Mechanical and Automation Engineering

MAEG3030 Fluid Mechanics

Lecture 3
Pressure and Fluid Statics

Lecturer -

Dr. Alex Siu Hong Lau

alshlau@cuhk.edu.hk
1
MAEG3030 Fluid Mechanics – Lecture Content

➢ Pressure
➢ Fluid Statics
• Basic Equation
• Fluid at Rest
➢ Pressure Measurement Devices
• Absolute, Gage, and Vacuum Pressures
• Barometer and Manometer
➢ Hydrostatic Forces on Submerged Plane Surfaces
➢ Hydrostatic Forces on Submerged Curved Surfaces
➢ Buoyancy and Stability

2
3.1 Pressure
➢ Pressure is the normal force exerted by a fluid per unit area

➢ It is measured in Pascal Pa = N/m2

➢ 3 other pressure units:

• The Earth’s average atmospheric pressure at sea-

level is the standard atmosphere (atm), defined as:

1 atm = 101,325 Pa = 101.325 kPa = 1.01325 bars

1 bar = 105 Pa = 0.1 MPa = 100 kPa The normal stress (or “pressure”)
on the feet of a chubby person is
• 1 bar is roughly the atmospheric pressure on much greater than on the feet of
Earth at an altitude of 111 m at 15℃ a slim person
• It is now considered a non-SI unit

1 kgfΤcm2 = 𝑔 NΤcm2 = 9.81 × 104 NΤm2

Acceleration due to gravity 𝑔 = 9.81 m/s2

➢ Pressure at any point in a fluid is the same in all directions

➢ Pressure has magnitude but not a specific direction, thus it is a scalar quantity 3
3.1 Pressure
Pascal’s Law
➢ The pressure applied to a confined fluid increases the pressure throughout by
the same amount
𝐹1 𝐹2 𝐹2 𝐴2 𝐴2
𝑃1 = 𝑃2 ⇒ = ⇒ = ⇒ 𝐹2 = 𝐹
𝐴1 𝐴2 𝐹1 𝐴1 𝐴1 1

➢ The area ratio 𝐴2 Τ𝐴1 is called the ideal mechanical

advantage of the hydraulic lift

Lifting of a large weight by a small

force by the application of Pascal’s law

4
3.2 Introduction to Fluid Statics

➢ Fluid statics: Deals with problems associated with fluids at rest

➢ Hydrostatics: When the fluid is a liquid

➢ Aerostatics: When the fluid is a gas

➢ In fluid statics, there is no relative motion between adjacent fluid layers, thus there are
no shear stresses in the fluid

➢ The only stress we deal with in fluid statics is the normal stress, which is the pressure,
and the variation of pressure is due only to the weight of the fluid

➢ Hence, fluid statics is only significant in gravity fields

➢ The design of many engineering systems such as water dams and liquid storage tanks
requires the determination of the forces acting on the surfaces using fluid statics

5
3.3 The Basic Equation of a Fluid Moving like a Solid Body
General view of
➢ Objective: Find the variation of static pressure in a fluid element
fluids moving like a solid body in the absence of
any shear stresses

➢ No shear stress means no relative motion

between fluid layers

➢ Consider an infinitesimal fluid element in such a

body of fluid as shown on the right

➢ By Newton’s second law, the net force vector

exerted on the element:
𝛿𝐹𝑥
𝛿 𝐹Ԧ = 𝛿𝐹𝑦 = 𝛿𝑚 𝑎Ԧ where 𝑎Ԧ is the
acceleration vector Variation of 𝑃 with 𝑧
𝛿𝐹𝑧 𝜕𝑃 𝑑𝑧
in the fluid 𝑃+
𝜕𝑧 2 𝑑𝑧
𝑧+
𝛿 𝐹Ԧ = 𝜌𝛿𝕍 𝑎Ԧ = (𝜌 𝑑𝑥 𝑑𝑦 𝑑𝑧) 𝑎Ԧ 2
𝑧 𝑃 at 𝑧
➢ The surface force due to the pressure acting on 𝑑𝑧
the bottom surface: 𝑦 𝑑𝑧
𝑧−
𝜕𝑃 𝑑𝑧 𝜕𝑃 𝑑𝑧 2
𝑃− 𝑑𝑥 𝑑𝑦 𝑃−
𝜕𝑧 2 𝜕𝑧 2 6
Side view
3.3 The Basic Equation of a Fluid Moving like a Solid Body
➢ The net surface force due to the pressure in the 𝑧-direction: Variation of 𝑃 with 𝑧
𝜕𝑃 𝑑𝑧
𝜕𝑃 𝑑𝑧 𝜕𝑃 𝑑𝑧 in the fluid 𝑃+
𝛿𝐹𝑆, 𝑧 = 𝑃 − 𝑑𝑥 𝑑𝑦 − 𝑃 + 𝑑𝑥 𝑑𝑦 𝜕𝑧 2 𝑑𝑧
𝜕𝑧 2 𝜕𝑧 2 𝑧+
2
𝑧 𝑃 at 𝑧
𝜕𝑃 𝑑𝑧
𝛿𝐹𝑆, 𝑧 =− 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝜕𝑧 𝑦 𝑑𝑧
𝑧−
𝜕𝑃 𝑑𝑧 2
➢ Similarly, the net surface force due to the pressure in the 𝑃−
𝑥- and 𝑦-directions are: 𝜕𝑧 2

𝜕𝑃 𝜕𝑃
𝛿𝐹𝑆, 𝑥 = − 𝑑𝑥 𝑑𝑦 𝑑𝑧 and 𝛿𝐹𝑆, 𝑦 = − 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝜕𝑥 𝜕𝑦

➢ The surface force vector is then 𝜕

𝜕𝑃 𝜕𝑃 𝜕𝑥
− 𝑑𝑥 𝑑𝑦 𝑑𝑧 𝜕
𝛿𝐹𝑆, 𝑥 𝜕𝑥 𝜕𝑥 ∇=
𝜕𝑃 𝜕𝑃 𝜕𝑦
𝛿 𝐹Ԧ𝑆 = 𝛿𝐹𝑆, 𝑦 = − 𝑑𝑥 𝑑𝑦 𝑑𝑧 = −(𝑑𝑥 𝑑𝑦 𝑑𝑧)
𝜕𝑦 𝜕𝑦 𝜕
𝛿𝐹𝑆, 𝑧
𝜕𝑃 𝜕𝑃 𝜕𝑧
− 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝜕𝑧 𝜕𝑧 is the gradient operator
called ‘grad’
𝛿 𝐹Ԧ𝑆 = −(𝑑𝑥 𝑑𝑦 𝑑𝑧)∇𝑃
7
where 𝑃 = 𝑃(𝑥, 𝑦, 𝑧) is the pressure at the centre of the infinitesimal fluid element
3.3 The Basic Equation of a Fluid Moving like a Solid Body
➢ The body force due to gravity is in the 𝑧-direction (downward): 𝑑𝑦
𝛿𝐹𝐵, 𝑧 = −𝜌𝑔 𝑑𝑥 𝑑𝑦 𝑑𝑧

➢ Since it is the only body force applied, the body force vector is 𝑃
𝑑𝑧
0 0
𝛿 𝐹Ԧ𝐵 = − 𝑑𝑥 𝑑𝑦 𝑑𝑧 𝜌𝑔 0 = − 𝑑𝑥 𝑑𝑦 𝑑𝑧 𝜌𝑔𝑘 𝑘= 0
1 1 𝑚𝑔
𝑧
➢ Then, the net force vector
𝛿 𝐹Ԧ = 𝛿 𝐹Ԧ𝑆 + 𝛿 𝐹Ԧ𝐵 𝑦

