 1 x ! 1 x x 2 2 ~! y y
Solution Integrations x ~dA 1?1 x / 2A1 x dx
x!
A
dA
A
0 1 x dx
1
1 1 0 1 y dy ! 21 1 y dy
0
0.250 ! 0.75m 0.333 ~dA y 1 y1 x dx ! ! 01 y!A dA 1 x dx

A 0
y y3 / 2 dy 0
0 1 y dy
1
0.100 ! 0.3m 0.333
Example 9.6 Locate the centroid of the shaded are bounded by the two curves y=x and y = x2.
Solution Method 1 Differential element Differential element of thickness dx Intersects curve at point (x1, y1) and (x2, y2), height y Area and Moment Arms For area of the element d ! ( y2 y1 ) dx For centroid ~!x x
x ~d 1xy2 y1 dx 1x x2 x dx 0 0 A x! ! 1 ! 1 x dx d 0y2 y1 dx 0 x2 A 1 ! 12 ! 0.5m 1 6
Solution Method 2 Differential element Differential element of thickness dy Element intersects curve at point (x1, y1) and (x2, y2) Length = (x1 x2)
Solution Area and Moment Arms For area of the element dA! x1 x2 dy Centroid is located y distance from the x axis ~ ! x x1 x2 ! x1 x2 x 2 2 2
~dA x x!
A
dA
A
?x !
1 0
x2 / 2A x1 x2 dx
0 x1 x2 dx
1
? y y / 2A y y dy ! y y dx
1 0 1 0
1 1 1 y y 2 dy 2 0 ! 1 ! 12 ! 0.5m 1 0 y y dx 6
Example 9.7 Locate the centroid for the paraboloid of revolution, which is generated by revolving the shaded area about the y axis.
Solution Method 1 Differential element Element in the shape of a thin disk, thickness dy, radius z dA is always perpendicular to the axis of revolution Intersects at point (0, y, z) Area and Moment Arms For volume of the element
dV ! z T dy
2
Solution For centroid
~!y y
Integrations
y!V ~d y
! z dy
100 2 0 100 2 0
y z dy
100 100
100
y 2 dy y dy
100
! 66.7 mm
Solution Method 2 Differential element Volume element in the form of thin cylindrical shell, thickness of dz dA is taken parallel to the axis of revolution Element intersects the axes at point (0, y, z) and radius r = z
2TrdA ! 2Tz y dz 100
Centroid is located y distance from the x axis

~ ! y y / 2 ! y / 2 y 100 100
y! ~dV y
V
dV
V 100 0 100
?100 y / 2A2Tz 100 y dz ! 2Tz 100 y dz

100 0 100 0
2
! 2T z 10 z dz 100
T z 10 4 10 4 z 4 dz
2 0
! 66.7 m
Example 9.8 Determine the location of the center of mass of the cylinder if its density varies directly with its distance from the base = 200z kg/m3.
9.2 Center of Gravity and Center of Mass and Centroid for a Body View Free Body
Diagram
Solution For reasons of material symmetry
x ! y!0
Differential element Disk element of radius 0.5m and thickness dz since density is constant for given value of z Located along z axis at point (0, 0, z) Area and Moment Arms For volume of the element
dV ! T 0.5 2 dz
Solution For centroid
~!z z
Integrations
~!V z ~VdV z
VdV
0 ! 1 (200 z )T 0.5 2 dz 0
z (200 z )T 0.5 2 dz
0 zdz
1 2 z dz 0 1
! 0.667 m
Solution Not possible to use a shell element for integration since the density of the material composing the shell would vary along the shells height and hence the location of the element cannot be specified
9.2 Composite Bodies

Consists of a series of connected simpler shaped bodies, which may be rectangular, triangular or semicircular A body can be sectioned or divided into its composite parts Accounting for finite number of weights
~W x x! W ~W y y! W ~W z z! W

Procedure for Analysis Composite Parts Divide the body or object into a finite number of composite parts that have simpler shapes Treat the hole in composite as an additional composite part having negative weight or size Moment Arms Establish the coordinate axes and determine the coordinates of the center of gravity or centroid of each part

Procedure for Analysis Summations Determine the coordinates of the center of gravity by applying the center of gravity equations If an object is symmetrical about an axis, the centroid of the objects lies on the axis
Example 9.10
Locate the centroid of the plate area.
Solution
Composite Parts Plate divided into 3 segments. Area of small rectangle considered negative .
Solution
Moment Arm Location of the centroid for each piece is determined and indicated in the diagram.
Summations
~A 4 x ! ! 0.348mm x! A 11.5 ~A 14 y ! ! 1.22mm y! A 11.5

Example 9.9 Locate the centroid of the wire.

