Ch.

4: Friction 203

4.0 Outline 203

Introduction 204
Types of Friction 205
Dry Friction 206

4.0 Outline
 Ch. 4: Friction 204

4.1 Introduction

In real situation, the forces of action and reaction

between contacting surfaces have their components
both in the tangential and normal directions to the
contacting surface. Tangential forces are known as
Friction forces. Whenever a tendency exists for one
contacting surface to slide along another surface,
the friction forces developed are always in a direction
to oppose this tendency.
In some systems, friction is undesirable since it normally
spoils the required behavior. But in many situations,
friction functions the systems.
In real case where sliding motion between parts occurs,
the friction forces result in a loss of energy.
4.1 Introduction
 Ch. 4: Friction 205

4.2 Types of Friction

a) Dry (Coulomb) friction when unlubricated surfaces

are in contact under a condition of sliding
or tendency to slide.
Friction force tangent to the surfaces of contact is
developed both during the interval leading up to
impending slippage and while slippage takes place.
Its direction always opposes the motion or impending
motion which would occur if no friction were present.
b) Fluid friction
c) Internal friction

4.2 Types of Friction

 Ch. 4: Friction 206

4.3 Dry Friction

Mechanism of friction

4.3 Dry Friction

 Ch. 4: Friction 207

Three regions of static motion transition

a) No motion is the region up to the point of slippage

or impending motion. Friction force is determined
by the equations of equilibrium because
the system is in equilibrium. When the motion is not
impending, F < Fmax
b) Impending motion is the moment where the body
is on the verge of slipping. Static friction force reaches
the max value. For a given pair of mating surfaces,
= F F= max s N .
c) Motion The body starts moving in the direction
of the applied force. Here, friction force drops to a
lower value called kinetic friction F = k N .
It will drop further with higher velocity.
4.3 Dry Friction
 Ch. 4: Friction 208

Friction cone Friction coefficient reflects the roughness

of a pair of mating surfaces. The smaller the
coefficient value, the smoother the surfaces.
Direction of resultant R is specified by tan = F/N .
When the friction force reaches max value, tan s = s .
When slippage occurs, tan k = k .

The friction angle s , k defines the limiting position of

the total reaction force R. The friction cone of
vertex angle 2s , 2k represents the locus of possible
positions for the reaction force R.

Friction force is independent of the apparent

or projected area of contact.

4.3 Dry Friction

 Ch. 4: Friction 209

Friction cone

4.3 Dry Friction

 Ch. 4: Friction 210

Types of dry friction problems First step is to identify

which of these categories applies.

1) Condition of impending motion is known to exist

The body is in equilibrium and on the verge of slipping.
Friction force is the max static friction F = s N
2) Relative motion is known to exist
Friction force is the kinetic friction F = k N
3) Unknown status of the problem
Assume static equilibrium and solve for the required
friction force F. Then check and conclude the status.

4.3 Dry Friction

 Ch. 4: Friction 211

Possible outcomes

a) F < s N friction force for the assumed equilibrium

can be provided and so the body is in static equilibrium.
b) F = s N max friction force is required for the
static equilibrium condition and so motion impends.
c) F > s N surfaces cannot support more friction than
s N. So the equilibrium assumption is invalid
and motion occurs instead. Friction force
is the kinetic friction F = k N . Even with the correct
kinetic friction substituted, equilibrium equations
are still not hold accelerated motion

4.3 Dry Friction

 Ch. 4: Friction 212

P. 4/1 Determine the max angle which the adjustable

incline may have with the horizontal before the
block of mass m begins to slip. The coefficient
of static friction between the block and the
inclined surface is s.

4.3 Dry Friction

 Ch. 4: Friction 213

P. 4/1

at the moment of slipping, friction is F = s N upward

Fy =0 N mgcos =0
Fx = 0 s N mgsin = 0
=s tan
= or tan 1 s

s
when the friction force reaches max value, tan s = s
R
by equilibrium, R = W and s = =tan 1 s

4.3 Dry Friction

 Ch. 4: Friction 214

P. 4/2 Determine the range of values which the mass

mo may have so that the 100 kg block shown
in the figure will neither start moving up the
plane nor slip down the plane. The coefficient
of static friction for the contact surface is 0.30.

