Centroid and Moment of Inertia

Dr. Madan Lal Chandravanshi

Assistant Professor
Department of Mechanical Engineering
Indian Institute of Technology (ISM) Dhanbad
Center of Gravity and Centroids
• 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 for the body.
• If the material is uniform, the center of gravity, G, is equivalent to the
centroid, C (the center of the area).

y y y

C C
(x, y )
W y
x x x
x
The weight actually We show the resultant x and y are coordinates
acts over the entire acting at the center of mass.
volume. of the centroid, C

5
Determining Center of Mass or Center of Gravity
Centers of Mass for objects composed of different materials
For objects composed of uniform materials the centroid is equal to the center of mass.
If an object is composed of different materials, the centroid may be different than the
center of mass.

C=G

Case 1: Object composed of uniform material

The centroid and the center of gravity are the same.

G
C
(wood) (steel)

Case 2: Object composed of two materials

The centroid is the same as in Case 1, but the center of gravity shifts to the right.
Concept of Center of Gravity, CG (continued)
The location of the center of gravity, measured
from the y axis, is determined by equating the
moment of W about the y axis to the sum of the
moments of the weights of the particles about this
same axis.

~ ~~
If dW is located at point (x, y, z), then
_
x W = ~
x dW
_ _
Similarly, y W =  ~
y dW zW=~
z dW

Therefore, the location of the center of gravity G with respect to the x,

y, and z axes becomes

7
Center of Mass and Centroid of a Body

By replacing the W with a m in these equations, the coordinates

of the center of mass can be found.

Similarly, the coordinates of the centroid of volume, area, or

length can be obtained by replacing W by V, A, or L,
respectively.
8
Centroids and First Moments of Areas and Lines
• Centroid of an area • Centroid of a line

x W =  x dW x W =  x dW
x (At ) =  x (t )dA x ( La ) =  x ( a )dL
x A =  x dA = Q y x L =  x dL
= first moment wit h respect to y yL =  y dL
yA =  y dA = Qx
= first moment wit h respect to x

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 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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Concept of a Centroid

If an object has an axis of

symmetry, then the centroid
of object lies on that axis.

In some cases, the centroid

is not located on the object.

10
Concept of a Centroid
The centroid, C, is a point which defines the geometric center of an
object.

For simple shapes, the centroid, C, can be

found by inspection or by using tables of
values provided in the text.

The centroid coincides with the center

of mass or the center of gravity only if
the material of the body is homogenous
(density or specific weight is constant
throughout the body).
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Centroids of Common Shapes of Areas
 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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Determination of Centroids by Integration
x A =  xdA =  x dxdy =  xel dA • Double integration to find the first moment
may be avoided by defining dA as a thin
yA =  ydA =  y dxdy =  yel dA
rectangle or strip.

x A =  xel dA x A =  xel dA
=  x ( ydx ) x A =  xel dA
2r 1 
= cos   r 2 d 
yA =  yel dA 3 2 
a+x
=  (a − x )dy  yA =  yel dA
y 2
=  ( ydx )
2 yA =  yel dA 2r 1 
= sin   r 2 d 
=  y (a − x )dy  3 2 
 Sample Problem
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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 Solution

• Find the total area and first moments of the Qx = +506.2  103 mm 3
triangle, rectangle, and semicircle. Subtract the
Q y = +757.7  103 mm 3
area and first moment of the circular cutout.
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 Solution Cont…
• Compute the coordinates of the area centroid by dividing the first
moments by the total area.

X =  x A + 757.7  103 mm 3
=
 A 13.828 103 mm 2
X = 54.8 mm

Y =  y A + 506.2  103 mm 3
=
 A 13.828 103 mm 2
Y = 36.6 mm
• The concept of inertia is provided by Newton’s
first law of motion.
• The property of a matter by virtue of which it
resists any change in its state of rest or uniform
motion is called inertia.
• If the first moment force equation is again
multiplied by perpendicular distances, the
quantity called moment of the moment of force
or second moment of force or moment of inertia.
• SI unit of MI is M4
Moment of Inertia of an Area

• Consider distributed forces F whose magnitudes are
proportional to the elemental areas A on which they
act and also vary linearly with the distance of A
from a given axis.
• Example: Consider a beam subjected to pure bending.
Internal forces vary linearly with distance from the
neutral axis which passes through the section centroid.