𝑑𝑥 𝑑𝑦 𝑑𝑧 𝜌𝑎Ԧ = − 𝑑𝑥 𝑑𝑦 𝑑𝑧 ∇𝑃 + 𝜌𝑔𝑘

𝜕𝑃
𝜕𝑥 𝑎𝑥
𝜕𝑃
➢ Hence, ∇𝑃 + 𝜌𝑔𝑘 = −𝜌𝑎Ԧ ⇒ = −𝜌 𝑎𝑦
𝜕𝑦 𝑔 + 𝑎𝑧
𝜕𝑃
𝜕𝑧

𝜕𝑃 𝜕𝑃 𝜕𝑃
➢ So, we have = −𝜌𝑎𝑥 = −𝜌𝑎𝑦 = −𝜌(𝑔 + 𝑎𝑧 )
𝜕𝑥 𝜕𝑦 𝜕𝑧 8
3.4 Special Case – Fluid at Rest, i.e. Fluid Statics
➢ For fluids at rest or moving on a straight path at constant velocity, we have 𝑎𝑥 = 𝑎𝑦 = 𝑎𝑧 = 0 and

𝜕𝑃 𝜕𝑃 𝜕𝑃
=0 =0 = −𝜌𝑔
𝜕𝑥 𝜕𝑦 𝜕𝑧

➢ Then, pressure only varies in the vertical direction as a result of gravity, i.e.

𝑑𝑃
= −𝜌𝑔 and 𝑃 = 𝑃(𝑧)
𝑑𝑧

➢ For an incompressible fluid (e.g. a liquid), 𝜌 = constant, then

𝑃1 𝑧1
𝑧0
න 𝑑𝑃 = −𝜌𝑔 න 𝑑𝑧
𝑃0 𝑧0 𝑧 ℎ

𝑃1 − 𝑃0 = −𝜌𝑔 𝑧1 − 𝑧0 𝑧1

➢ Set state 0 be the reference level (𝑧0 > 𝑧1 ) and pressure, then
𝑃1 − 𝑃0 = ∆𝑃 = −𝜌𝑔 𝑧1 − 𝑧0 = −𝜌𝑔(−ℎ) 𝑧0 − 𝑧1 = ℎ

𝑃1 − 𝑃0 = ∆𝑃 = 𝜌𝑔ℎ
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3.4 Special Case – Fluid at Rest, i.e. Fluid Statics
Variation of Pressure with Depth
➢ We have found that 𝑧0 = 0 m

𝑃1 − 𝑃0 = 𝜌𝑔(𝑧0 − 𝑧1 ) 𝑧0 > 𝑧1

∆𝑃 = 𝑃1 − 𝑃0 = 𝜌𝑔ℎ ℎ = 𝑧0 − 𝑧1

➢ If we consider the reference point 0 to be at the free

surface of a liquid open to the atmosphere, then 𝑧1 = −10 m

𝑃0 = 𝑃atm

➢ Hence, the pressure at a depth ℎ from the free surface The pressure of a fluid at
becomes rest increases with depth
(due to the added weight)
𝑃 − 𝑃atm = 𝜌𝑔ℎ

𝑃gage = 𝑃 − 𝑃atm = 𝜌𝑔ℎ

where 𝑃gage is the gage pressure

10
3.4 Special Case – Fluid at Rest, i.e. Fluid Statics
Variation of Pressure with Depth
➢ In a room filled with a gas, the
variation of pressure with height is
negligible

➢ Pressure in a liquid at rest

increases linearly with distance
from the free surface

➢ The pressure is the same

at all points on a horizontal
plane in a given fluid
regardless of geometry,
provided that the points
are interconnected by the
same fluid

11
3.5 Pressure Measurement Devices
Absolute, Gage, and Vacuum Pressures
➢ Absolute pressure
• The actual pressure at a given position
• Measured relative to absolute vacuum (i.e. absolute zero pressure)

➢ Gage pressure
• The difference between the absolute pressure and the local atmospheric
pressure
• Most pressure measuring devices are calibrated to read zero in the
atmosphere, and so they indicate gage pressure
• 𝑃gage = 𝑃abs − 𝑃atm

➢ Vacuum pressure
• Pressure below atmospheric pressure, i.e. 𝑃vac = 𝑃atm − 𝑃abs

➢ 𝑃 denotes absolute pressure unless specified otherwise

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3.5 Pressure Measurement Devices
Barometer
➢ To measure atmospheric pressure

➢ Thus, the atmospheric pressure is often referred to as the barometric pressure

➢ A frequently used pressure unit is the standard atmosphere (atm), which is defined as
the pressure produced by a column of mercury 760 mm in height at 0℃ under
standard gravitational acceleration (𝑔 = 9.81 m/s2 )

𝑃𝐵 = 𝑃atm

+↓ ෍ 𝐹𝑧 = 0

𝑊 − 𝑃𝐵 𝐴 = 0
𝑧
𝜌𝑔ℎ𝐴 − 𝑃atm 𝐴 = 0

𝑃atm = 𝜌𝑔ℎ
Do the length of the tube and its
cross-sectional area have any
effect on the height of the column
The basic barometer in a barometer? 13
3.5 Pressure Measurement Devices
Manometer
➢ Commonly used to measure small and moderate pressure differences

➢ A manometer contains one or more fluids such as mercury, water, alcohol, or oil

➢ Use a fluid column to measure pressure differences

𝑃Gas = 𝑃1 = 𝑃2

𝑃2 = 𝑃atm + 𝜌𝑔ℎ

∴ 𝑃Gas = 𝑃atm + 𝜌𝑔ℎ

The basic manometer

14
3.5 Pressure Measurement Devices
Manometer
➢ Example 1:

➢ In stacked-up fluid layers, the pressure change

across a fluid layer of density 𝜌 and height ℎ is 𝜌𝑔ℎ

𝑃atm + 𝜌1 𝑔ℎ1 + 𝜌2 𝑔ℎ2 + 𝜌3 𝑔ℎ3 = 𝑃1

When you go down a fluid column, you add the appropriate 𝜌𝑔ℎ

15
3.5 Pressure Measurement Devices
Manometer ➢ Measure the pressure drop across a flow section or
➢ Example 2: a flow device by a differential manometer

➢ Go from point 1 to point A:

𝑃1 + 𝜌1 𝑔 𝑎 + ℎ

➢ Go from point A to point B (no change in height,

no change in pressure):

𝑃1 + 𝜌1 𝑔 𝑎 + ℎ

➢ Go from point B to the fluid interface:

𝑃1 + 𝜌1 𝑔 𝑎 + ℎ − 𝜌2 𝑔ℎ

➢ Go from the fluid interface to point 2:

𝑃1 + 𝜌1 𝑔 𝑎 + ℎ − 𝜌2 𝑔ℎ − 𝜌1 𝑔𝑎 = 𝑃2

∴ 𝑃1 − 𝑃2 = 𝜌2 − 𝜌1 𝑔ℎ
16
3.5 Pressure Measurement Devices
Static Pressure Taps

Picture from Dwyer Instruments

Surface taps on a wing section model

17
 3.6 Hydrostatic Forces on Submerged Plane Surfaces
➢ A plate, such as a gate valve in a dam, the wall of a liquid storage tank, or the hull of a ship at rest,
is subjected to fluid pressure distributed over its surface when exposed to a liquid

