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Definition for center of gravity is the point where weight of the object balance in all direction. Finding the CG for any irregular shape or regular shape whether it is a rod or rock is all the same. You may hang the object at different angle, note the rope line drawn across the object. There will be only one cross over point of all the hanging line in all direction. That point is the CG of such object.

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Q: What is the center of gravity of an irregular rod?
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