The concept of the center of mass was first developed by Archimedes to analyze lever systems. The center of mass is the single point where the entire mass of an object can be considered to be concentrated and can be used to determine an object's balance point. For basic shapes, the center of mass can be located geometrically, while other objects require considering the individual masses of their components. An object's stability depends on how much its center of mass shifts when disturbed from its equilibrium position.