Eighth Edition

Vector Mechanics for Engineers: Statics

CE 102 Statics

Chapter 7 Distributed Forces: Centroids and Centers of Gravity

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Vector Mechanics for Engineers: Statics

Contents
Introduction Center of Gravity of a 2D Body Centroids and First Moments of Areas and Lines Centroids of Common Shapes of Areas Centroids of Common Shapes of Lines Composite Plates and Areas Sample Problem 7.1 Determination of Centroids by Integration Sample Problem 7.2 Theorems of Pappus-Guldinus Sample Problem 7.3 Distributed Loads on Beams Sample Problem 7.4 Center of Gravity of a 3D Body: Centroid of a Volume Centroids of Common 3D Shapes Composite 3D Bodies Sample Problem 7.5

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Vector Mechanics for Engineers: Statics

Introduction
The earth exerts a gravitational force on each of the particles forming a body. These forces can be replace by a single equivalent force equal to the weight of the body and applied at the center of gravity for the body. The centroid of an area is analogous to the center of gravity of a body. The concept of the first moment of an area is used to locate the centroid. Determination of the area of a surface of revolution and the volume of a body of revolution are accomplished with the Theorems of Pappus-Guldinus.

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Vector Mechanics for Engineers: Statics

Center of Gravity of a 2D Body
Center of gravity of a plate Center of gravity of a wire

M y x W ! x(W
! x dW

M y y W ! y (W
! y dW
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Vector Mechanics for Engineers: Statics

Centroids and First Moments of Areas and Lines
Centroid of an area Centroid of a line

x W ! x dW x KAt ! x Kt dA x A ! x dA ! Q y ! first moment with respect to y yA ! y dA ! Qx ! first moment with respect to x

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x W ! x dW x K La ! x K a dL x L ! x dL yL ! y dL

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Vector Mechanics for Engineers: Statics

First Moments of Areas and 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 is divided into two 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). The centroid of the area coincides with the center of symmetry.
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Eighth Edition

Vector Mechanics for Engineers: Statics

Centroids of Common Shapes of Areas

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Vector Mechanics for Engineers: Statics

Centroids of Common Shapes of Lines

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Vector Mechanics for Engineers: Statics

Composite Plates and Areas
Composite plates X W ! x W Y W ! y W

Composite area X A ! xA Y A ! yA

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Vector Mechanics for Engineers: Statics

Sample Problem 7.1
SOLUTION: Divide the area into a triangle, rectangle, and semicircle with a circular cutout. Calculate the first moments of each area with 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. Compute the coordinates of the area centroid by dividing the first moments by the total area.

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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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.1

Find the total area and first moments of the triangle, rectangle, and semicircle. Subtract the area and first moment of the circular cutout.
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Qx ! 506.2 v 103 mm3 Q y ! 757.7 v 103 mm3

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.1
Compute the coordinates of the area centroid by dividing the first moments by the total area.

x A !  757.7 v103 mm3 X ! A 13.828 v103 mm 2

X ! 54.8 mm

y A !  506.2 v103 mm3 Y ! A 13.828 v103 mm 2

Y ! 36.6 mm
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Vector Mechanics for Engineers: Statics

Determination of Centroids by Integration
x A ! xdA ! x dxdy ! xel dA yA ! ydA ! y dxdy ! yel dA Double integration to find the first moment may be avoided by defining dA as a thin rectangle or strip.

x A ! xel dA ! x ydx yA ! yel dA y ! ydx 2

x A ! xel dA ax ?a  x dxA 2 yA ! yel dA ! ! y ?a  x dx A

x A ! xel dA ! 2r 1 cosU r 2 dU 3 2 2r 1 sin U r 2 dU 3 2

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yA ! yel dA !

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.2
SOLUTION: Determine the constant k. Evaluate the total area. Using either vertical or horizontal strips, perform a single integration to find the first moments. Determine by direct integration the location of the centroid of a parabolic spandrel. Evaluate the centroid coordinates.

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.2
SOLUTION: Determine the constant k. y ! k x2 b ! k a2 k ! y! b a2 x2 or b a2 x! a b1 2 y1 2

Evaluate the total area. A ! dA b x3 b 2 ! y dx ! 2 x dx ! 2 a 3 0 0a ab ! 3

a
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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.2
Using vertical strips, perform a single integration to find the first moments.
b Q y ! xel dA ! xydx ! x 2 x 2 dx 0 a
a b x4 a 2b ! 2 ! 4 a 4 0 a 1 b y Qx ! yel dA ! ydx ! 2 x 2 dx 2 0 2a 2 a

b x ab 2 ! 4 ! 2a 5 0 10
2

5 a

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.2
Or, using horizontal strips, perform a single integration to find the first moments.
b 2 ax a  x2 a  x dy ! Q y ! xel dA ! dy 2 2 0