Liquid storage tanks

An aircraft carrier at rest

Knife-edge gate valve

18
3.6 Hydrostatic Forces on Submerged Plane Surfaces

➢ On a plane surface, the hydrostatic forces form a system of parallel forces

➢ We often need to determine

1) the magnitude of the resultant force
2) the location of the point of application of the resultant force, which is called the centre of
pressure (CP)

When analyzing hydrostatic forces on

submerged surfaces, the atmospheric
pressure can be subtracted for simplicity
when it acts on both sides of the structure

19
3.6 Hydrostatic Forces on Submerged Plane Surfaces
➢ Consider the hydrostatic force on an inclined plane surface completely submerged in a liquid
➢ Angle of inclination from the free surface is 𝜃
➢ Axes system is inclined at 𝜃 from the free surface
➢ Want to find the magnitude of the resultant pressure force 𝐹𝑅 on one side of the plane, and
the location of the centre of pressure (CP) from the 𝑥-axis and the 𝑦-axis, which are 𝑦𝑃 and
𝑥𝑃 respectively

Side view Top view

𝑃0 𝑂
𝜃 𝑦 𝑥𝐶
𝑥𝑃
𝑃0 CP C
C 𝑦𝐶
CP 𝑧
𝑦𝑃
The 𝑥-axis is
pointing out of the 𝑥
𝑦
plane of this slide
Pressure acts normal to the plane, and pressure C = Centroid
increases linearly with increasing depth CP = Centre of Pressure
20
3.6 Hydrostatic Forces on Submerged Plane Surfaces
𝑭𝑹 : Resultant Pressure Force Magnitude
𝑃0
𝑂
ℎ = 𝑦 sin 𝜃 𝜃 ➢ Then, the resultant pressure force magnitude
𝑃 = 𝑃0 + 𝜌𝑔ℎ on one side of the plane surface is the sum of
the differential pressure force over the plane
𝑑𝐴
surface area:
C
CP 𝑧
𝐹𝑅 = න 𝑃 𝑑𝐴 𝐹𝑅 Method 1
𝐴

𝑦 =න 𝑃0 + 𝜌𝑔ℎ 𝑑𝐴
𝐴

➢ The pressure force acting on a differential =න 𝑃0 + 𝜌𝑔𝑦 sin 𝜃 𝑑𝐴

element 𝑑𝐴 on the plane surface is 𝐴

𝑑𝐹 = 𝑃𝑑𝐴
= 𝑃0 න 𝑑𝐴 + න 𝜌𝑔𝑦 sin 𝜃 𝑑𝐴
where 𝑃 = 𝑃(𝑥, 𝑦, 𝑧) is the absolute 𝐴 𝐴

pressure on the differential element

𝐹𝑅 = 𝑃0 𝐴 + 𝜌𝑔(sin 𝜃) න 𝑦 𝑑𝐴
𝐴

where 𝑃0 is the pressure at the free surface, e.g. 𝑃0 = 𝑃atm 21

3.6 Hydrostatic Forces on Submerged Plane Surfaces
𝑭𝑹 : Resultant Pressure Force Magnitude
➢ Note that න 𝑦 𝑑𝐴 = 𝑦𝐶 𝐴 is the first moment
𝑃0 𝐴
𝑂
𝜃 of the surface area about the 𝑥-axis
ℎ𝐶 = 𝑦𝐶 sin 𝜃
𝑃𝐶 = 𝑃0 + 𝜌𝑔ℎ𝐶
where subscript C stands for centroid of the
C plane surface
CP 𝑧

➢ Therefore,

𝑦 𝐹𝑅 = 𝑃0 𝐴 + 𝜌𝑔(sin 𝜃)(𝑦𝐶 𝐴)

𝐹𝑅 = 𝑃0 + 𝜌𝑔𝑦𝐶 sin 𝜃 𝐴

𝐹𝑅 = 𝑃0 + 𝜌𝑔ℎ𝐶 𝐴

𝐹𝑅 = 𝑃𝐶 𝐴 𝐹𝑅 Method 2

where 𝑃𝐶 is the absolute pressure at the centroid

of the plane surface, and 𝑃𝐶 = 𝑃avg

22
 3.6 Hydrostatic Forces on Submerged Plane Surfaces
𝒚𝑷 : CP Distance from 𝒙-axis ➢ The resultant pressure force 𝐹𝑅 acts through
the CP

➢ To find 𝑦𝑃 , use the fact that

Moment of the
Moment of 𝐹𝑅
= distributed pressure
about the 𝑥 − axis
force about the 𝑥 − axis

𝐹𝑅 𝑦𝑃 = න 𝑦𝑃 𝑑𝐴 𝑦𝑃 Method 1
𝑦 𝐴

= න 𝑦 𝑃0 + 𝜌𝑔𝑦 sin 𝜃 𝑑𝐴
𝐴

Top view
= න 𝑃0 𝑦 𝑑𝐴 + න 𝜌𝑔𝑦 2 sin 𝜃 𝑑𝐴
𝐴 𝐴
𝑦

C = 𝑃0 න 𝑦 𝑑𝐴 + 𝜌𝑔 sin 𝜃 න 𝑦 2 𝑑𝐴
CP 𝐴 𝐴
𝑦𝐶
𝐹𝑅 𝑦𝑃 = 𝑃0 𝑦𝐶 𝐴 + 𝜌𝑔 sin 𝜃 𝐼𝑥𝑥

𝑦𝑃 where 𝐼𝑥𝑥 is the area moment of inertia (second

moment of area) about the 𝑥-axis
𝑥 23
3.6 Hydrostatic Forces on Submerged Plane Surfaces
𝒚𝑷 : CP Distance from 𝒙-axis ➢ Recall 𝐹𝑅 = 𝑃𝐶 𝐴, then

𝑃𝐶 𝐴𝑦𝑃 = 𝑃0 𝑦𝐶 𝐴 + 𝜌𝑔 sin 𝜃 𝐼𝑥𝑥

centroidal axis ➢ By the parallel-axis theorem,

𝐼𝑥𝑥 = 𝐼𝑥𝑥, 𝐶 + 𝐴𝑦𝐶2
Top view
where 𝐼𝑥𝑥, 𝐶 is the area moment of inertia about the
𝑦 centroidal axis of the plane surface (parallel to the 𝑥 -direction)

C ➢ Then we have,
CP
𝑦𝐶 𝑃𝐶 𝐴𝑦𝑃 = 𝑃0 𝑦𝐶 𝐴 + 𝜌𝑔 sin 𝜃 𝐼𝑥𝑥, 𝐶 + 𝐴𝑦𝐶2

𝑦𝑃 𝑃𝐶 𝐴𝑦𝑃 = 𝑦𝐶 𝐴(𝑃0 + 𝜌𝑔𝑦𝐶 sin 𝜃) + 𝐼𝑥𝑥, 𝐶 𝜌𝑔 sin 𝜃

𝑥
𝑦𝐶 𝐴(𝑃𝐶 ) + 𝐼𝑥𝑥, 𝐶 𝜌𝑔 sin 𝜃
𝑦𝑃 =
𝑃𝐶 𝐴

𝐼𝑥𝑥, 𝐶 𝜌𝑔 sin 𝜃
𝑦𝑃 = 𝑦𝐶 + 𝑦𝑃 Method 2a
𝐹𝑅 Form 1
24
3.6 Hydrostatic Forces on Submerged Plane Surfaces
𝒚𝑷 : CP Distance from 𝒙-axis

