OpenStax-CNX module: m14120

Center of mass and rigid bodies

Sunil Kumar Singh

This work is produced by OpenStax-CNX and licensed under the
Creative Commons Attribution License 2.0

Abstract
Under certain condition, COM of rigid bodies is same as geometric center.

Rigid bodies are composed of very small particles which interact with each other via electromagnetic force.
They form a continuous distribution of mass. As such, expressions of COM in three coordinate directions
involve evaluation of integrals as described in earlier module. This evaluation, however, is rendered dicult
on two counts :
Mass distribution may not be uniform.
The body shape may be irregular.

The geometry of regularly shaped bodies are dened by mathematical equations. Such is not the case
with irregular bodies. However, there is a good thing about center of mass (COM) that it represents the
point where external force equivalently applies. This fact allows us to experimentally determine COM of
even irregularly shaped bodies. We can balance a body on a pointed wedge. The COM of the body falls
on the line of balance. In order to know the COM (a point), however, we need to balance the body with
dierent orientation to get another line of balance. The point of intersection of the two lines of balance is
the COM of the body.
1 COM of regular bodies with uniform density

We are saved from any mathematical calculation in cases of certain regularly shaped bodies with uniform
density, which are symmetric to all the axes of the coordinate system involved. In all such cases, COM is
same as geometric center. COMs of a sphere, spherical shell, ring, disc, cylinder, cone, rod, square plate etc.
fall under this category where COM is simply the geometric center of the bodies.
However, there are cases of regular shaped bodies which are not symmetric to three (for three dimensional
bodies) or two axes (for planar bodies). For example, consider the case of hemispherical body or the case
of semi-circular wire. These bodies are not symmetric to all the axes involved. Here, geometric center and,
thus, COM are not obvious. In this section, we shall evaluate COM of such regular shaped bodies, which
are not symmetric about all axes of the coordinate system.
Regular bodies allow us to evaluate integrals as geometry is dened. Evaluation of integral is simplied if
the mass is evenly distributed. Unless otherwise indicated, we shall consider rigid bodies of uniform density
only. Further, some rigid bodies are combination of other regular bodies, whose COMs are known. In that
case, we would employ the formula of COM for the system of particles.
Version

1.4: Sep 3, 2009 4:07 am -0500

http://creativecommons.org/licenses/by/2.0/

http://cnx.org/content/m14120/1.4/

OpenStax-CNX module: m14120

1.1 L shaped rod or wire

In this case, we need not resort to integration as L-shaped rod is simply a combination of two rods with
known COMs, which can be treated as combination of particles.

L shaped rod

Figure 1: L-shaped rod is a combination of two rods.

Let the origin of the planar coordinate system coincides with the corner of the L-shaped rod. COM of a
uniform rod is the middle point of the rod. From the gure, the COM of rod along x-axis is ( l21 , 0 ). On
the other hand, COM of rod along y-axis is ( 0 , l22 ). These rods, therefore, can be considered as particles
at these positions. Thus, the L-shaped rod system reduces to the case of two particles system separated by
a distance. Let m1 and m2 be the mass of two rods respectively. Now, the linear mass density is :
=

m1
l1

m2
l2

The COM of the L-shaped rod is :

m 1 x1 + m 2 x2
m1 + m2
l
l x 1
xCOM = ( l11 + l22 )
2
xCOM = 2 ( l1l1+ l2 )

xCOM =

and similarly,

http://cnx.org/content/m14120/1.4/

OpenStax-CNX module: m14120

m1 y1 + m2 y2
m1 + m2
l
l x 2
xCOM = ( l21 + l22 )
2
xCOM = 2 ( l1l2+ l2 )

yCOM =

It is important to note that the expressions of COM are independent of mass term.

Example 1
Problem : A thin rod of length 3 m is bent at right angles at a distance 1 m from one end. If 1
m segment lies horizontally, determine the COM of the resulting L-shaped wire structure.
Solution : Here l1 = 1m and l2 = 2 m. The COM of the L - shaped rod is :
xCOM =
xCOM =

l1 2
2 ( l1 + l2 )
1
2(1+2)

1
6

4
6

2
3

and
yCOM =
xCOM =

l2 2
2 ( l1 + l2 )
4
2(1+2)

1.2 Semicircular uniform wire

A semicircular wire is not symmetric to all the axes of the coordinates. The wire is a planar body involving
two dimensions (x and y). However, we note that the wire is symmetric about y-axis, but not about x-axis.
This has two important implications :
COM lies on y - axis (i.e on the axis of symmetry).
We only need to evaluate "y" coordinate of COM as xCOM = 0.

Thus, we need to evalute the expression :

yCOM =

1
M

ydm

Evaluation of an integral is based on identifying the dierential element. The semicircular wire is composed of large numbers of particle like elements, each of mass "dm". The idea of this particle like element
of mass "dm" is that its center of mass i.e COM lies at "y" distance from the origin in y-direction. This
element is linked to the mass "m" of the wire as :

http://cnx.org/content/m14120/1.4/

OpenStax-CNX module: m14120

Semicircular uniform wire

Figure 2: The semicircular wire is composed of large numbers of particles.