1 b 2 a2 ! a  2 0 b

a 2b y dy ! 4

a Qx ! yel dA ! y a  x dy ! y a  1 2 y1 2 dy b a 3 2 ab 2 ! ay  1 2 y dy ! 10 b 0
b

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.2
Evaluate the centroid coordinates. xA ! Q y ab a 2b ! x 3 4 yA ! Q x ab ab 2 ! y 3 10 y! 3 b 10 3 x! a 4

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Eighth Edition

Vector Mechanics for Engineers: Statics

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 times the distance traveled by the centroid through the rotation. A ! 2T yL
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Eighth Edition

Vector Mechanics for Engineers: Statics

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 times the distance traveled by the centroid through the rotation. V ! 2T y A

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.3
SOLUTION: Apply the theorem of Pappus-Guldinus to evaluate the volumes or revolution for the rectangular rim section and the inner cutout section. Multiply by density and acceleration to get the mass and acceleration. 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 is V ! 7.85 v 103 kg m 3 determine the mass and weight of the rim.

2007 The McGraw-Hill Companies, Inc. All rights reserved.

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.3
SOLUTION: Apply the theorem of Pappus-Guldinus to evaluate the volumes or revolution for the rectangular rim section and the inner cutout section. Multiply by density and acceleration to get the mass and acceleration.

 W ! mg ! 60.0 kg  .81 m s 2 9
m ! VV ! 7.85 v 10 kg m
3 3

3 9 3 7.65 v 10 mm 10 m mm 6 3

m ! 60.0 kg
W ! 589 N
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Eighth Edition

Vector Mechanics for Engineers: Statics

Distributed Loads on Beams

W ! wdx ! dA ! A
0

A distributed load is represented by plotting the load per unit length, w (N/m) . The total load is equal to the area under the load curve (dW = wdx).

OP W ! xdW OP A ! xdA ! x A
0 L

A distributed load can be replace by a concentrated load with a magnitude equal to the area under the load curve and a line of action passing through the area centroid.

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.4
SOLUTION: The magnitude of the concentrated load is equal to the total load or the area under the curve. The line of action of the concentrated load passes through the centroid of the area under the curve. A beam supports a distributed load as shown. Determine the equivalent concentrated load and the reactions at the supports. Determine the support reactions by summing moments about the beam ends.

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.4
SOLUTION: The magnitude of the concentrated load is equal to the total load or the area under the curve. F ! 18.0 kN The line of action of the concentrated load passes through the centroid of the area under the curve. 63 kN m X ! 18 kN X ! 3.5 m

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.4
Determine the support reactions by summing moments about the beam ends.

M A ! 0 : B y 6 m  18 kN 3.5 m ! 0
B y ! 10.5 kN

M B ! 0 :  Ay 6 m  18 kN 6 m  3.5 m ! 0
A y ! 7.5 kN

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Eighth Edition

Vector Mechanics for Engineers: Statics

Center of Gravity of a 3D Body: Centroid of a Volume

Center of gravity G T T  W j !  (W j T T T T A rG v  W j ! ? v  (W j r T T T T  r (W v  j rGW v  j !

W ! dW T T rGW ! r dW

Results are independent of body orientation, x W ! xdW yW ! ydW z W ! zdW

For homogeneous bodies, W ! K V and dW ! K dV

x V ! xdV yV ! ydV z V ! zdV
5 - 27

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Eighth Edition

Vector Mechanics for Engineers: Statics

Centroids of Common 3D Shapes

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Eighth Edition

Vector Mechanics for Engineers: Statics

Composite 3D Bodies
Moment of the total weight concentrated at the center of gravity G is equal to the sum of the moments of the weights of the component parts. X W ! xW Y W ! yW Z W ! zW

For homogeneous bodies,

X V ! xV Y V ! yV Z V ! zV

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.5
SOLUTION: Form the machine element from a rectangular parallelepiped and a quarter cylinder and then subtracting two 1-in. diameter cylinders.

Locate the center of gravity of the steel machine element. The diameter of each hole is 1 in.

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.5

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Eighth Edition

Vector Mechanics for Engineers: Statics

Sample Problem 7.5

X ! x V V ! 3.08 in 4

 .286 in 3 5
X ! 0.577 in.

Y ! yV V !  5.047 in 4

 .286 in 3 5
Y ! 0.577 in.

Z ! z V V ! 1.618 in 4
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 .286 in 3 5
Z ! 0.577 in.
5 - 32

Problem 7.6
y
20 mm 30 mm

Locate the centroid of the plane area shown.