𝐼𝑥𝑥, 𝐶 𝜌𝑔 sin 𝜃
𝑦𝑃 = 𝑦𝐶 + 𝑦𝑃 Method 2a
𝐹𝑅 Form 1

𝐼𝑥𝑥, 𝐶
𝑦𝑃 = 𝑦𝐶 +
𝑃𝐶
𝐴
𝜌𝑔 sin 𝜃

𝐼𝑥𝑥, 𝐶
𝑦𝑃 = 𝑦𝐶 +
𝑃0 + 𝜌𝑔𝑦𝐶 sin 𝜃
𝐴
𝜌𝑔 sin 𝜃

𝐼𝑥𝑥, 𝐶
𝑦𝑃 = 𝑦𝐶 +
𝑃0 𝑦𝑃 Method 2a
+ 𝑦𝐶 𝐴
𝜌𝑔 sin 𝜃 Form 2

➢ This form is convenient for computing 𝑦𝑃 of the pressure centre on one side of a totally
submerged plane when we include the ambient pressure 𝑃0 in 𝑃, e.g. 𝑃𝐶 = 𝑃0 + 𝜌𝑔ℎ𝐶

25
3.6 Hydrostatic Forces on Submerged Plane Surfaces
𝒚𝑷 : CP Distance from 𝒙-axis
➢ If only one side of the plane is in contact with the liquid, and the other side is subjected to the
ambient pressure 𝑃0 (same as that on the free surface)

➢ Then, 𝑃0 can be neglected in 𝑃, i.e. 𝑃0 is set to zero in the calculation, hence

𝑃0 𝜃 𝑂
𝐼𝑥𝑥, 𝐶
𝑦𝑃 = 𝑦𝐶 +
𝑃0
+ 𝑦𝐶 𝐴
𝜌𝑔 sin 𝜃
𝑃0 0
𝑧
𝐼𝑥𝑥, 𝐶
𝑦𝑃 = 𝑦𝐶 + 𝑦𝑃 Method 2b
𝑦𝐶 𝐴
𝑦

26
3.6 Hydrostatic Forces on Submerged Plane Surfaces
𝒙𝑷 : CP Distance from 𝒚-axis
➢ Perform a similar analysis to find 𝑥𝑃 :
Moment of the
Moment of 𝐹𝑅
Top view = distributed pressure
about the 𝑦 − axis
force about the 𝑦 − axis
𝑦 𝑥𝐶
𝑥𝑃
C 𝐹𝑅 𝑥𝑃 = න 𝑥𝑃 𝑑𝐴 𝑥𝑃 Method 1
CP 𝐴

𝑥
= න 𝑥 𝑃0 + 𝜌𝑔𝑦 sin 𝜃 𝑑𝐴
𝐴

= න 𝑃0 𝑥 𝑑𝐴 + න 𝜌𝑔𝑥𝑦 sin 𝜃 𝑑𝐴
𝐴 𝐴

= 𝑃0 න 𝑥 𝑑𝐴 + 𝜌𝑔 sin 𝜃 න 𝑥𝑦 𝑑𝐴
𝐴 𝐴

𝐹𝑅 𝑥𝑃 = 𝑃0 𝑥𝐶 𝐴 + 𝜌𝑔(sin 𝜃)𝐼𝑥𝑦

where 𝐼𝑥𝑦 is the product moment of inertia

27
3.6 Hydrostatic Forces on Submerged Plane Surfaces
𝒙𝑷 : CP Distance from 𝒚-axis ➢ Recall 𝐹𝑅 = 𝑃𝐶 𝐴, then

𝑃𝐶 𝐴𝑥𝑃 = 𝑃0 𝑥𝐶 𝐴 + 𝜌𝑔 sin 𝜃 𝐼𝑥𝑦

Top view

𝑦 𝑥𝐶 ➢ By the parallel-axis theorem,

𝑥𝑃
𝐼𝑥𝑦 = 𝐼𝑥𝑦, 𝐶 + 𝐴𝑥𝐶 𝑦𝐶
CP C
where 𝐼𝑥𝑦, 𝐶 is the product moment of inertia
𝑦𝐶 about the centroidal axis
𝑥

➢ Then we have,
𝑃𝐶 𝐴𝑥𝑃 = 𝑃0 𝑥𝐶 𝐴 + 𝜌𝑔 sin 𝜃 𝐼𝑥𝑦, 𝐶 + 𝐴𝑥𝐶 𝑦𝐶

𝑃𝐶 𝐴𝑥𝑃 = 𝑥𝐶 𝐴(𝑃0 + 𝜌𝑔𝑦𝐶 sin 𝜃) + 𝐼𝑥𝑦, 𝐶 𝜌𝑔 sin 𝜃

𝑥𝐶 𝐴(𝑃𝐶 ) + 𝐼𝑥𝑦, 𝐶 𝜌𝑔 sin 𝜃

𝑥𝑃 =
𝑃𝐶 𝐴

𝐼𝑥𝑦, 𝐶 𝜌𝑔 sin 𝜃 𝑥𝑃 Method 2a

𝑥𝑃 = 𝑥𝐶 +
𝐹𝑅 Form 1
28
3.6 Hydrostatic Forces on Submerged Plane Surfaces
𝒙𝑷 : CP Distance from 𝒚-axis

𝐼𝑥𝑦, 𝐶 𝜌𝑔 sin 𝜃
𝑥𝑃 = 𝑥𝐶 + 𝑥𝑃 Method 2a
𝐹𝑅 Form 1
𝐼𝑥𝑦, 𝐶
𝑥𝑃 = 𝑥𝐶 +
𝑃𝐶
𝐴
𝜌𝑔 sin 𝜃

𝐼𝑥𝑦, 𝐶
𝑥𝑃 = 𝑥𝐶 +
𝑃0 + 𝜌𝑔𝑦𝐶 sin 𝜃
𝐴
𝜌𝑔 sin 𝜃

𝐼𝑥𝑦, 𝐶
𝑥𝑃 = 𝑥𝐶 +
𝑃0 𝑥𝑃 Method 2a
+ 𝑦𝐶 𝐴
𝜌𝑔 sin 𝜃 Form 2

➢ This form is convenient for computing 𝑥𝑃 of the pressure centre on one side of a totally
submerged plane when we include the ambient pressure 𝑃0 in 𝑃, e.g. 𝑃𝐶 = 𝑃0 + 𝜌𝑔ℎ𝐶

29
3.6 Hydrostatic Forces on Submerged Plane Surfaces
𝒙𝑷 : CP Distance from 𝒚-axis
➢ If only one side of the plane is in contact with the liquid, and the other side is subjected to the
ambient pressure 𝑃0 (same as that on the free surface)

➢ Then, 𝑃0 can be neglected in 𝑃, i.e. 𝑃0 is set to zero in the calculation, hence

𝑃0 𝜃 𝑂
𝐼𝑥𝑦, 𝐶
𝑥𝑃 = 𝑥𝐶 +
𝑃0
+ 𝑦𝐶 𝐴
𝜌𝑔 sin 𝜃
0
𝑃0
𝑧
𝐼𝑥𝑦, 𝐶
𝑥𝑃 = 𝑥𝐶 + 𝑥𝑃 Method 2b
𝑦𝐶 𝐴
𝑦