Solution Composite Parts
Moment Arms Location of the centroid for each piece is determined and indicated in the diagram

Solution Summations
Segment L (mm) 188.5 40 20 248.5 x (mm) y (mm) z (mm) xL (mm2) 11 310 0 0 11 310 yL (mm2) -7200 800 800 -5600 zL (mm2) 0 0 -200 -200
1 2 3 Sum
60 0 0
-38.2 20 40
0 0 -10

Solution Summations
~ 11310 x ! ! 45.5mm x! 248.5 ~ 5600 y ! ! 22.5mm y! 248.5 ~ 200 z ! ! 0.805mm z! 248.5

Example 9.10 Locate the centroid of the plate area.

Solution Composite Parts Plate divided into 3 segments Area of small rectangle considered negative

Example 9.11 Locate the center of mass of the composite assembly. The conical frustum has a density of = 8Mg/m3 and the hemisphere c has a density of h = 4Mg/m3. There is a 25mm radius cylindrical hole in the center.

View Free Body Diagram
Solution Composite Parts Assembly divided into 4 segments Area of 3 and 4 considered negative

Solution Moment Arm Location of the centroid for each piece is determined and indicated in the diagram Summations Because of symmetry,
x ! y !0

Solution Summations
Segment 1 2 3 4 Sum m (kg) 4.189 1.047 -0.524 -1.571 3.141 z (mm) 50 -18.75 125 50 zm (kg.mm) 209.440 -19.635 -65.450 -78.540 45.815

Solution Summations
z ~m 45.815 z! ! ! 14.6mm 3.141 m
9.3 Theorems of Pappus and Guldinus

Volume Volume of a body of revolution = product of generating area and distance traveled by the centroid in generating the volume
V !U r A
Example 9.12
Show that the surface area of a sphere is A = 4 R2 and its volume V = 4/3 R3. Solution Surface Area Generated by rotating semi-arc about the x axis For centroid, r ! 2R / T For surface area, A ! U ~ L; r
2R 2 A ! 2T TR ! 4TR T
Solution
Volume Generated by rotating semicircular area about the x axis For centroid, r ! 4 R / 3T For volume, V ! U ~ A; r
4 R 1 TR 2 ! 4 TR3 V ! 2T 3T 2 3
9.4 Resultant of a General Distributed Loading

Pressure Distribution over a Surface Consider the flat plate subjected to the loading function = (x, y) Pa Determine the force dF acting on the differential area dA m2 of the plate, located at the differential point (x, y) dF = [ (x, y) N/m2](d A m2) = [ (x, y) d A]N Entire loading represented as infinite parallel forces acting on separate differential area dA

Pressure Distribution over a Surface This system will be simplified to a single resultant force FR acting through a unique point on the plate

Magnitude of Resultant Force To determine magnitude of FR, sum the differential forces dF acting over the plate s entire surface area dA Magnitude of resultant force = total volume under the distributed loading diagram Location of Resultant Force is A xV ( x, y)dA ! VxdV x! V ( x, y)dA dV
A V
yV ( x, y )dA ! ydV y! V ( x, y)dA dV

A V A V Copyright 2010 Pearson Education South Asia Pte Ltd
9.5 Fluid Pressure

According to Pascal s law, a fluid at rest creates a pressure at a point that is the same in all directions Magnitude of depends on the specific weight or mass density of the fluid and the depth z of the point from the fluid surface = z = gz Valid for incompressible fluids Gas are compressible fluids and the above equation cannot be used
9.5 Fluid Pressure

Flat Plate of Constant Width Consider flat rectangular plate of constant width submerged in a liquid having a specific weight Plane of the plate makes an angle with the horizontal as shown
9.5 Fluid Pressure