36 mm

24 mm

33

20 mm

Problem 7.6
30 mm

Solving Problems on Your Own

36 mm

Locate the centroid of the plane area shown. Several points should be emphasized when solving these types of problems.
x

24 mm

1. Decide how to construct the given area from common shapes. 2. It is strongly recommended that you construct a table containing areas or length and the respective coordinates of the centroids. 3. When possible, use symmetry to help locate the centroid.
34

y
20 + 10

Problem 7.6 Solution

Decide how to construct the given area from common shapes.

C1 C2 30 24 + 12

10 Dimensions in mm

35

y
20 + 10

Problem 7.6 Solution

C1 C2 30 24 + 12

Construct a table containing areas and respective coordinates of the centroids.

10

x
Dimensions in mm

A, mm2 1 20 x 60 =1200 2 (1/2) x 30 x 36 =540 7 1740

x, mm 10 30

y, mm 30 36

xA, mm3 12,000 16,200 28,200

yA, mm3 36,000 19,440 55,440

36

y
20 + 10

Problem 7.6 Solution

Then
C1 C2 30 24 + 12

X7 A = 7xA X (1740) = 28,200 or X = 16.21 mm Y7 A = 7yA Y (1740) = 55,440

or Y = 31.9 mm

and
x

10

Dimensions in mm

A, mm2 1 20 x 60 =1200 2 (1/2) x 30 x 36 =540 7 1740

x, mm 10 30

y, mm 30 36

xA, mm3 12,000 16,200 28,200

yA, mm3 36,000 19,440 55,440

37

Problem 7.7
a
A 24 kN 30 kN 0.3 m B

wA
1.8 m

wB

The beam AB supports two concentrated loads and rests on soil which exerts a linearly distributed upward load as shown. Determine (a) the distance a for which wA = 20 kN/m, (b) the corresponding value wB.

38

Problem 7.7

a
A

24 kN

30 kN

Solving Problems on Your Own

0.3 m B

wA
1.8 m

wB

The beam AB supports two concentrated loads and rests on soil which exerts a linearly distributed upward load as shown. Determine (a) the distance a for which wA = 20 kN/m, (b) the corresponding value wB.

1. Replace the distributed load by a single equivalent force. The magnitude of this force is equal to the area under the distributed load curve and its line of action passes through the centroid of the area. 2. When possible, complex distributed loads should be divided into common shape areas.
39

Problem 7.7 Solution

a
A 20 kN/m 0.6 m

24 kN

30 kN C

0.3 m

Replace the distributed load by a pair of B equivalent forces. wB

0.6 m RI RII

We have

1 RI = 2 (1.8 m)(20 kN/m) = 18 kN 1 RII = 2 (1.8 m)(wB kN/m) = 0.9 wB kN

40

Problem 7.7 Solution

a
A

24 kN

30 kN C

0.3 m B

wB
0.6 m 0.6 m RI = 18 kN RII = 0.9 wB kN

(a) + 7MC = 0: (1.2 - a)m x 24 kN - 0.6 m x 18 kN

- 0.3m x 30 kN = 0 or a = 0.375 m
(b) + 7F = 0: -24 kN + 18 kN + (0.9 w ) kN - 30 kN= 0 y B

or wB = 40 kN/m
41

Problem 7.8
y
2 in 3 in 2 in 1 in r = 1.25 in

x z
2 in 2 in r = 1.25 in 0.75 in

For the machine element shown, locate the z coordinate of the center of gravity.

42

y
2 in 3 in 2 in 1 in r = 1.25 in

Problem 7.8

Solving Problems on Your Own For the machine element shown, locate the z coordinate of the center of gravity.

x z
0.75 in

Determine the center of gravity of composite body. 2 in r = 1.25 in 2 in For a homogeneous body the center of gravity coincides with the centroid of its volume. For this case the center of gravity can be determined by

X 7V = 7x V

Y 7V = 7y V

Z 7V = 7z V

where X, Y, Z and x, y, z are the coordinates of the centroid of the 43 body and the components, respectively.

y
2 in 3 in 2 in 1 in r = 1.25 in

Problem 7.8 Solution

Determine the center of gravity of composite body. First assume that the machine element is homogeneous so that its center of gravity will coincide with the centroid of the corresponding volume. y V IV I x

x z
2 in 2 in r = 1.25 in 0.75 in

Divide the body into five common shapes. z

III II

44

y V III II z IV I x z
2 in 2 in 3 in 2 in

2 in 1 in r = 1.25 in

x
0.75 in r = 1.25 in

I II III IV V 7

V, in3 (4)(0.75)(7) = 21 (T/2)(2)2 (0.75) = 4.7124 -T(11.25)2 (0.75)= -3.6816 (1)(2)(4) = 8 -(T/2)(1.25)2 (1) = -2.4533 27.576

z, in. 3.5 7+ [(4)(2)/(3T)] = 7.8488 7 2 2

z V, in4 73.5 36.987 -25.771 16 -4.9088 95.807

Z 7V = 7z V : Z (27.576 in3 ) = 95.807 in4

Z = 3.47 in 45

Problem 7.9
y y = kx1/3 Locate the centroid of the volume obtained by rotating the shaded area about the x axis.