30
3.6 Hydrostatic Forces on Submerged Plane Surfaces
Method Summary

𝑭𝑹 𝒚𝑷 𝒙𝑷
Method 1
න 𝑃 𝑑𝐴 න 𝑦𝑃 𝑑𝐴 /𝐹𝑅 න 𝑥𝑃 𝑑𝐴 /𝐹𝑅
𝐴 𝐴 𝐴

2a
Method 2 𝑃𝐶 𝐴 𝐼𝑥𝑥, 𝐶 𝜌𝑔 sin 𝜃 𝐼𝑥𝑦, 𝐶 𝜌𝑔 sin 𝜃
𝑦𝐶 + 𝑥𝐶 +
𝐹𝑅 𝐹𝑅

𝐼𝑥𝑥, 𝐶 𝐼𝑥𝑦, 𝐶
𝑦𝐶 + 𝑥𝐶 +
𝑃0 𝑃0
+ 𝑦𝐶 𝐴 + 𝑦𝐶 𝐴
𝜌𝑔 sin 𝜃 𝜌𝑔 sin 𝜃
Both sides of the plane are totally submerged

2b 𝐼𝑥𝑥, 𝐶 𝐼𝑥𝑦, 𝐶
𝑦𝐶 + 𝑥𝐶 +
𝑦𝐶 𝐴 𝑦𝐶 𝐴
Only one side of the plane is in contact with the liquid, and
the other side is subjected to the ambient pressure 𝑃0
(same as that on the free surface)

➢ Origin of axis system at the free surface

31
 3.6 Hydrostatic Forces on Submerged Plane Surfaces

➢ Consider the submerged rectangular vertical flat plate on the

right, the depth of the CP from the free surface is 𝑂 𝑥

𝑎
𝐼𝑧𝑧, 𝐶 𝜌𝑔 sin 𝜃 𝑏𝑑3
𝑦𝑃 = 𝑦𝐶 + where 𝐼𝑧𝑧, 𝐶 =
𝐹𝑅 12
𝑦𝑃
𝐹𝑅 = 𝑃𝐶 𝐴
𝑑 𝑏𝑑3 𝜌𝑔
= 𝑎+ + 𝑑
2 𝑑 𝐹𝑅 = 𝜌𝑔 𝑎 + 𝑏𝑑 𝑑
12𝜌𝑔 𝑎 + 𝑏𝑑 2
2
𝐹𝑅
𝑑 𝑑2
𝑦𝑃 = 𝑎 + +
2 12 𝑎 + 𝑑
2

➢ For the case when 𝑎 = 0, i.e. the top of the vertical flat plate at 𝑦
the free surface, Width of plate in 𝑧-direction is 𝑏
𝑑 𝑑 2𝑑
𝑦𝑃 = + =
2 6 3

32
3.6 Hydrostatic Forces on Submerged Plane Surfaces
Example 1
The inclined surface hinged along edge A is 5 m wide. Determine the resultant force, 𝐹𝑅 , of the
water and the air on the inclined surface. Also, find the location of the centre of pressure.

Width 𝑤 = 5 m

Properties

➢ Density of water 𝜌 = 999 kg/m3

➢ Acceleration due to gravity 𝑔 = 9.81 m/s2

33
3.6 Hydrostatic Forces on Submerged Plane Surfaces
Example 1 – Methods 1, Axis Origin on Free Surface
➢ Since atmospheric pressure 𝑃0 acts on both sides, 𝑃0 𝜃 = 30° 𝑂
𝑷𝟎 can be ignored in the analysis, i.e.
𝐷 =2m
𝑃 = 𝜌𝑔ℎ
𝐹𝑅 A 2 𝑧
➢ 𝐹𝑅 Method 1: 𝑃0 sin 𝜃
𝜃 = 30°
𝐹𝑅 = න 𝑃 𝑑𝐴
𝐴 𝑦 𝐿 =4m

𝐹𝑅 = 𝜌𝑔 න ℎ 𝑑𝐴 = 𝜌𝑔 න 𝑦 sin 𝜃 𝑑𝐴
𝐴 𝐴
Width in 𝑥-direction 𝑤 = 5 m
2
+4
sin 𝜃
= 𝜌𝑔𝑤 sin 𝜃 න 𝑦 𝑑𝑦
2 𝑑𝐴 = 𝑤𝑑𝑦
sin 𝜃

5 8
5
= 𝜌𝑔 𝑦 2 4 = 𝜌𝑔 82 − 42
4 4

𝐹𝑅 = 588 kN
34
3.6 Hydrostatic Forces on Submerged Plane Surfaces
Example 1 – Methods 1, Axis Origin on Free Surface

➢ 𝑦𝑃 Method 1: 𝑃0 𝜃 = 30° 𝑂

• Find 𝑦𝑃 by considering moment about 𝑥-axis: 𝐷 =2m

𝐹𝑅 A 2
𝐹𝑅 𝑦𝑃 = න 𝑦𝑃 𝑑𝐴
𝐴 𝑃0 sin 𝜃 𝑧
𝜃 = 30°
= 𝜌𝑔 න 𝑦 2 sin 𝜃 𝑑𝐴 𝑦𝑃
𝐴 𝑦
2
+4
sin 𝜃
= 𝜌𝑔𝑤 sin 𝜃 න 𝑦 2 𝑑𝑦
2
sin 𝜃 Width in 𝑥-direction 𝑤 = 5 m

5 8 𝑑𝐴 = 𝑤𝑑𝑦
𝐹𝑅 𝑦𝑃 = 𝜌𝑔 𝑦 3 4
6
𝑃 = 𝜌𝑔ℎ
𝑦𝑃 = 6.22 m

35
3.6 Hydrostatic Forces on Submerged Plane Surfaces
Example 1 – Methods 1, Axis Origin on Free Surface

➢ 𝑥𝑃 Method 1: Top view 𝑑𝑦

• Find 𝑥𝑃 by considering moment about 𝑦-axis: 𝑦 𝑤

𝑥𝑃
2
𝐹𝑅 𝑥𝑃 = න 𝑥𝑃 𝑑𝐴 𝑤
𝐴
CP C
2
= 𝜌𝑔 න 𝑥ℎ 𝑑𝐴 𝐿 =4m sin 𝜃
𝐴
A
2
+4
𝑥
sin 𝜃 𝑤 For a strip 𝑤𝑑𝑦, the resultant pressure
= 𝜌𝑔𝑤 න 𝑦 sin 𝜃 𝑑𝑦
2 2 force 𝑃 acts at its centroid at
sin 𝜃
𝑤
𝑥=
𝑤2 2 2
8
𝐹𝑅 𝑥𝑃 = 𝜌𝑔 𝑦 4
8
𝑑𝐴 = 𝑤𝑑𝑦

𝑥𝑃 = 2.5 m 𝑃 = 𝜌𝑔ℎ

36
3.6 Hydrostatic Forces on Submerged Plane Surfaces
Example 1 – Methods 1, Axis Origin on Highest Point on Plane
➢ In this alternative calculation, the origin of the axis
system is placed at the highest point of the plane 𝑃0
surface
𝐷 =2m
➢ The methods derived were for origin at the free surface, 𝜃 = 30°
𝐹𝑅 𝑶 at A
hence ℎ = 𝐷 + 𝑦 sin 𝜃 is needed here
𝑃0
➢ 𝐹𝑅 Method 1: 𝜃 = 30°
𝑧
𝐹𝑅 = න 𝑃 𝑑𝐴 𝑦 𝐿 =4m
𝐴