F = kyA
R = k  y dA = 0  y dA = Qx = first moment
M = k  y 2 dA  y dA = second moment
2

• Example: Consider the net hydrostatic force on a

submerged circular gate.
F = pA = yA
R =   y dA
M x =   y 2 dA
 Sample Problem 2
SOLUTION:
• An annular differential area element is chosen,

dJO = u 2dA dA = 2 u du
r r
J O =  dJO =  u (2 u du ) = 2  u 3du
2

0 0


JO = r4
2

a) Determine the centroidal polar • From symmetry, Ix = Iy,

moment of inertia of a circular

area by direct integration. JO = I x + I y = 2I x r 4 = 2I x
2
b) Using the result of part a,
determine the moment of inertia 
of a circular area with respect to a I diameter = I x = r 4
4
diameter.
Radius of Gyration of an Area
• Consider area A with moment of inertia Ix.
Imagine that the area is concentrated in a thin
strip parallel to the x axis with equivalent Ix.
Ix
I x = k x2 A kx =
A
kx = radius of gyration with respect
to the x axis
• Similarly,
Iy
Iy = k y2 A ky =
A
JO
J O = kO2 A kO =
A

kO2 = k x2 + k y2
 Parallel Axis Theorem:
The moment of inertia about any axis is equal to the moment of
inertia about a parallel axis through the centroid plus the area times
the square of the distance between the axes.

• Consider moment of inertia I of an area A with

respect to the axis AA’

I =  y 2 dA

• The axis BB’ passes through the area centroid and

is called a centroidal axis.

I =  y 2 dA =  ( y + d ) dA
2

=  y2 dA + 2d  ydA + d 2  dA
0

I = I + Ad 2 parallel axis theorem

Parallel Axis Theorem - Examples
1. • Moment of inertia IT of a circular area with
respect to a tangent to the circle,
( )
I T = I + Ad 2 = 14  r 4 +  r 2 r 2

= 54  r 4

2. • Moment of inertia of a triangle with respect to a

centroidal axis,
I AA = I BB + Ad 2

I BB = I AA − Ad 2
= 12
1 bh 3 ( )
− 2 bh 3 h
1 1 2

= 36
1 bh 3
Moments of Inertia of Composite Areas
• The moment of inertia of a composite area A about a given axis
is obtained by adding the moments of inertia of the component
areas A1, A2, A3, ... , with respect to the same axis.
 Sample Problem
Determine the moment of inertia of the shaded area with
respect to the x axis.
 Solution
SOLUTION:
• Compute the moments of inertia of the bounding
rectangle and half-circle with respect to the x axis.
Rectangle:
I x = 13 bh3 = 13 (240)(120) = 138.2  106 mm 4

Half-circle:
moment of inertia with respect to AA’,
I AA = 18 r 4 = 18  (90)4 = 25.76  106 mm 4
moment of inertia with respect to x’,

4r (4 )(90)
( )(
I x = I AA − Aa 2 = 25.76  106 12.72  103 )
a= = = 38.2 mm
3 3 = 7.20  106 mm 4
b = 120 - a = 81.8 mm
moment of inertia with respect to x,
A = 12 r = 12  (90) ( )
2 2
I x = I x + Ab 2 = 7.20  106 + 12.72  103 (81.8)2
= 12.72  103 mm 2 = 92.3  106 mm 4
 Solution
• The moment of inertia of the shaded area is obtained by
subtracting the moment of inertia of the half-circle from
the moment of inertia of the rectangle.

Ix = 138.2  106 mm 4 − 92.3  106 mm 4

I x = 45.9  106 mm 4

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Product of Inertia
• Product of Inertia:

I xy =  xy dA
• When the x axis, the y axis, or
both are an axis of symmetry,
the product of inertia is zero.

• Parallel axis theorem for products

xy = I xy + x yA
of inertia: I
 Principal Axes and Principal Moments of Inertia

Given I x =  y 2 dA I y =  x 2 dA
I xy =  xy dA
We wish to determine moments and product of inertia with respect to new axes x’
and y’.

Note: x = x cos  + y sin 

y  = y cos  − x sin 
Principal Axes and Principal Moments of Inertia
 Principal Axes and Principal Moments of Inertia
• The change of axes yields
Ix + Iy Ix − I y
I x = + cos 2 − I xy sin 2
2 2
Ix + I y Ix − Iy
I y = − cos 2 + I xy sin 2
2 2
Ix − I y
I xy = sin 2 + I xy cos 2
2
• The equations for Ix’ and Ix’y’ are the parametric equations for a circle,
𝐼𝑥 ′ − 𝐼𝑎𝑣𝑒 2
+ 𝐼𝑥2′ 𝑦 ′ = 𝑅2
2
𝐼𝑥 + 𝐼𝑦 𝐼𝑥 − 𝐼𝑦 2
𝐼𝑎𝑣𝑒 = 𝑅= + 𝐼𝑥𝑦
2 2

• The equations for Iy’ and Ix’y’ lead to the same circle.
Mohr’s Circle for Moments and Products of Inertia

• The moments and product of inertia for an

area are plotted as shown and used to
construct Mohr’s circle,
Ix + I y  Ix − Iy  2
I ave = R =   + I xy
2  2 
• Mohr’s circle may be used to graphically or
analytically determine the moments and product of
inertia for any other rectangular axes including the
principal axes and principal moments and products
of inertia.
Principal Axes and Principal Moments of
Inertia
• At the points A and B, Ix’y’ = 0 and Ix’ is
a maximum and minimum, respectively.
I max, min = I ave  R
2 I xy
tan 2 m = −
Ix − Iy

• The equation for Qm defines two

angles, 90o apart which correspond to
the principal axes of the area about O.

