Centres of mass and centroids

PSE100 – Physics and Mechanics I

Lecture 4
 Introduction

So far we have assumed for an extended rigid body the weight force
that acts on such a body could could be represented by a single force
that acted at a certain point.
This point is known as the centre of gravity.
Another why to think of this is, it is as if all the mass of the body were
to be concentrated at a single point with all the external forces applied
at this point. In this case the point is called the centre of mass.

PSE100 – Physics and Mechanics I 1/40

 Centre of mass

We first consider the problem of finding the centre of mass of a

planar or lamina (two-dimensional) body.
Suppose the planar body lies in the xy-plane occupying a region R.
Divide the body up into very small elements of mass dM .
A lamina will have an areal density (mass per unit area) at the point
(x, y) equal to λ(x, y).
In general the density of the material of the lamina may not be
uniform, as is the case if the body is made from two or more different
materials.

PSE100 – Physics and Mechanics I 2/40

 Centre of mass

Consider the region contained by the laminar in the xy-plane is

divided up into many elements each with mass dM and area dA.

So for each element of mass we have:

element of mass = (areal density) × (element of area)
dM = λ(x, y)dA
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 Mass and areal density

The total mass M of the lamina in the region R is found by adding up

(integrating) all the elements of mass dM . Thus:

ZZ
M= λ(x, y) dA
R

If the material of the lamina is homogeneous this means it is made of

the same material which is uniformly distributed throughout it.
In such cases the areal density will be constant, namely λ(x, y) = λ.

PSE100 – Physics and Mechanics I 4/40

 Centre of mass

The centre of mass of an object is the unique point which can be used
to describe the object’s response to external forces and moments
(torques).
The coordinators of the centre of mass (x̄, ȳ) of a laminar are given
by:

ZZ ZZ
xλ(x, y) dA yλ(x, y) dA
x̄ = ZZR and ȳ = ZZR
λ(x, y) dA λ(x, y) dA
R R

PSE100 – Physics and Mechanics I 5/40

 Centre of mass

For convenience, one usually writes the equations for the centre of
mass of a laminar as:
Z Z Z Z
x̄ dM = x dM and ȳ dM = y dM

Note that x̄ and ȳ are constants so may be taken outside the integral.
In general the integrals appearing here are double integrals.
Depending on the problem and on the method of evaluation used, it
may be possible to find the mass using a single integral. This will be
the case if the density of the object is uniform.

PSE100 – Physics and Mechanics I 6/40

 Centre of mass
,→ Example

Example 1
A homogeneous lamina lies in the xy-plane and is in the
shape of a triangle. If the vertices of the triangle are at (0, 0),
(1, 0), and (1, 3), find the coordinates of its centre of mass.
Solution
In this example, as the lamina is homogeneous the areal den-
sity will be constant.
Sketching the region first.
y

y D 3x

xD1
dy

x
PSE100 – Physics and Mechanics I 7/40
 Centre of mass
,→ Example

Example 1 (continued)
Consider a vertical strip
Inner limits: y = 0 to y = 3x
Outer limits: x = 0 to x = 1
Finding x̄ one has:
ZZ
λ(x, y)x dA
x̄ = ZZR
λ(x, y) dA
R
Z 1Z 3x
λ x dydx
0 0
= Z 1Z 3x
λ dydx
0 0

PSE100 – Physics and Mechanics I 8/40

 Centre of mass
,→ Example

Example 1 (continued)
Z 1 3x
xy dx
0 0
x̄ = Z 1 3x
y dx
0 0
Z 1
3x2 dx
= Z0 1
3x dx
0
 3 1
x 0
=
[3x2 /2]10
2
∴ x̄ = .
3

PSE100 – Physics and Mechanics I 9/40

 Centre of mass
,→ Example

Example 1 (continued)
Similarly, for the y-coordinate one has:
ZZ
λ(x, y)y dA
ȳ = ZZR
λ(x, y) dA
R
Z 1Z 3x
λ y dydx
0 0
= Z 1Z 3x
λ dydx
0 0
Z 1  2 3x
y
dx
0 2 0
= Z 1 .
3x
y dx
0 0
PSE100 – Physics and Mechanics I 10/40
 Centre of mass

