Types of Friction

(1) Static friction : The opposing force that comes into play
when one body tends to move over the surface of another, but
the actual motion has yet not started is called static friction.
(i) If applied force is P and the body
R
remains at rest then static friction F = P. P

(ii) If a body is at rest and no pulling force F

is
acting on it, force of friction on it is zero. mg

(iii) Static friction is a self-adjusting force because it changes

itself in accordance with the applied force and is always equal to
net external force.
(2) Limiting friction : If the applied force is increased, the
force of static friction also increases. If the applied force exceeds
a certain (maximum) value, the body starts moving. This
maximum value of static friction upto which body does not move
is called limiting friction.
(i) The magnitude of limiting friction between any two bodies
in contact is directly proportional to the normal reaction between
them.

Fl∝ R F =μ R
or l s
(ii) Direction of the force of limiting friction is always opposite
to the direction in which one body is at the verge of moving over
the other
(iii) Coefficient of static friction : (a) μ s is called coefficient of
static friction and is defined as the ratio of force of limiting

F
μ s=
friction and normal reaction
R
 0 0 0
(b) Dimension: [ M L T ]
(c) Unit: It has no unit.
(d) Value of μ depends on material and nature of surfaces in
contact that means whether dry or wet ; rough or smooth
polished or non-polished.

(e) Value of μ
does not depend upon apparent area of
contact.
(3) Kinetic or dynamic friction: If the applied force is
increased further and sets the body in motion, the friction
opposing the motion is called kinetic friction.
(i) Kinetic friction depends upon the normal reaction.
Fk ∝R F k =μ k R
or where μk is called the coefficient of kinetic friction
(ii) Value of μk depends upon the nature of surface in contact.
Fk< Fl
(iii) Kinetic friction is always lesser than limiting friction 
μk < μs

i.e. coefficient of kinetic friction is always less than coefficient of

static friction. Thus we require more

From these examples it is clear that without friction motion

cannot be started, stopped or transferred from one body to
the other.
Advantages and Disadvantages of Friction
(1) Advantages of friction
(i) Walking is possible due to friction.
(ii) Two body sticks together due to friction.
Friction

Fig. 5.6 Fig. 5.7

(iii) Brake works on the basis of friction.

(iv) Writing is not possible without friction.
(v) The transfer of motion from one part of a
machine to other part through belts is possible by
friction.
(2) Disadvantages of friction
(i) Friction always opposes the relative motion between any two bodies in contact. Therefore extra
energy has to be spent in over coming friction. This reduces the efficiency of machine.
(ii) Friction causes wear and tear of the parts of machinery in contact. Thus their lifetime reduces.
(iii) Frictional force result in the production of heat, which causes damage to the machinery.
Methods of Changing Friction
We can reduce friction
(1) By polishing.
(2) By lubrication.
(3) By proper selection of material.
(4) By streamlining the shape of the body.
(5) By using ball bearing.
Also we can increase friction by throwing some sand on slippery ground. In the manufacturing of
tyres, synthetic rubber is preferred because its coefficient of friction with the road is larger.
Angle of Friction
Angle of friction may be defined as the angle which the resultant of limiting friction and normal reaction
makes with the normal reaction.
By definition angle  is R
S
called the angle of friction 
F F P
tan θ= l
R
 tan  = s
mg
[As we know
Fig. 5.8
Fl
=μ s
R ]
θ=tan−1 ( μ L )
or
Hence coefficient of static friction is equal to tangent of the angle of friction.
Resultant Force Exerted by Surface on Block

In the above figure resultant force

S= √ F 2 +R 2

S= √(μ mg)2 +(mg)2

S=mg √ μ2 +1
when there is no friction
( μ=0) S will be minimum
i.e. S = mg

Hence the range of S can be given by,

mg≤S≤mg √ μ 2 +1
Angle of Repose
Angle of repose is defined as the angle of the inclined plane with horizontal such that a body placed on
it is just begins to slide.
By definition,  is called the angle of repose.

In limiting condition
F=mg sin α and R=mg cosα
R F

mg sin 


mg cos 
 mg

F Fig. 5.9
=tan α
So R
F F
=μ s=tan θ=tan α =μ s=tan θ
 R [As we know R ]
Thus the coefficient of limiting friction is equal to the tangent of angle of repose.

As well as α =θ i.e. angle of repose = angle of friction.

