National University of Sciences & Technology (NUST)

Balochistan Campus (NBC), Department of Civil

Engineering

DEPARTMENT OF CIVIL ENGINEERING

ASSIGNMENT NO: 03
TOPIC: CENTRE OF MASS, FRICTION AND TYPES
OF FRICTION

1 SUBMITTED TO
SIR TAIMOOR SHAHZAD
2 SUBMITTED BY
MUHAMMAD AASHAN WASEEM
3 CMS ID
4 333713
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National University of Sciences & Technology (NUST)

Balochistan Campus (NBC), Department of Civil
Engineering

5 Date:14 – June-2021

CENTRE OF MASS (COM):-

Definition:-

What is Center of Mass?

Centre of mass of a body or system of a particle is defined as, a point at which whole of the mass
of the body or all the masses of a system of particle appeared to be concentrated.
When we are studying the dynamics of the motion of the system of a particle as a whole, then we
need not bother about the dynamics of individual particles of the system. But only focus on the
dynamic of a unique point corresponding to that system.
Motion of this unique point is identical to the motion of a single particle whose mass is equal to
the sum of all individual particles of the system and the resultant of all the forces exerted on all
the particles of the system by surrounding bodies (or) action of a field of force is exerted directly
to that particle. This point is called the centre of mass of the system of particles. The concept of
centre of mass (COM) is useful in analyzing the complicated motion of the system of objects,
particularly when two and more objects collide or an object explodes into fragments.

Important points about center of mass.

1. The position of center of mass is independent of the co-ordinate system you choose.
2. The position of center of mass depends upon the shape of the body and distribution of
mass across the body. For example: The center of mass of a circular disc is inside the
material of the body while that of a circular ring lies outside the material of the body.
3. Symmetrical bodies in which the distribution of mass is homogeneous, the center of
mass coincides with the geometrical center or center of symmetry of the body. 
4. Center of mass of a body changes its position only under translational motion but not
under rotational motion because here the body is rotating in its position and not moving
(changing its co-ordinates) so its Center of mass remains at the same position.
5. Position of center of mass for different symmetrical bodies
6.  Write two factors on which center of mass of a body does not depend, density, velocity.
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National University of Sciences & Technology (NUST)

Balochistan Campus (NBC), Department of Civil
Engineering

Formulas:
Center of mass for n particles

As shown in figure consider two particles having mass m1 and m2 lying on X-axis at distance of
x1 and x2 respectively from the origin (O). The centre of mass of this system is that point whose
distance from origin O is given by
𝑥 = 𝑚1𝑥1 + 𝑚2𝑥2/ 𝑚1 + 𝑚2
Here, x is the mass-weight average position of x1 and x2. The centre of mass of the two particles
of equal mass lies at the centre (on the line joining the two particles between the two particles)
Consider a set of n particles whose masses are m1 m2, m3, … mn and whose vector relative to
an origin O are r1, r2, r3, …….. rn respectively,
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National University of Sciences & Technology (NUST)

Balochistan Campus (NBC), Department of Civil
Engineering

The centre of mass of this set of particles is defined as the point with position vector rCM
m1 r⃗ 1+m2 r⃗ 2+m 3 r⃗ 3+⋯+ mnr⃗n
𝑟⃗𝐶𝑀 =
m1+m2+ m3+… … …+ mn

OR r⃗𝐶𝑀 = ∑ mir⃗ / M
i=1
Here M is the total mass of the body.

Centre of mass of continuous bodies:

For calculating centre of mass of continuous body, we first divide the body into suitably chosen
infinitesimal elements. The choice is usually determined by the symmetry of the body. Consider
an element dm of the body having position vector r, the quantity miri can be replaced by dmri ,
direct sum over particles becomes integral over the body

𝑟⃗𝐶𝑀 = 1/ 𝑀 ∫ 𝑟⃗𝑑𝑚

In component form, this equation can be written as

𝑥𝑐𝑚 = 1 /𝑀 ∫ 𝑥 𝑑𝑚
𝑦𝑐𝑚 = 1 /𝑀 ∫ 𝑦 𝑑𝑚
𝑧𝑐𝑚 = 1 /𝑀 ∫ 𝑧 𝑑𝑚
To evaluate the integral we must express the variable m in terms of spatial coordinates x, y, z

NUMERICAL:
Q) Locate the centre of mass of a uniform semicircular rod of radius R and linear density σ kg/m
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Engineering

SOLUTION:-

From the symmetry of the body we see at once that the centre of mass of the body must lie along y-axis.
So XCM = 0.

In this case it is convenient to express the mass element in terms of the angle θ, measured in radian.

