công thức là:
[tex] r_c^\rightarrow= \frac{\sum_{i=1}^N m_i\cdot r^\rightarrow_i}{\sum_{i=1}^N m_i}[/tex]
[tex]x_c= \frac{\sum_{i=1}^Nm_i\cdot x_i}{\sum_{i=1}^Nm_i}[/tex]
[tex]y_c= \frac{\sum_{i=1}^Nm_i\cdot y_i}{\sum_{i=1}^Nm_i}[/tex]
[tex]z_c= \frac{\sum_{i=1}^Nm_i\cdot z_i}{\sum_{i=1}^Nm_i}[/tex]