Flat Plate of Constant Width As pressure varies linearly with depth, the distribution of pressure over the plate s surface is represented by a trapezoidal volume having an intensity of 1= z1 at depth z1 and 2 = z2 at depth z2 Magnitude of the resultant force FR = volume of this loading diagram
9.5 Fluid Pressure

Curved Plate of Constant Width When the submerged plate is curved, the pressure acting normal to the plate continuously changes direction Integration can be used to determine FR and location of center of centroid C or pressure P
9.5 Fluid Pressure

Flat Plate of Variable Width Consider the pressure distribution acting on the surface of a submerged plate having a variable width Since uniform pressure = z (force/area) acts on dA, the magnitude of the differential force dF dF = dV = dA = z(xdy )
9.5 Fluid Pressure

Flat Plate of Variable Width Centroid V defines the point which FR acts
FR ! VdA ! dV ! V
A V
The center of pressure which lies on the surface of the plate just below C has the coordinates P defined by the equations ~dV ~ ' dV x V V y x! y' ! dV dV
V V
This point should not be mistaken for centroid of the plate s area
Example 9.14
Determine the magnitude and location of the resultant hydrostatic force acting on the submerged rectangular plate AB. The plate has a width of 1.5m; w = 1000kg/m3.
Solution
The water pressures at depth A and B are
V A ! V w gz A ! (1000kg / m 3 )(9.81m / s 2 )( 2m) ! 19.62kPa V B ! V w gz B ! (1000kg / m 3 )(9.81m / s 2 )(5m) ! 49.05kPa

For intensities of the load at A and B,
wA ! bV A ! (1.5m)(19.62kPa ) ! 29.43kN / m wB ! bV B ! (1.5m)( 49.05kPa ) ! 73.58kN / m
Solution
For magnitude of the resultant force FR created by the distributed load. FR ! area of trapezoid 1 ! (3)(29.4 73.6) ! 154.5 N 2 This force acts through the centroid of the area,
1 2( 29.43) 73.58 h! (3) ! 1.29m 3 29.43 73.58 measured upwards from B

Solution
Same results can be obtained by considering two components of FR defined by the triangle and rectangle. Each force acts through its associated centroid and has a magnitude of
FRe ! ( 29.43kN / m)(3m) ! 88.3kN Ft ! ( 44.15kN / m)(3m) ! 66.2kN
Hence
FR ! F e FR ! 88.3kN 66.2kN ! 154.5kN
Solution
Location of FR is determined by summing moments about B
M R B ! M B ;
(154.5)h ! 88.3(1.5) 66.2(1) h ! 1.29m
QUIZ
1.The _________ is the point defining the geometric center of an object. A)Center of gravity B) Center of mass C)Centroid D) None of the above 2. To study problems concerned with the motion of matter under the influence of forces, i.e., dynamics, it is necessary to locate a point called ________. A) Center of gravity B) Center of mass C) Centroid D) None of the above
QUIZ
3. If a vertical rectangular strip is chosen as the differential element, then all the variables, including the integral limit, should be in terms of _____ . A) x B) y C) z D) Any of the above.
4. If a vertical rectangular strip is chosen, then what are ~ ~ the values of x and y? A) (x , y) B) (x / 2 , y / 2) C) (x , 0) D) (x , y / 2)
QUIZ
5. A composite body in this section refers to a body made of ____.
A) B) C) D) Carbon fibers and an epoxy matrix Steel and concrete A collection of simple shaped parts or holes A collection of complex shaped parts or holes
6. The composite method for determining the location of the center of gravity of a composite body requires _______. A) Integration B) Differentiation C) Simple arithmetic D) All of the above.
QUIZ
7. Based on the typical centroid information, what are the minimum number of pieces you will have to consider for determining the centroid of the area shown at the right? A)1 B) 2 C) 3 D) 4 8. A storage box is tilted up to clean the rug underneath the box. It is tilted up by pulling the handle C, with edge A remaining on the ground. What is the maximum angle of tilt (measured between bottom AB and the ground) possible before the box tips over? A) 30 B) 45 C) 60 D) 90
QUIZ
3cm 1 cm 1 cm 3cm
7. What are the min number of pieces you will have to consider for determining the centroid of the area? A)1 B) 2 C) 3 D) 4 8. A storage box is tilted up by pulling C, C with edge A remaining on the ground. What is the max angle of tilt possible before the box tips over? A) 30 B) 45 C) 60 D) 90
B
G 30 A
QUIZ
y
9. For determining the centroid, what is the min number of pieces you can use? A) Two B) Three C) Four D) Five
2cm 2cm
2cm 4cm x
10. For determining the centroid of the area, y 1m 1m what are the coordinates (x, y ) of the centroid of square DEFG? D A E 1m A) (1, 1) m B) (1.25, 1.25) m G F C) (0.5, 0.5 ) m D) (1.5, 1.5) m 1m
B