4.3 Dry Friction

 Ch. 4: Friction 215

P. 4/2

bounded mo values block start moving F = s N

Fy =
0 N 100gcos20 =
0, N =
922 N

Case I: max mo, start moving up, friction downward

Fx= 0 m o g s N 100gsin20= 0, m o= 62.4 kg
Case II: min mo, start moving down, friction upward
Fx= 0 m o g + s N 100gsin20= 0, m o= 6.0 kg
6.0 m o 62.4 kg and F Fmax = 277 N up/downward

4.3 Dry Friction

 Ch. 4: Friction 216

P. 4/3 Determine the magnitude and direction of the

friction force acting on the 100 kg block shown
if, first, P = 500 N and, second, P = 100 N. The
coefficient of static friction is 0.20, and the
coefficient of kinetic friction is 0.17. The force
are applied with the block initially at rest.

4.3 Dry Friction

 Ch. 4: Friction 217

P. 4/3

dont know if the block is impending or is moving assume static equilibrium

P = 500 N: assume the block tends to move up friction downward
Fy =
0 N 500sin 20 100gcos20 = 0, N =
1092.85 N
= =
max supportable friction sN 218.6 N
F=
x 0 500cos20 F 100gsin20 F 134.3 N < s N
= 0, =
the assumption is valid
P = 100 N: assume the block tends to slide down friction upward
Fy =
0 N 100sin 20 100gcos20 = 0, N=
956.04 N
= =
max supportable friction sN 191.21 N
Fx = 0 F + 100 cos 20 100gsin20 =
0, F =241.55 N > s N
the assumption is invalid, block is moving downward
= =
kinetic friction upward kN 162.5 N
4.3 Dry Friction
 Ch. 4: Friction 218

P. 4/4 The homogeneous rectangular block of mass m, width b, and

height H is placed on the horizontal surface and subjected to a
horizontal force P which moves the block along the surface with
a constant velocity. The coefficient of kinetic friction between
the block and the surface is k. Determine (a) the greatest
value that h may have so that the block will slide without tipping
over and (b) the location of a point C on the bottom face of the
block through which the resultant of the friction and normal
forces acts if h = H/2.

4.3 Dry Friction

 Ch. 4: Friction 219

P. 4/4

a) On the verge of tipping over, reaction acts at the corner A

When slippage occurs, tan = k
Block moves w/ const. velocity equilibrium
Three-force member: reaction at A must pass through B
tan = k = b/2h, h = b/ ( 2k )
b) When slippage occurs, tan = k
Block moves w/ const. velocity equilibrium
Three-force member: reaction at C must pass through G
tan = k = x/ ( H/2 ) , x = k H/2

4.3 Dry Friction

 Ch. 4: Friction 220

P. 4/5 The three flat blocks are positioned on the 30incline as shown,
and a force P parallel to the incline is applied to the middle block.
The upper block is prevented from moving by a wire which
attaches it to the fixed support. The coefficient of static friction
for each of the three pairs of mating surfaces is shown. Determine
the maximum value which P may have before any slipping
takes place.

4.3 Dry Friction

 Ch. 4: Friction 221

P. 4/5

4.3 Dry Friction

 Ch. 4: Friction 222

P. 4/5
Fy =
0 N1 30gcos30 =
0, N1 =
254.87 N
N 2 N1 50gcos30
= 0, N=
2 679.66 N
N 3 N 2 40gcos30
= 0, N=
3 1019.5 N
Since 30 kg-block cannot slide and 50 kg-block is pulled, 50 kg-block tends
to move and only 2 cases are possible. Either 50 kg-block alone or
50&40 kg-blocks move together.

50 kg-block tends to move alone F1 & F2 max (either one alone will not slip)
=F1 =s N1 76.46 N,=F2 =
s N2 271.86 N
F=
3max =
s N3 458.8 N
block #3: F2 F3 + 40gsin30
= 0, F=
3 468.06 N > F3max
block #3 cannot stay still -- the assumption is invalid

50&40 kg-blocks tend to move together F1 & F3 max (either one alone will not slip)
block #3: F2 F3 + 40gsin30
= 0, F=
2 262.6 N < F2max
block #2 & #3 does not slip relative to each other
block #2: P F1 F2 + 50gsin30
= 0, P = 93.8 N
4.3 Dry Friction
 Ch. 4: Friction 223

P. 4/6 The light bar is used to support the 50 kg block

in its vertical guides. If the coefficient of static
friction is 0.30 at the upper and 0.40 at the lower
end of the bar, find the friction force acting at
each end for x = 75 mm. Also find the maximum
value of x for which the bar will not slip.

4.3 Dry Friction

 Ch. 4: Friction 224

P. 4/6 N R Bar is a two-force member.

Assume the system is in equilibrium.
Hence the reaction forces at both ends
F act along the axial direction.