The element, which subtends an angle dθ at the origin, has a length Rdθ and a mass

dm = σRdθ. Its y coordinate is y = Rsinθ

Therefore,
π
Ycm=∫ Ydm / M
0

π
2 sinθdθ
Ycm=∫ σ R /M
0

𝑦cm =σ R2/M [−𝑐𝑜𝑠𝜃] π 0

𝑦cm = 2𝜎𝑅^2/ 𝑀

Total mass of ring M = πRσ

∴ 𝑦cm = 2𝑅/π

CENTROID OF AREA W.R.T MASS:-

The centroid of an area can be thought of as the geometric center of that area. The location of
the centroid is often denoted with a 'C' with the coordinates being x̄ and ȳ, denoting that they are
the average x and y coordinate for the area. If an area was represented as a thin, uniform plate,
then the centroid would be the same as the center of mass for this thin plate.
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National University of Sciences & Technology (NUST)

Balochistan Campus (NBC), Department of Civil
Engineering

Centroids of areas are useful for a number of situations in the mechanics course sequence,
including the analysis of distributed forces, the analysis of bending in beams, the analysis
of torsion in shafts, and as an intermediate step in determining moments of inertia.

The location of centroids for a variety of common shapes can simply be looked up in
tables, such as the table provided in the right column of this website. However, we will
often need to determine the centroid of other shapes and to do this we will generally use
one of two methods.

1. We can use the first moment integral to determine the centroid location.

2. We can use the method of composite parts along with centroid tables to determine
the centroid location.

On this page we will only discuss the first method, as the method of composite parts is
discussed in a later section. The tables used in the method of composite parts however are
derived via the first moment integral, so both methods ultimately rely on first moment
integrals.
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National University of Sciences & Technology (NUST)

Balochistan Campus (NBC), Department of Civil
Engineering

Finding the Centroid via the First Moment Integral

When we find the centroid of a two dimensional shape, we will be looking for both an x
and a y coordinate, represented as x̄ and ȳ respectively. Collectively, this x and y
coordinate is the centroid of the shape.

To find the average x coordinate of a shape (x̄) we will essentially break the shape into a
large number of very small and equally sized areas, and find the average x coordinate of
these areas. To do this sum of an infinite number of very small things we will use
integration. Specifically, we will take the first, rectangular, area moment integral along
the x axis, and then divide that integral by the total area to find the average coordinate. We
can do something similar along the y axis to find our ȳ value. Writing all of this out, we
have the equations below.
C=(¯x,¯y)

¯X=∫A(dA∗x)/
A
Y=∫A(dA∗y)/A

Next let's discuss what the variable dA represents and how we

integrate it over the area. The variable dA is the rate of change in area
as we move in a particular direction. For x̄ we will be moving along the
x axis, and for ȳ we will be moving along the y axis in these integrals.

As we move along the x axis of a shape from its left most point to its
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National University of Sciences & Technology (NUST)

Balochistan Campus (NBC), Department of Civil
Engineering

right most point, the rate of change of the area at any instant in time
will be equal to the height of the shape that point times the rate at
which we are moving along the axis (dx). Because the height of the
shape will change with position, we do not use any one value, but
instead must come up with an equation that describes the height at
any given value of x. We will then multiply this dA equation by the
variable x (to make it a moment integral), and integrate that equation
from the leftmost x position of the shape (x min) to the right most x
position of the shape (x max)

To find the y coordinate of the of the centroid, we have a similar process, but because we
are moving along the y axis, the value dA is the equation describing the width of the shape
times the rate at which we are moving along the y axis (dy). We then take this dA equation
and multiply it by y to make it a moment integral. We will integrate this equation from the
y position of the bottommost point on the shape (y min) to the y position of the topmost
point on the shape (y max).

NUMERICAL
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Balochistan Campus (NBC), Department of Civil
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CENTROID OF VOULME:
The centroid of volume is the geometric center of a body. If the density is uniform throughout
the body, then the center of mass and center of gravity correspond to the centroid of volume. The
definition of the centroid of volume is written in terms of ratios of integrals over the volume of
the body.
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❑ ❑ ❑

∫ xdv ∫ ydv ∫ zdv

v v v
X= ❑ , Y= ❑ , Z= ❑

∫ dv ∫ dv ∫ dv
v v v

Either analytical or numerical integration methods can be used to evaluate these integrals and
compute the centroid of volume for the body. The integrals over volume take slightly different
forms depending on the coordinate system you use.
The integrals over volume take slightly different forms depending on the coordinate system you use.