Example 1 (continued)
Z
9 1 2
x dx
2
ȳ = Z 10
3x dx
0
h 3 i1
9 x
2 3 0
= h i1
3x2
2 0
3/2
=
3/2
∴ ȳ = 1.
So the centre of mass for the lamina is: (x̄, ȳ) = ( 23 , 1). ■

PSE100 – Physics and Mechanics I 11/40

 Centre of mass

From the previous example we see the centre of mass of the triangle
was located within the object itself.
However there is no reason why the centre of mass of an object
cannot be located outside of the object.
For example, the centre of mass of a uniform object in the shape of a
boomerang is not located within the object itself.

PSE100 – Physics and Mechanics I 12/40

 Centroid

The centroid of a laminar is the geometric centre of the object. As a

geometric property of the object it does not depend on the (areal)
density of the laminar.
The coordinators of the centroid (xc , yc ) of a laminar located in a
region R in the xy-plane are given by:

ZZ ZZ
x dA y dA
xc = ZZR and yc = ZZR
dA dA
R R

Notice the centroid of a two-dimensional object is the same as the

centre of mass of the object if the areal density is constant.

PSE100 – Physics and Mechanics I 13/40

 Centroid and first moments of area

As was the case for the centre of mass, a convenient way to write the
equations of the centroid for a laminar is:

Z Z Z Z
xc dA = x dA and yc dA = y dA

Note that xc and yc are constants so may be taken outside the integral.
R
The integral x dA is known as the first moment of the area A with
respect to the y-axis. It is denoted by Qy .
R
Similarly, the integral y dA is known as the first moment of the
area A with respect to the x-axis and is denoted by Qx .

PSE100 – Physics and Mechanics I 14/40

 First moments of area

The first moments of area A are therefore given by:

Z Z
Qy = x dA and Qx = y dA

The relation between the centroid and the first moments of area A
follow at once. They are:

Qy = xc A and Qx = yc A

Here A is the area of the object.

The first moments of the area are important in mechanics of materials
for determining the shearing stresses in beams under transverse
loadings.
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 Centroids and first moments of area

If the centroid of a laminar (area) is located on a coordinate axis, the

first moment of the area with respect to that axis will be zero.
Conversely, if the first moment of an area with respect to a coordinate
axis is zero, the centroid is located on that axis.
The problem of finding the centroid of a laminar is simplified for
laminars with high degrees of symmetry.
For example, if a laminar has an axis of symmetry, then its centroid is
located on this axis.
Furthermore, if the laminar has two axes of symmetry, its centroid
must be located at the intersection of the two axes of symmetry.
This property allows the centroid for highly symmetric objects such
as circles, squares, ellipses, rectangles, equilateral triangles, and so on
to be readily found.

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 Centroids of highly symmetric objects

Centroids for two highly symmetric objects – an equilateral triangle

(left) and an I-beam (right).
The centroid is located at the point of intersection between the two
axes of symmetry.

PSE100 – Physics and Mechanics I 17/40

 Centroids of highly symmetric objects
,→ Example

Example 2
Find the centroid of a semicircle of radius r.

Solution
the origin and with radius r, its
For a semicircle centred at√
equation is given by: y = r2 − x2 .
The area of the semicircle is given by:
ZZ
1
A= dA = πr2 .
R 2
PSE100 – Physics and Mechanics I 18/40
 Centroids of highly symmetric objects
,→ Example

Example 2 (continued)
By the symmetry of the semicircle, we have xc = 0. Finding
yc we have:
ZZ
1
yc = y dA
A R
Z √
r Z r 2 −x2
1
= y dy dx
A −r 0
Z r √
1 y 2 r2 −x2
= dx
A −r 2 0
Z r
1
= (r2 − x2 ) dx
2A −r
Z
1 r 2
= (r − x2 ) dx
A 0
 r
1 2 x3 1 2r3
= r x− = ·
A 3 0 A 3
PSE100 – Physics and Mechanics I 19/40
 Centroids of highly symmetric objects
,→ Example

Example 2 (continued)
Thus
1 2r3 4r
yc = 1 2
· = .
( 2 πr ) 3 3π
So in summary, the centroid for a semicircle of radius r is
given by:  
4r
(xc , yc ) = 0, . ■
3π

From this result, the centroid for a quarter circle immediately follows.
 