M
R

dm = dl =

dl

Now,
dl = Rd
y = Rsin
M
R

dm =

Rd =

Putting in the integral,

yCOM =
yCOM =

1
M
R

Rsin

sin d

Integrating between = 0 and = ,

yCOM =
yCOM =

The COM of the semicircular wire is ( 0 ,

http://cnx.org/content/m14120/1.4/

[ cos ]

[ cos + cos0 ] =

2R

).

2R

OpenStax-CNX module: m14120

1.3 Semicircular unifrom thin disc

A semicircular disc is not symmetric to all the axes of the coordinates. The thin disc is a planar body
involving two dimensions (x and y). However, we note that the disc is symmetric about y-axis, but not
about x-axis. This has two important implications :
COM lies on y - axis (i.e on the axis of symmetry).
We only need to evaluate "y" coordinate of COM as xCOM = 0.

Thus, we need to evaluate the expression :

yCOM =

1
M

ydm

Evaluation of an integral is based on identifying the dierential element. The semicircular disc is composed
of large numbers of semicircular thin wires. We must be careful in evaluating this integral. The elemental
mass "dm" corresponds to a semicirular wire - not a particle as the case before. The term "y" in the integral
denotes the distance of the COM of this elemental semicircular wire. The COM of this semi-circular thin
wire element is at a distance 2r/ (as determined earlier)in y-direction.

Semicircular uniform disc

Figure 3: The semicircular disc is composed of large numbers of semicircular wires.

Now,
y =

2r

d m = d A = ( r d r )

where " " denoted the surface density. It is given by :

=

Putting in the integral,

http://cnx.org/content/m14120/1.4/

M
R2
2

2M
R2

OpenStax-CNX module: m14120

yCOM =
yCOM =

1
M
2
M

R
R

2r

r d r

r dr

Integrating between r = 0 and r = R (radius of the semicircular disc),

yCOM =
yCOM =
yCOM =

The COM of the semicircular disc is ( 0 ,

4R
3

2
M

r3
3

R
0

2R
3M
4 M R3
3M R2

4R
3

).

2 COM rigid bodies with non-uniform density

Evaluation of integrals to determine COM of non-uniform rigid bodies may be cumbersome. There are two
possibilities :
1. The variation in density is distinctly marked.
2. The variation in density is dened in mathematical form.

2.1 Variation in density is distinctly marked

If the variation in density is distinctly marked, then it is possible to determine COMs of individual uniform
parts. Once COMs of the individual uniform parts are known, we can treat them as particle with their mass
at their respective COMs. Thus, non-uniform rigid body is reduced to a system of particles, which renders
easily for determination of its COM. This technique is illustrated in the example given here :

Example 2
Problem : A thin plate (axb) is made up of two equal portions of dierent surface density of

1 and 1 as shown in the gure. Determine COM of the composite plate in the coordinate system

shown.

http://cnx.org/content/m14120/1.4/

OpenStax-CNX module: m14120

Composite system of rigid bodies

Figure 4: Thin plate is made up of two equal portions of dierent surface density.

Solution : COM of the rst half is at

, whereas COM of the second half is at 3a

4 from the
origin of the coordinate system in x-direction. As x-axis lies at mid point of the height of the plate,
y-component of COM is zero. Now two portions are like two particles having masses :
a
4

m1 =

ab
2 1

m2 =

ab
2 2

and

Also, the x-coordinates of the positions of these particles are x1 =

x-component of the COM of two particles system is :
xCOM =

m1 x1 + m2 x2
m1 + m2

xCOM =
xCOM =

http://cnx.org/content/m14120/1.4/

ab
a
ab
3a
2 1 4 + 2 2 4
ab
ab

1
2
2
2

( 1 + 32 ) a
4 ( 1 + 2 )

a
4

and x2 =

3a
4

. The

OpenStax-CNX module: m14120

2.2 Variation in density is dened in mathematical form

If the variation in density is well dened, then it is possible to evaluate integral to determine the COM for
non-uniform rigid body. The technique is illustrated in the example given here :

Example 3
Problem : Linear density of a rod varies with length as = 2x + 3. If the length of the rod is
"L", then nd the COM of the rod.
Solution : The COM of the rod in one dimension is given as :

COM of a rod with varying density

Figure 5: Linear density of a rod varies with length as = 2x + 3.

xCOM =

1
M

xdm

Here,
d m = d x = ( 2x + 3 ) d x

We can use this relation to determine COM as :

R
R xdm
R dm
R x ( 2x + 3 ) d x
( 2x + 3 ) d x

xCOM =
xCOM =
xCOM =

R
2

R
2
Rx d x + 3 R x d x
xdx+3
dx

Evaluating between x = 0 and x = L, we have :

http://cnx.org/content/m14120/1.4/

xCOM =

2
2L3
+ 3L
3
2
2
2L
+ 3L
2

xCOM =

4L2 + 9L
6(L+3)