Cartesian Coordinates

❑ z2 y2 x2

∫ dv=∫ +¿ ∫ +∫ dx dy dx ¿
v z1 y1 x1

CENTROID OF MASS W,R,T LINE:

Straight Line: The centroid of a straight line is located at its midpoint. However, for a
shape made up of multiple straight-line segments, its centroidal location can be found
as

(1
)

where xi yi zi represent the centroidal coordinates of the ith line segment. In applying Eq. (1),
we are free to choose any reference coordinate system that simplifies the calculation
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National University of Sciences & Technology (NUST)

Balochistan Campus (NBC), Department of Civil
Engineering

of the centroid. Using the moment-of-a-force analogy, the numerator in Eq. (1)
represents the sum of "moments" produced by the individual line segments, and the
denominator represents the total line length.

NUMERICAL:

3. A 100 ft. long gas pipe is need to transferred from store to ship with the help of crane. find the
point where the pipe is picked up so that the load on both side will remain same.

Solution:

It is very simple to find the point of straight pipe where load balanced on both sides. Simply find
the Centroid of 100 ft.

Centroid of 100 ft. lies at a distance L/2 = 50 ft.

FRICTION:
When a body is slide or tends to slide on a surface on which is resting, a resisting force opposing
the motion is produces at the contact surface. This resisting force is called friction or friction
force.
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Balochistan Campus (NBC), Department of Civil
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Types Of Friction
Following are the friction types which depend on the types of motion:

1. Static Friction
2. Sliding Friction
3. Rolling Friction
4. Fluid Friction

Static Friction
Static friction is defined as the frictional force that acts between the surfaces when they are at
rest with respect to each other.
The magnitude of the static force is equal in the opposite direction when a small amount of force
is applied. When the force increases, at some point maximum static friction is reached.

Static Friction Examples

Following are the examples of static friction:

 Skiing against the snow

 Creating heat by rubbing both the hands together
 Table lamp resting on the table

Coefficient Of Static Friction

The coefficient of static friction is denoted as µs. The maximum force of static friction is given as
the product of the coefficient of static friction and normal force and force of static friction is less
than or equal to the product of the coefficient of static friction and normal force. It is given as:

Fs max = µs η and Fs ≤ µs η

Where,

 Fs is the force of static friction

 µs is the coefficient of static friction
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 η is the normal force

 Fs max is the maximum force of static friction

Sliding Friction

What Is Sliding Friction?

Sliding friction is defined as the resistance that is created between any two objects when they are
sliding against each other.

Examples Of Sliding Friction

Following are the examples of sliding friction:

 Sliding of the block across the floor

 Two cards sliding against each other in a deck

Coefficient Of Sliding Friction

The coefficient of sliding friction is denoted as µs. The force of sliding friction is defined as the
product of the coefficient of sliding friction and the normal force. It is given as:

Fs = µs. Fn

Rolling Friction

What Is Rolling Friction?

Rolling friction is defined as the force which resists the motion of a ball or wheel and is the
weakest types of friction.

Examples Of Rolling Friction

Following are the examples of rolling friction:

 Rolling of the log on the ground

 Wheels of the moving vehicles
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Coefficient Of Rolling Friction

The coefficient of rolling friction is denoted as µr. The force of rolling friction is defined as the
product of the coefficient of rolling friction and the normal force. It is given as:

Fs = µr. Fn

Fluid Friction

What Is Fluid Friction?

Fluid friction is defined as the friction that exists between the layers of the fluid when they are
moving relative to each other.

Examples Of Fluid Friction

Following are the examples of fluid friction:

 The flow of ink in pens

 Swimming

Internal friction:-
Definition:
Internal friction is the force resisting motion between the elements making up
a solid material while it undergoes deformation. ... As deformation occurs,
internal forces oppose the applied force

 Dry friction:-
Is a force that opposes the relative lateral motion of two solid surfaces in
contact.

Limiting Friction:
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The maximum value of frictional force, which comes into play, when a body just begins to slide
over the surface of the other body, is known as limiting friction.

Laws of Static Friction:

Following are the laws of static friction:

1. The force of friction always acts in a direction, opposite to that in which the body tends to
move.
2. The magnitude of force of friction is exactly equal to the force, which tends the body to
move.
3. The magnitude of the limiting friction bears a constant ratio to the normal reaction
between the two surfaces.
4. The force of friction is independent of the area of contact between the two surfaces.
5. The force of friction depends upon the roughness of the surfaces.

Laws of Dynamic or Kinetic Friction:

Following are the laws of dynamic or kinetic friction :

1. 1. The force of friction always acts in a direction, opposite to that in which the body tends
to move.
2. The magnitude of the kinetic friction bears a constant ratio to the normal reaction
between the two surfaces.
3. For moderate speeds, the force of friction remains constant. But it decreases slightly with
the increase of speed.

Coefficient of Friction:

It is defined as the ratio of limiting friction (F) to the normal reaction (RN) between the two
bodies. It is generally denoted by μ. Mathematically,
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National University of Sciences & Technology (NUST)

Balochistan Campus (NBC), Department of Civil
Engineering