4r 4r
(xc , yc ) = , .
3π 3π

PSE100 – Physics and Mechanics I 20/40

 Centroid of a triangle

In any triangle, the centroid is the point of intersection of the three

medians. The median in a triangle is the line segment that joins the
mid-point of a side of the triangle with the opposite vertex of the
triangle.

PSE100 – Physics and Mechanics I 21/40

 Centroid of a triangle

If a triangle has vertices with coordinates (x1 , y1 ), (x2 , y2 ), and

(x3 , y3 ), then the centroid of the triangle is given by:

 
x 1 + x 2 + x 3 y1 + y2 + y3
(xc , yc ) = ,
3 3

PSE100 – Physics and Mechanics I 22/40

 Centroid of composite shapes

In many instances it is possible to divide up a flat shape into other

more common shapes such as rectangles, circles, triangles, and the
like.
Suppose (xc,1 , yc,1 ) is the centroid of shape 1 of area A1 , (xc,2 , yc,2 )
is the centroid of shape 2 of area A2 , …, (xc,n , yc,n ) is the centroid of
shape n of area An . If the composite shape with centroid (Xc , Yc ) is
made up of shapes 1, 2, . . . , n, then

X
n X
n X
n X
n
Xc Ak = xc,k Ak and Yc Ak = yc,k Ak
k=1 k=1 k=1 k=1

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 Centroid of composite shapes

As an example, the centroid of the composite shape in the figure can

be found from the centroids of each component area.

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 Centroid of composite shapes
,→ Example

Example 3
Find the centroid for the following shape.

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 Centroid of composite shapes
,→ Example

Example 3 (continued)

Solution
There are several ways the shape could be divided. One way
is the following:

That is:

composite shape = rectangle + triangle − circle.

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 Centroid of composite shapes
,→ Example

Example 3 (continued)
For the rectangle:

xc,1 = 2·5 cm, yc,1 = 2·0 cm, A1 = 20·0 cm2

xc,1 A1 = 50·0 cm3 , yc,1 A1 = 40·0 cm3 .

For the triangle:

xc,2 = 7·0 cm, yc,2 = 1·3 cm, A2 = 12·0 cm2

xc,2 A2 = 84·0 cm3 , yc,2 A2 = 16·0 cm3 .

For the circle:

xc,3 = 3·0 cm, yc,3 = 2·0 cm, A1 = 7·07 cm2

xc,3 A3 = 21·2 cm3 , yc,3 A3 = 14·1 cm3 .

PSE100 – Physics and Mechanics I 27/40
 Centroid of composite shapes
,→ Example

Example 3 (continued)
So in summary
component A [cm2 ] xc [cm] yc [cm] xc A [cm3 ] yc A [cm3 ]
Rectangle 20·0 2·5 2·0 50·0 40·0
Triangle 12·0 7·0 1·3 84·0 16·0
Circle −7·07 3·0 2·0 −21·2 −14·1

So we have:
X X X
A = 24·93 cm2 , xc A = 112·8 cm3 , yc A = 41·86 cm3 .