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Engineering Mechanics: Statics in SI Units, 12e

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

9.1 Center of Gravity and Center of Mass for a System of Particles

Copyright 2010 Pearson Education South Asia Pte Ltd

9.1 Center of Gravity and Center of Mass for a System of Particles

9.1 Center of Gravity and Center of Mass for a System of Particles

z W ! ~1W1  ~2W2  ...  ~nWn z z z

Copyright 2010 Pearson Education South Asia Pte Ltd

9.1 Center of Gravity and Center of Mass for a System of Particles

Copyright 2010 Pearson Education South Asia Pte Ltd

9.1 Center of Gravity and Center of Mass for a System of Particles

~dW ~dW ~dW x y ; y ! ;z ! z x! dW dW dW

Copyright 2010 Pearson Education South Asia Pte Ltd

9.1 Center of Gravity and Center of Mass for a System of Particles

Copyright 2010 Pearson Education South Asia Pte Ltd

9.1 Center of Gravity and Center of Mass for a System of Particles

Copyright 2010 Pearson Education South Asia Pte Ltd

9.1 Center of Gravity and Center of Mass for a System of Particles

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Since x = y2 and then dx/dy = 2y

The centroid is located at

0.6063 ! 0.410 m 1.479 ~dL y 1 y 4 y 2  1 dy ! 01 y!L dL 4 y 2  1 dy

0.8484 ! 0.574m 1.479

y ~dL T / 2 R sin U R dU R 2 T / 2 sin U dU 0 ! 0 T /2 ! y!L T /2 dL R dU 0 R dU 0

y ~dA 0R 2r 2Tr dr R r 2 dr T 4 A ! ! 0 R y! R 2Tr T dA dr 0 4 0 r dr 2

0.100 ! 0.3m 0.333

Centroid is located y distance from the x axis

0.250 ! 0.75m 0.333 ~dA y 1 y 1  x dx ! ! 01 y!A dA 1  x dx

0.100 ! 0.3m 0.333

Centroid is located y distance from the x axis

? 100  y / 2A2Tz 100  y dz ! 2Tz 100  y dz

Solution For reasons of material symmetry

9.2 Composite Bodies

Copyright 2010 Pearson Education South Asia Pte Ltd

9.2 Composite Bodies

9.2 Composite Bodies

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

9.3 Composite Bodies

9.3 Composite Bodies

9.3 Composite Bodies

9.3 Composite Bodies

9.3 Composite Bodies

9.3 Composite Bodies

9.3 Composite Bodies

9.3 Composite Bodies

9.3 Composite Bodies

9.3 Composite Bodies

9.3 Composite Bodies

9.3 Theorems of Pappus and Guldinus

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

9.4 Resultant of a General Distributed Loading

Copyright 2010 Pearson Education South Asia Pte Ltd

9.4 Resultant of a General Distributed Loading

Copyright 2010 Pearson Education South Asia Pte Ltd

9.4 Resultant of a General Distributed Loading

yV ( x, y )dA ! ydV y! V ( x, y)dA dV

z W ! ~1W1 ~2W2 ... ~nWn z z z

0.6063 ! 0.410 m 1.479 ~dL y 1 y 4 y 2 1 dy ! 01 y!L dL 4 y 2 1 dy

0.250 ! 0.75m 0.333 ~dA y 1 y1 x dx ! ! 01 y!A dA 1 x dx

?100 y / 2A2Tz 100 y dz ! 2Tz 100 y dz

1 2( 29.43) 73.58 h! (3) ! 1.29m 3 29.43 73.58 measured upwards from B