𝐹𝑅 = 𝜌𝑔 න ℎ 𝑑𝐴 = 𝜌𝑔 න 𝐷 + 𝑦 sin 𝜃 𝑑𝐴
𝐴 𝐴
Width in 𝑥-direction 𝑤 = 5 m

4
= 𝜌𝑔𝑤 න 𝐷 + 𝑦 sin 𝜃 𝑑𝑦 𝑑𝐴 = 𝑤𝑑𝑦
0
4 𝑃 = 𝜌𝑔ℎ
1
= 5𝜌𝑔 𝐷𝑦 + 𝑦 2
4 0

𝐹𝑅 = 588 kN
37
3.6 Hydrostatic Forces on Submerged Plane Surfaces
Example 1 – Methods 1, Axis Origin on Highest Point on Plane
➢ 𝑦𝑃 Method 1:
𝑃0
• Then, find 𝑦𝑃 :
𝐷 =2m
𝐹𝑅 𝑦𝑃 = න 𝑦𝑃 𝑑𝐴 𝜃 = 30° 𝑂 at A
𝐴
𝐹𝑅
𝑃0
= 𝜌𝑔 න 𝑦(𝐷 + 𝑦 sin 𝜃) 𝑑𝐴 𝜃 = 30°
𝐴

4 𝑦
= 𝜌𝑔𝑤 න 𝑦𝐷 + 𝑦 2 sin 𝜃 𝑑𝑦 𝑦𝑃
0 𝑧

4
2
𝑦3
𝐹𝑅 𝑦𝑃 = 5𝜌𝑔 𝑦 + Width in 𝑥-direction 𝑤 = 5 m
6 0

𝑑𝐴 = 𝑤𝑑𝑦
𝑦𝑃 = 2.22 m
𝑃 = 𝜌𝑔ℎ

38
3.6 Hydrostatic Forces on Submerged Plane Surfaces
Example 1 – Methods 1, Axis Origin on Highest Point on Plane

➢ 𝑥𝑝 Method 1: Top view 𝑑𝑦

• Find 𝑥𝑃 by considering moment about 𝑦-axis:
𝑦 𝑤
𝑥𝑃
𝐹𝑅 𝑥𝑃 = න 𝑥𝑃 𝑑𝐴 2
𝐴 𝑤
CP C
= 𝜌𝑔 න 𝑥ℎ 𝑑𝐴
𝐴 𝐿 =4m
A
4 𝑥
𝑤
= 𝜌𝑔𝑤 න (𝐷 + 𝑦 sin 𝜃) 𝑑𝑦
0 2 For a strip 𝑤𝑑𝑦, the resultant pressure
force 𝑃 acts at its centroid at
4
𝑤2 𝑦 2 sin 𝜃 𝑤
𝐹𝑅 𝑥𝑃 = 𝜌𝑔 𝐷𝑦 + 𝑥=
2 2 2
0

𝑑𝐴 = 𝑤𝑑𝑦
𝑥𝑃 = 2.5 m
𝑃 = 𝜌𝑔ℎ

39
3.6 Hydrostatic Forces on Submerged Plane Surfaces
Example 1 – Methods 2, Axis Origin on Highest Point on Plane
➢ 𝐹𝑅 Method 2:
𝑃0
𝐹𝑅 = 𝑃𝐶 𝐴
𝐷 =2m
= 𝑃0 + 𝜌𝑔ℎ𝐶 𝐴
𝜃 = 30° 𝑂 at A
𝐹𝑅
= 𝜌𝑔 𝐷 + 𝑦𝐶 sin 𝜃 𝐿𝑤 𝑃0
𝜃 = 30°
𝐿 𝑧
= 𝜌𝑔 𝐷 + sin 𝜃 𝐿𝑤 𝑦
2 𝐿 =4m
1
= 𝜌𝑔 2 + 2 (4)(5)
2
Width in 𝑥-direction 𝑤 = 5 m

𝐹𝑅 = 588 kN 𝑑𝐴 = 𝑤𝑑𝑦

𝑃 = 𝜌𝑔ℎ

40
3.6 Hydrostatic Forces on Submerged Plane Surfaces
Example 1 – Methods 2, Axis Origin on Highest Point on Plane

➢ 𝑦𝑃 Method 2b: 𝑃0 𝜃 = 30°

𝐼𝑥𝑥, 𝐶 𝑤𝐿3 𝐷 =2m
𝑦𝑃 = 𝑦𝐶 + where 𝐼𝑥𝑥, 𝐶 =
𝐷 12 𝜃 = 30°
+ 𝑦𝐶 𝐴
sin 𝜃 𝐹𝑅 𝑂 at A
𝐷
𝑃0
𝐿 𝑤𝐿3 1 𝜃 = 30° sin 𝜃
= +
2 12 𝐷 𝐿
+ 𝐿𝑤 𝑦
sin 𝜃 2
𝑦𝑃 𝑧
2
4 1
=2+
12 2
+2
0.5 Width in 𝑥-direction 𝑤 = 5 m

𝑦𝑃 = 2.22 m 𝑑𝐴 = 𝑤𝑑𝑦

𝑃 = 𝜌𝑔ℎ

41
3.6 Hydrostatic Forces on Submerged Plane Surfaces
Example 1 – Methods 2, Axis Origin on Highest Point on Plane

➢ 𝑥𝑃 Method 2b:
Top view
𝐼𝑥𝑦, 𝐶
𝑥𝑃 = 𝑥𝐶 + 𝑦
𝐷
+ 𝑦𝐶 𝐴 𝑥𝑃 𝑤
sin 𝜃 𝑥𝐶 =
2
= 𝑥𝐶
CP C
𝐿 =4m A
𝑥𝑃 = 2.5 m
𝑥

𝐼𝑥𝑦, 𝐶 = 0 since the surface is symmetrical in both 𝑥 and 𝑦 directions

42
3.7 Hydrostatic Forces on Submerged Curved Surfaces
➢ For a curved surface:
• Split the problem into horizontal and vertical parts
• Make use of the idea of projection area

𝑦
43
 3.7 Hydrostatic Forces on Submerged Curved Surfaces
➢ For simplicity, we always assume the same ambient pressure 𝑃0 acting on the other side of the
curved surface as that on the free surface, hence 𝑃0 is neglected in 𝑃

➢ So, we always work with gage pressure for submerged curved surfaces in this course

𝑃0

𝐹𝑧
ℎ𝐴𝐵

ℎ𝐵𝐶
𝐶𝐴𝐵 𝐵
𝑃0

𝐶𝐵𝐶 𝐹𝑦

𝐶𝐴𝐵 - centroid of projected horizontal flat plate AB

𝐶𝐵𝐶 - centroid of projected vertical flat plate BC 44

3.7 Hydrostatic Forces on Submerged Curved Surfaces
Horizontal Force Component 𝑭𝑯
𝐹𝑧
➢ For the horizontal force component 𝐹𝐻 ,
consider the projected vertical flat plate BC

𝐹𝑦 = 𝑃𝐶,𝐵𝐶 𝐴𝐵𝐶

𝐹𝑦 = 𝜌𝑔ℎ𝐵𝐶 𝐴𝐵𝐶

where ℎ𝐵𝐶 is the depth of the centroid of 𝐹𝑦

projected vertical flat plate BC

• In this example, 𝐹𝐻 = 𝐹𝑦

45
3.7 Hydrostatic Forces on Submerged Curved Surfaces
Vertical Force Component 𝑭𝑽
𝐹𝑧
➢ For the vertical force component 𝐹𝑉 , consider
the projected horizontal flat plate AB

𝐹𝑧 = 𝑃𝐶,𝐴𝐵 𝐴𝐴𝐵

𝐹𝑧 = 𝜌𝑔ℎ𝐴𝐵 𝐴𝐴𝐵

where ℎ𝐴𝐵 is the depth of the centroid 𝐹𝑦

of projected horizontal flat plate AB

• Need to take the weight 𝑊 of the fluid

block bounded by the curved surface and
the projected flat plates into account when
calculating 𝐹𝑉 , i.e.