Fy = 0 N 50g = 0, N = 490.5 N
y
F limitation of the reaction force on each end
A= tan 1 = 21.8, B= tan 1 = 16.7
R N

sin 1 ( 75 / 300
at x = 75 mm: = = ) 14.5 < B < A
R inside the static friction cone, system is in equilibrium and
= =
F Ntan 126.6 N
max x before slipping when the bar angle = that of small friction cone
= =
x/300 sin B , x 86.2 mm

4.3 Dry Friction

 Ch. 4: Friction 225

P. 4/7 Find the tension in the cable and force P

that makes the 15 kg lower block
(a) to start sliding downward
(b) to start sliding upward

4.3 Dry Friction

 Ch. 4: Friction 226

P. 4/7 = = 73.75 N
N1 8gcos20
N 2 N1 15gcos20
= 0, N=
2 212 N
= =
F1max 0.3N1 22.12 N
= =
F2max 0.4N 2 84.81 N

a) pulling down, 15 kg block impends to slide downward

T 8g P F1max F2max + 15gsin20 = 0, P = 56.6 N

F1max + 8gsin20 =
T 0, =
T 49 N

F1
N1
15g N1
F1

F2
N2 4.3 Dry Friction
 Ch. 4: Friction 227

P. 4/7 = = 73.75 N
N1 8gcos20
N 2 N1 15gcos20
= 0, N=
2 212 N
= =
F1max 0.3N1 22.12 N
= =
F2max 0.4N 2 84.81 N

b) pushing up, assume 15&8 kg blocks impends to slide upward together

the cable slacks T=0
T 8g
8 kg block: 8gsin20 F= 1 0, F=
1 26.84 N > F1max
15 kg block impends to slide upward alone
P + F1max + F2max + 15gsin20
= 0, = P 157.3 N
N1 F1 T F1max + 8gsin20
= 0, = T 4.72 N
15g N1
F1
P
F2
N2 4.3 Dry Friction
 Ch. 4: Friction 228

P. 4/8 The uniform slender rod of mass m and length L

is initially at rest in a centered horizontal position
on the fixed circular surface of radius R = 0.6L.
If a force P normal to the bar is gradually applied
to its end until the bar begins to slip at the angle
= 20, determine the coefficient of static friction.

4.3 Dry Friction

 Ch. 4: Friction 229

P. 4/8

no slip until =20

distance on bar = length on curve

=[ a/r
= ] a 20 = R R/9
180

L/(2tan20)
20

s tan=
= F/N
=
( L/2 R/9
=
) 0.211
L/ ( 2tan20 )

4.3 Dry Friction

 Ch. 4: Friction 230

P. 4/9 The three identical rollers are stacked on a

horizontal surface as shown. If the coefficient
of static friction s is the same for all pairs
of contacting surfaces, find the minimum value
of s for which the rollers will not slip.

4.3 Dry Friction

 Ch. 4: Friction 231

P. 4/9 Lower roller tends rolling out at upper contact

while tends to slide out at lower contact

condition: one or more contacts impend to slip

FBD: lower left roller (three-force member)

mg N
R M O 0=
= FA FB
FA A from the figure, N A < N B
A FAmax < FBmax so FA reaches the limit value before FB
slipping does occur first at contact A
O
FA = FAmax and FB determined by equilibrium equation
FB B lower roller: three-force member
NB reaction force at A must pass through contact B
A
r from geometry,
30 15 F =FAmax , tan =s =tan15 =
0.268
O

r
B
4.3 Dry Friction
 Ch. 4: Friction 232

P. 4/10 The industrial truck is used to move the solid

1200 kg roll of paper up the 30incline. If the
coefficients of static and kinetic friction between
the roll and the vertical barrier of the truck and
between the roll and the incline are both 0.40,
compute the required tractive force P between
the tires of the truck and the horizontal surface.

4.3 Dry Friction

 Ch. 4: Friction 233

P. 4/10 To move the paper roll, 3 possibilities

1) A and B both slip
2) only B slips
3) only A slips
after calculation, only case 3) is viable

1200g slipping at A, F = 0.4N A

0.4NA
= M O 0= FB 0.4N A
Fx =0 N A FB cos 30 N B sin 30 =0, N B =1.307N A
FB Fy =0 0.4N A 1200g FBsin30 + N B cos 30 =0
NA A O
=N A 22.1 kN,= N B 28.9 kN,= FB 8853 N < 0.4N B
B

NB

4.3 Dry Friction