46

y=

kx1/3

Problem 7.9

Solving Problems on Your Own a Locate the centroid of the volume obtained by rotating the shaded area about the x axis. x The procedure for locating the centroids of volumes by direct integration can be simplified:

1. When possible, use symmetry to help locate the centroid. 2. If possible, identify an element of volume dV which produces a single or double integral, which are easier to compute. 3. After setting up an expression for dV, integrate and determine the centroid.
47

y x dx

Problem 7.9 Solution

Use symmetry to help locate the centroid. Symmetry implies

y=0 z=0
z y = kx1/3 r x Identify an element of volume dV which produces a single or double integral.

Choose as the element of volume a disk or radius r and thickness dx. Then

dV = Tr2 dx

xel = x

48

y x dx

Problem 7.9 Solution

Identify an element of volume dV which produces a single or double integral.

dV = Tr2 dx
z y = kx1/3 At x = h, y = a : Then r x Now

xel = x
so that

r = kx 1/3

dV = Tk2 x2/3dx a = kh1/3

or

k = a/h1/3

a2 2/3 dV = T h2/3 x dx

49

y x dx

Problem 7.9 Solution

Integrate and determine the centroid. a2 2/3 dV = T h2/3 x dx

z y = kx1/3

a2 2/3 V = T h2/3 x dx 0

a2 = T h2/3

3 5

x5/3] 0

=
Also

3 5

Ta2h

xel dV =

a2 2/3 a2 3 8/3 x (T 2/3 x dx) = T 2/3 [ 8 x ] h h 0

3 8

Ta2h2
50

y x dx

Problem 7.9 Solution

Integrate and determine the centroid.

V=
x

3 5

Ta2h
3 8

z y = kx1/3 Now

xel dV =

Ta2h2

xV = xdV:

x(

3 5

Ta2h)

3 8

Ta2h2
5 8

x= y=0 z=0

51

Problem 7.10
The square gate AB is held in the position shown by hinges along its top edge A and by a shear pin at B. For a depth of water d = 3.5 ft, determine the force exerted on the gate by the shear pin. B
30o

d
1.8 ft

52

Problem 7.10

Solving Problems on Your Own A

1.8 ft 30o

The square gate AB is held in the position shown by hinges along its top edge A and by a shear pin at B. For a depth of water d = 3.5 ft, determine the force exerted on the gate by the shear pin.

Assuming the submerged body has a width b, the load per unit length is w = bVgh, where h is the distance below the surface of the fluid. 1. First, determine the pressure distribution acting perpendicular the surface of the submerged body. The pressure distribution will be either triangular or trapezoidal.
53

Problem 7.10

Solving Problems on Your Own A

1.8 ft 30o

The square gate AB is held in the position shown by hinges along its top edge A and by a shear pin at B. For a depth of water d = 3.5 ft, determine the force exerted on the gate by the shear pin.

2. Replace the pressure distribution with a resultant force, and construct the free-body diagram. 3. Write the equations of static equilibrium for the problem, and solve them.
54

Problem 7.10 Solution

1.7 ft

A PA
(1.8 ft) cos 30o

Determine the pressure distribution acting perpendicular the surface of the submerged body.

PA = 1.7 Vg PB = (1.7 + 1.8 cos 30o)Vg

B PB

55

Ay A
1.7 Vg

Problem 7.10 Solution

Ax

LAB/3

(1.8 ft) cos 30o

P1
LAB/3 LAB/3

FB B

Replace the pressure distribution with a resultant force, and construct the free-body diagram. The force of the water on the gate is 1 1 P = 2 Ap = 2 A(Vgh)

P2

(1.7 + 1.8 cos 30o)Vg

1 P1 = 2 (1.8 ft)2(62.4 lb/ft3)(1.7 ft) = 171.85 lb 1 P2 = 2 (1.8 ft)2(62.4 lb/ft3)(1.7 + 1.8 cos 30o)ft = 329.43 lb

56

Ay A
1.7 Vg

Problem 7.10 Solution

Ax

LAB/3

(1.8 ft) cos 30o

Write the equations of static equilibrium for the problem, and solve them. + 7MA = 0:

P1
LAB/3 LAB/3

FB B
30o)Vg

P2
(1.7 + 1.8 cos

(1 3

LAB)P1 + ( LAB)P2 - LABFB = 0 FB = 276.90 lb

30o

2 3

P1 = 171.85 lb 1 3

P2 = 329.43 lb 2 3

(171.85 lb) +

(329.43 lb) - FB = 0

FB = 277 lb

57