+ if liquid block is above curved surface

𝐹𝑉 = 𝐹𝑧 ± 𝑊
− if liquid block is below curved surface

• 𝐹𝑉 = 𝐹𝑧 + 𝑊 for this example

46
3.7 Hydrostatic Forces on Submerged Curved Surfaces
➢ The resultant pressure force acting on the 𝐹𝑧
submerged curved surface is then

𝐹𝑅 = 𝐹𝐻2 + 𝐹𝑉2

➢ The direction of this resultant pressure force 𝐹𝑦

is found by

𝐹𝑉
tan 𝜃 =
𝐹𝐻
In this example,
𝐹𝐻 = 𝐹𝑦
𝐹𝑅 𝐹𝑉 = 𝐹𝑧 + 𝑊
𝐹𝑉
𝜃

𝐹𝐻

47
3.7 Hydrostatic Forces on Submerged Curved Surfaces
Example 2
The gate is hinged at O and has constant width, 𝑤 = 5 m. The equation of the surface is 𝑥 = 𝑦 2 /𝑎
where 𝑎 = 4 m. The depth of water to the right of the gate is 𝐷 = 4 m. Find the magnitude of the
force 𝐹𝑎 required to maintain the gate in equilibrium if the weight of the gate is neglected.

4m

The width 𝑤 = 5 m is not shown on this side view

48
3.7 Hydrostatic Forces on Submerged Curved Surfaces
𝑦
Example 2 𝑙 =5m
𝐹𝑎
Properties 𝑦2
𝑥=
➢ Density of water 𝜌 = 999 kg/m3 4

➢ Acceleration due to gravity 𝑔 = 9.81 m/s2 𝐷 =4m

𝐹𝐻
𝐹𝑉
➢ For the hydrostatic forces acting on the gate, consider 𝑂
the water block in contact with the gate 𝑥
4m
➢ Draw free body diagrams (FBDs) when doing this type of 𝑦
calculations
𝑦2 𝑂′ 𝑥′
𝑥=
4
➢ For 𝐹𝐻 and 𝑦𝑃 𝐷
𝑦𝐶 = 𝑦𝑃
• Depth of centroid of the projected vertical plate 2
𝐷
𝑦𝐶 = ℎ𝐶 = 𝐹𝐻
2 𝐷 =4m
• Area of the projected vertical plate 𝐴 = 𝐷𝑤 𝑥
4m 𝑦′
• Area moment of inertia of the projected vertical plate
about its centroidal axis (in 𝑧′-direction)
Width 𝑤 = 5 m along
3
𝑤𝐷 the z-axis out of this slide
𝐼𝑧 ′ 𝑧 ′ , 𝐶 = 49
12
3.7 Hydrostatic Forces on Submerged Curved Surfaces
Example 2 𝑦
➢ For 𝐹𝐻 and 𝑦𝑃
• Then, 𝑦2 𝑂′ 𝑥′
𝑥=
𝐷 4 4
𝐷
𝐹𝐻 = 𝑃𝐶 𝐴 = 𝜌𝑔ℎ𝐶 𝐴 = 𝜌𝑔 𝐷𝑤 = 999(9.81) (4)(5) 𝑦𝐶 = 𝑦𝑃
2 2 2
𝐹𝐻 = 392 kN
𝐹𝐻
𝐷 =4m
• Next, by considering the local coordinate system 𝑥
based at 𝑂′, 𝑦𝑃 can be found by using 𝑦𝑃 Method 4m Width 𝑤 = 5 m
2a Form 1: along the z-axis
𝐼xx, 𝐶 replaced by 𝐼𝑧 ′ 𝑧 ′ , 𝐶 𝑦′ out of this slide
𝐼𝑧 ′ 𝑧 ′, 𝐶 𝜌𝑔 sin 𝜃
𝑦𝑃 = 𝑦𝐶 + 𝜃 = 90°
𝐹𝐻
𝐹𝑅 replaced by 𝐹𝐻
𝐷 𝑤𝐷3 𝜌𝑔
𝑦𝑃 = + ➢ For this question, since the projected
2 12 𝐹𝐻
vertical flat plate has one end at the
free surface,
𝑦𝑃 = 2.67 m 2
𝑦𝑃 = 𝐷 = 2.67 m
3
which is the depth of the centre of
pressure from 𝑂′ from the free surface 50
3.7 Hydrostatic Forces on Submerged Curved Surfaces
Example 2 𝑦
➢ For 𝐹V and 𝑥𝑃
• Depth of centroid of the projected horizontal plate 𝑦2
𝑥=
ℎ𝐶 = 4 m 4
𝑑𝑥
• Area of the projected horizontal plate 𝐴 = 4𝑤
𝑦 𝐷 =4m
• On the projected horizontal plate, 𝐹𝑉 is due to the 𝑑𝑊
pressure pushing upwards (towards the gate) and the 𝑂
weight of the water block (downwards), hence 𝑥
𝐹𝑉 = 𝑃𝐶 𝐴 − 𝑊 𝑦2 𝑥𝑃
𝑥= 𝑃𝐶 𝐴
4 𝐹𝑉
= 𝜌𝑔ℎ𝐶 𝐴 − 𝜌𝑔 න 𝑦 𝑑𝐴
𝐴 𝑦 = 2𝑥 1Τ2 𝑥𝐶 = 2 m
𝑥=4
= 𝜌𝑔ℎ𝐶 (4𝑤) − 2𝜌𝑔𝑤 න 𝑥 1/2 𝑑𝑥
𝑥=0
𝑑𝐴 = 𝑤𝑑𝑥 4m
2 4
= 4𝜌𝑔ℎ𝐶 𝑤 − 2𝜌𝑔𝑤 𝑥 3/2
3 0

32 Width 𝑤 = 5 m along
= 16𝜌𝑔𝑤 − 𝜌𝑔𝑤
3 the z-axis out of this slide
𝐹𝑉 = 261 kN
51
3.7 Hydrostatic Forces on Submerged Curved Surfaces
Example 2 𝑦
➢ For 𝐹V and 𝑥𝑃 𝑦2
𝑥=
• Consider moment about 𝑂: 4
𝑦2
𝑥=
𝑦 = 2𝑥 1Τ2 4
+ 𝐹𝑉 𝑥𝑃 = 𝑃𝐶 𝐴 𝑥𝐶 − ෍ 𝑥 𝜌𝑦 𝑑𝐴 𝑔
𝑑𝑥
𝑑𝐴 = 𝑤𝑑𝑥 𝑦 𝐷 =4m
= 𝜌𝑔ℎ𝐶 𝐴(2) − 𝜌𝑔 න 𝑥𝑦 𝑑𝐴
𝐴 𝑑𝑊
𝑥=4 𝑂
3/2 𝑥
= 2𝜌𝑔ℎ𝐶 𝐴 − 2𝜌𝑔𝑤 න 𝑥 𝑑𝑥
𝑥=0
𝑥𝑃
2 5/2 4 𝑃𝐶 𝐴
= 2𝜌𝑔(4)(4 × 5) − 2𝜌𝑔(5) 𝑥 𝐹𝑉
5 0