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 Centroid of composite shapes
,→ Example

Example 3 (continued)
The centroid of the composite shape immediately follows.
Here:
X X 112·8
Xc A= xc A ⇒ Xc = = 4·52 cm,
24·93
and
X X 41·86
Yc A= yc A ⇒ Yc = = 1·68 cm. ■
24·93

PSE100 – Physics and Mechanics I 29/40

 Further considerations of centroids

In general, to find the centroid of a flat laminar lying in the plane a

double integration is required. However, in many cases it is possible
to find the centroid using a single integration.
This can be achieved by choosing dA to be a thin rectangular strip
with the centroid of the thin rectangle located at its geometric centre.
Calling the centroid of the element of area (xcel , ycel ), the centroid
will be given by:

Z Z
xc A = xcel dA and yc A = ycel dA

PSE100 – Physics and Mechanics I 30/40

 Further considerations of centroids

Centroids and areas of different differential elements of area.

Left: vertical rectangular strip. xcel = x, ycel = y2 .

a+x
Right: horizontal rectangular strip. xcel = 2 , ycel = y.

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 Centroids of highly symmetric objects
,→ Example

Example 4
Let us re-find the centroid of a semicircle of radius r but this
time using a single integration.

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 Centroids of highly symmetric objects
,→ Example

Example 4 (continued)
Solution
As before, by symmetry xc = 0.
Consider a vertical rectangular strip of area dA with height
y and width dx. Thus dA = y dx. Also, for this rectangular
strip, ycel = y2 . As the area for the semicircle is A = 12 πr2 ,
we have:
Z Z r
1 2 y
yc = ycel dA = 2 · y dx
A πr −r 2
Z r Z r
1 1
= 2 y 2 dx = 2 (r2 − x2 ) dx
πr −r πr −r
Z r  r
2 2 x3
= 2 (r − x ) dx = 2 r x −
2 2 2
πr 0 πr 3 0
2 2r3 4r
= 2
· = , as before. ■
πr 3 3π
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 Distributed loads on beams

The concept of a centre of gravity or the centroid of an area can be

used to solve other types of problems. In particular, the concept can
be used to solve problems where a beam supports a distributed load.
The figure below is an example of a distributed load on a beam
showing the load curve.

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 Distributed loads on beams

The distributed load can be replaced with a single force that acts at a
certain point on the beam.
Distributed load rule
A distributed load on a beam can be replaced by a single
concentrated load whose magnitude is equal to the area of the
load curve while its line of action passes through the centroid
of that area.

Note that the concentrated load is equivalent to the given loading only
so far as external forces are concerned. It can therefore be used to
determine reactions, but not internal forces or deflections.

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 Distributed loads on beams
,→ Example

Example 5
A beam supports a distributed load as shown in the figure.
Find the reactions at A and B.

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 Distributed loads on beams
,→ Example

Example 5 (continued)

Solution
Consider the distributed load on the beam first. Divide the
trapezium into a rectangle and a triangle.
For the rectangle we have:

xc = 1·5 m from A, and

Area = A = (0·5)(3·0) kN = 1·5 kN,
while for the triangle we have:
0 + 3·0 m + 0
xc = = 1·0 m from A, and
3
1
Area = A = (2·0)(3·0) kN = 3·0 kN.
2
PSE100 – Physics and Mechanics I 37/40
 Distributed loads on beams
,→ Example

Example 5 (continued)
So in terms of single concentrated forces for the distributed
load, all forces which act on the beam are shown below.

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 Distributed loads on beams
,→ Example

Example 5 (continued)
Place the coordinate axes on the beam with its origin at A.
Applying the equilibrium equations we have:
X
Fx = Rx = 0,

and
X
Fy = 0 = RB + RA − 3·0 kN − 1·5 kN − 1·5 kN
⇒ RA = 6·0 kN − RB .

PSE100 – Physics and Mechanics I 39/40

 Distributed loads on beams
,→ Example

Example 5 (continued)
And for moments about A we have:
X
MA = 0 = (−3·0 kN)(1·0 m) + (−1·5 kN)(1·5 m)
+ RB (3·0 m) + (−1·5 kN)(4·0 m)
⇒ 0 = −3·0 kN·m − 2·25 kN·m + 3RB − 6·0 kN·m
11·25 kN·m
⇒ RB = = 3·75 kN.
3·0 m
And
RA = 6·0 kN − 3·75 kN = 2·25 kN. ■

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