(I x − I ave )2 + I x2y = R 2 • Imax and Imin are the principal moments

of inertia of the area about O.
Ix + I y  Ix − Iy  2
I ave = R =   + I xy
2  2 

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 Sample Problem
The moments and product of inertia with respect to the x
and y axes are Ix = 7.24x106 mm4, Iy = 2.61x106 mm4, and
Ixy = -2.54x106 mm4.
Using Mohr’s circle, determine (a) the principal axes about
O, (b) the values of the principal moments about O, and (c)
the values of the moments and product of inertia about the
x’ and y’ axes
 SOLUTION:
• Plot the points (Ix , Ixy) and (Iy ,-Ixy). Construct Mohr’s
circle based on the circle diameter between the points.

( )
OC = I ave = 12 I x + I y = 4.925  106 mm 4
( )
CD = 12 I x − I y = 2.315  106 mm 4

R= (CD )2 + (DX )2 = 3.437  106 mm 4

I x = 7.24  106 mm 4 • Based on the circle, determine the orientation of the
I y = 2.61  106 mm 4 principal axes and the principal moments of inertia.
DX
I xy = −2.54  106 mm 4 tan 2 m = = 1.097 2 m = 47.6  m = 23.8
CD

I max = OA = I ave + R I max = 8.36  106 mm 4

I min = OB = I ave − R I min = 1.49  106 mm 4

 Solution
• Based on the circle, evaluate the moments and product
of inertia with respect to the x’y’ axes.
The points X’ and Y’ corresponding to the x’ and y’ axes
are obtained by rotating CX and CY counterclockwise
through an angle Q = 2(60o) = 120o. The angle that CX’
forms with the x’ axes is f = 120o - 47.6o = 72.4o.

I x ' = OF = OC + CX  cos  = I ave + R cos 72.4o

I x = 5.96  106 mm 4

I y ' = OG = OC − CY  cos  = I ave − R cos 72.4o

I y = 3.89  106 mm 4

I xy ' = FX  = CY  sin  = R sin 72.4o

I xy = 3.28  106 mm 4

OC = I ave = 4.925  106 mm 4
R = 3.437  106 mm 4
Moment of Inertia of a Mass
• Angular acceleration about the axis AA’ of the small mass
m due to the application of a couple is proportional to
r2m.
r2m = moment of inertia of the mass m
with respect to the axis AA’

• For a body of mass m the resistance to rotation

about the axis AA’ is

I = r12 m + r22 m + r32 m + 

=  r 2 dm = mass moment of inertia
• The radius of gyration for a concentrated mass with
equivalent mass moment of inertia is
I
I =k m2
k=
m
Moment of Inertia of a Mass
• Moment of inertia with respect to the y coordinate axis is

(
I y =  r 2 dm =  z 2 + x 2 dm )
• Similarly, for the moment of inertia with respect to the
x and z axes,

( )
I x =  y 2 + z 2 dm
I z =  (x 2 + y 2 )dm

• In SI units,
(
I =  r 2 dm = kg  m 2 )
In U.S. customary units,
 Moments of Inertia of Thin Plates
• For a thin plate of uniform thickness t and homogeneous
material of density r, the mass moment of inertia with
respect to axis AA’ contained in the plate is
I AA =  r 2 dm = rt  r 2 dA
= r t I AA,area

• Similarly, for perpendicular axis BB’ which is also

contained in the plate,
I BB = r t I BB,area

• For the axis CC’ which is perpendicular to the plate,

I CC  = r t J C ,area = r t (I AA,area + I BB,area )
= I AA + I BB

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Moments of Inertia of Thin Plates
• For the principal centroidal axes on a rectangular plate,

I AA = r t I AA,area = r t (121 a3b) = 121 ma 2

I BB = r t I BB,area = r t (12
1 ab 3 ) = 1 mb 2
12

I CC  = I AA,mass + I BB,mass = 12 1 m(a 2 + b 2 )

• For centroidal axes on a circular plate,

( )
I AA = I BB = r t I AA,area = r t 14  r 4 = 14 mr 2

I CC  = I AA + I BB = 12 mr 2
 Moments of Inertia of Common
Geometric Shapes

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Moments of Inertia of a 3D Body by Integration
• Moment of inertia of a homogeneous body
is obtained from double or triple
integrations of the form
I = r  r 2 dV

• For bodies with two planes of symmetry,

the moment of inertia may be obtained
from a single integration by choosing thin
slabs perpendicular to the planes of
symmetry for dm.

• The moment of inertia with respect to a

particular axis for a composite body may
be obtained by adding the moments of
inertia with respect to the same axis of the
components.

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