𝐹𝑉 𝑥𝑃 = 160𝜌𝑔 − 4𝜌𝑔 25 𝑥𝐶 = 2 m

𝑥𝑃 = 1.2 m
4m

𝑦 𝑑𝑥

𝑦 𝑥 is the moment arm of the Width 𝑤 = 5 m along

𝑥 weight of the small fluid strip the z-axis out of this slide
𝑂 about 𝑂
𝑥
𝑑𝑊 52
3.7 Hydrostatic Forces on Submerged Curved Surfaces
Example 2 𝑦
𝑙 =5m
➢ For 𝐹a 𝐹𝑎
𝑦2
• Sum of moment about 𝑂 = 0, i.e. 𝑥=
4

෍ 𝑀𝑜 = 0
2.67 m

−𝐹𝑎 𝑙 + 1.33𝐹𝐻 + 1.2𝐹𝑉 = 0 𝐹𝐻

𝐹𝑉 1.33 m
𝑂
𝐹𝑎 = 167 kN 𝑥
1.2 m

Width 𝑤 = 5 m along
the z-axis out of this slide

53
3.7 Hydrostatic Forces on Submerged Curved Surfaces
Example 2 – Line of Action of Resultant Force
➢ Consider 𝐹𝑉 and 𝐹𝐻 𝑦 Width 𝑤 = 5 m along
the z-axis out of this slide
➢ The point of action, which was found to be
(1.2, 1.33) based on the coordinate system in
the figure, is away from the solid surface 𝑦2
𝑥=
since the surface is curved 4

➢ The line of action is defined by angle 𝜃 in the 2.67 m

triangle formed by 𝐹𝑉 , 𝐹𝐻 and their resultant
𝐹𝑅 𝐹𝐻

𝐹𝑉 𝐹𝑉 1.33 m
tan 𝜃 = 𝜃
𝐹𝐻 𝑂
𝑥
1.2 m
➢ The resultant force 𝐹𝑅 is acting along the line
of action 𝐹𝑅
𝐹𝑉
➢ We have found a point on the line of action 𝜃
in the calculation, i.e. the point (1.2, 1.33) 𝐹𝐻

54
3.7 Hydrostatic Forces on Submerged Curved Surfaces
Example 2 – Line of Action of Resultant Force
➢ We can find the point of action on the solid 𝑦 Width 𝑤 = 5 m along
surface by finding the point of intersection of the z-axis out of this slide
the line of action and the solid surface

➢ The line of action has equation 𝑦2

𝑥=
𝐹𝑉 4
𝑦=− 𝑥+𝑐
𝐹𝐻
2.67 m

➢ Using the known point of action, we get 𝐹𝐻

𝐹𝑉
𝑦=− 𝑥 + 2.13 𝐹𝑉 1.33 m
𝐹𝐻 𝜃
𝑂
𝑥
➢ Sub. 𝑥 = 𝑦 2 Τ4 into the equation of the line 1.2 m
of action, we find
𝐹𝑅
(0.694, 1.67)
𝐹𝑉
𝜃
to be the point of action on the solid surface
𝐹𝐻

55
3.7 Hydrostatic Forces on Submerged Curved Surfaces
Example 2 – Line of Action of Resultant Force
𝑦
➢ For 𝐹a 𝑙 =5m
𝐹𝑎
• Sum of moment about 𝑂 = 0, i.e.

෍ 𝑀𝑜 = 0 𝑦2
𝑥=
4

−𝐹𝑎 𝑙 + 1.67𝐹𝐻 + 0.694𝐹𝑉 = 0

𝐹𝐻
𝐹𝑎 = 167 kN
𝐹𝑉 1.67 m
𝜃
𝑂
𝑥
➢ We get the same result for 𝐹𝑎
0.694 m

56
3.8 Buoyancy and Stability
Buoyancy
➢ Buoyancy force: The upward force a fluid exerts on a body immersed in it

➢ Buoyancy force is caused by the increase of pressure with depth in a fluid

A flat plate of uniform thickness ℎ ➢ Buoyancy force acting on the plate is equal to the
submerged in a liquid parallel to the weight of the liquid displaced by the plate
free surface:
➢ For a fluid with constant density, buoyancy force is
independent of the distance of the body from the
free surface

➢ It is also independent of the density of the solid body

➢ Buoyancy force for the horizontal flat plate on the left:

𝐹𝐵 = 𝐹bottom − 𝐹top = 𝜌𝑓 𝑔 𝑠 + ℎ 𝐴 − 𝜌𝑓 𝑔𝑠𝐴

= 𝜌𝑓 𝑔ℎ𝐴

𝐹𝐵 = 𝜌𝑓 𝑔𝕍

where 𝜌𝑓 is the density of the fluid

57
3.8 Buoyancy and Stability
Stability of Floating Bodies

➢ The idea of stability illustrated by a ball on the floor:

➢ For floating bodies such as ships, stability is an

important consideration for safety

58
3.8 Buoyancy and Stability
Stability of Floating Bodies

➢ The locations of the centre of buoyancy and the centre of gravity determines stability:

Restoring moment
Overturning moment

59
3.8 Buoyancy and Stability
Stability of Immersed Bodies

➢ Consider an immersed neutrally buoyant body in

a fluid, i.e. body suspended in a fluid
𝐵
𝐺
(a) Stable when the centre of gravity 𝐺 is directly
below the centre of buoyancy 𝐵
When disturbed,
there is a restoring
(b) Neutrally stable if both 𝐺 and 𝐵 are coincident moment

(c) Unstable when 𝐺 is directly above 𝐵

When disturbed, there

is an overturning
moment

𝐺
𝐵

60
Appendix – Calculating Area Moment of Inertia
Area Moment of Inertia for a Rectangle
𝐼 = න 𝑦 2 𝑑𝐴 𝑑𝐴 = 𝑏𝑑𝑦
𝑦
ℎ 𝑑𝑦 ℎ/2

2 𝐼𝑥𝑐 = න 𝑦 2 𝑏 𝑑𝑦
𝑥𝑐 −ℎ/2
𝐶
ℎ 𝑏 3 ℎ/2
− = 𝑦
2 3 −ℎ/2
𝑏
𝑏ℎ3
𝐼𝑥𝑐 =
12

Parallel Axis Theorem

𝑦

ℎ
𝑥𝑐 𝐼𝑥 = 𝐼𝑥𝑐 + 𝐴𝑑2 where 𝐴 = 𝑏ℎ
𝐶
𝑑
𝑏
𝑥 61
Appendix – Calculating Area Moment of Inertia
Area Moment of Inertia for a Circle
𝐼 = න 𝑦 2 𝑑𝐴 𝑑𝐴 = 𝑟𝑑𝜃𝑑𝑟
𝑦
𝑟 2𝜋

𝐼𝑥𝑐 = න න 𝑟 2 sin2 𝜃 𝑟 𝑑𝜃 𝑑𝑟
𝑑𝑟
𝑟=0 𝜃=0

𝑟 2𝜋
𝑑𝜃
= න 𝑟 3 න sin2 𝜃 𝑑𝜃 𝑑𝑟
𝐶 𝜃 𝑥𝑐 𝑟=0 𝜃=0
𝑟
𝑟 2𝜋

= න 𝑟 3 න 1 − cos 2𝜃 𝑑𝜃 𝑑𝑟
𝑟=0 𝜃=0

𝑟
1
= (2𝜋) න 𝑟 3 𝑑𝑟
2
𝑟=0

𝜋 4
𝐼𝑥𝑐 = 𝑟
4

62