Calculation of Required Force in Different Situation

If W = weight of the body,  = angle of friction,

μ=tan θ= coefficient of friction
Then we can calculate required force for different situation in the following manner :
(1) Minimum pulling force P at an angle  from the horizontal
P

Fig. 5.10

By resolving P in horizontal and vertical direction (as shown in figure)

R
P sin

F P cos

W
Fig. 5.11

For the condition of equilibrium

F=P cos α and R=W−P sin α

By substituting these value in F=μR

P cosα=μ (W −P sin α )
sin θ
P cosα= (W−P sin α )
 cos θ [As μ=tan θ ]
W sin θ
P=
 cos ( α−θ )
(2) Minimum pushing force P at an angle  from the horizontal
P

By Resolving P in horizontal and vertical direction (as shown in the figure)

Fig. 5.12
R

F P cos

P sin
W
Fig. 5.13

For the condition of equilibrium

F=P cos α and R=W + P sin α

By substituting these value in

F=μR

P cosα=μ (W +P sin α )
sin θ
P cosα= (W +P sin α )
 cos θ [As
μ=tan θ ]
W sin θ
P=

cos ( α+θ )
(3) Minimum pulling force P to move the body up on an inclined plane
P



By Resolving P in the direction of the plane and perpendicular to the plane (as shown in the figure)
RFig. sin
+ P 5.14
P cos

F + W sin

 W cos
W

For the condition Fig.

of equilibrium
5.15
R+P sin α=W cos λ


R=W cos λ−P sin α and
F+W sin λ=P cos α


F=P cosα−W sin λ

By substituting these values in

F=μR and solving we get
W sin (θ +λ )
P=
cos ( α−θ )
(4) Minimum force to move a body in downward direction along the surface of inclined plane
P

Fig. 5.16 of the plane and perpendicular to the plane (as shown in the figure)
By Resolving P in the direction
R + P sin
F
P cos
+
W sin

W cos
 W

For the condition of equilibrium

Fig. 5.17
R+P sin α=W cos λ
 R=W cos λ−P sin α and F=P cosα +W sin λ

By substituting these values in F=μR and solving we get

 W sin(θ−λ )
P=
cos ( α−θ )
(5) Minimum force to avoid sliding of a body down on an inclined plane
P



By Resolving P in the direction of the plane and perpendicular to the plane (as shown in the figure)
Fig. 5.18

R + P sin F+P
cos

W sin  W cos
 W

Fig. 5.19

For the condition of equilibrium

R+P sin α=W cos λ
 R=W cos λ−P sin α and P cosα +F=W sin λ
 F=W sin λ−P cosα

By substituting these values in F=μR and solving we get

P=W
[ sin ( λ−θ )
cos (θ+α ) ]
(6) Minimum force for motion along horizontal surface and its direction
P

Fig. 5.20

Let the force P be applied at an angleα with the horizontal.

By resolving P in horizontal and vertical direction (as shown in figure)
R + P sin

F P cos

mg
For vertical equilibrium
Fig. 5.21
R+P sin α=mg
  R=mg−P sin α …(i)
and for horizontal motion
P cosα≥F
i.e. P cosα≥μR …(ii)
Substituting value of R from (i) in (ii)
P cosα≥μ (mg−P sin α )
μ mg
P≥
cos α+ μ sin α …(iii)

For the force P to be minimum (cos α+μ sin α ) must be maximum i.e.
d
[ cosα +μ sin α ]=0
dα √ 1+μ 2

 −sin α +μ cosα=0
 1
 tan α =μ
Fig. 5.22
or α=tan−1 ( μ )=angle of friction
i.e. For minimum value of P its angle from the horizontal should be equal to angle of friction
μ
sin α=
As tan α =μ so from the figure, √1+μ 2
1
cos α=
and √ 1+μ2
By substituting these value in equation (iii)
μ mg
P≥
1 μ2 μ mg
+ ¿
√1+ μ 2 √ 1+ μ2 √1+ μ2
μ mg
Pmin =
 √1+μ2
Acceleration of a Block Against Friction
(1) Acceleration of a block on horizontal surface
When body is moving under application of force P, then kinetic friction opposes its motion.
Let a is the net acceleration of the body
R
From the figure ma
ma=P−F k Fk P
P−F k
a=
 m
mg
(2) Acceleration of a block sliding down over a rough inclined plane
Fig. 5.23
When angle of inclined plane is more than angle of repose, the body placed on the inclined plane slides
down with an acceleration a.

From the figure ma=mgsin θ−F R

F
ma
 ma=mgsin θ−μR
 ma=mgsin θ−μ mg cosθ
mg sin  mg
 mg cos

Fig. 5.24
  Acceleration a=g [ sin θ−μ cos θ ]

Note : For frictionless inclined plane μ=0 ∴ a=g sinθ .

(3) Retardation of a block sliding up over a rough inclined plane
When angle of inclined plane is less than angle of repose, then for the upward motion
ma=mg sin θ+F R
ma

ma=mg sin θ+μ mg cosθ

Retardation
a=g [ sin θ+μ cosθ
mg] sin +  mg
F  mg cos
Note : For frictionless inclined plane
μ=0 ∴a=g sin θ
Fig. 5.25

Work done against friction

(1) Work done over a rough inclined surface
If a body of mass m is moved up slowly on a rough inclined plane through distance s, then
Work done = force  distance

= ma  s = mg [sin +  cos ]s =mg s [sin θ+μcos θ ]

ma
R

mg sin +  mg
F  mg cos
(2) Work done over a horizontal surface
Fig. 5.26
In the above expression if we put  = 0 then
Work done = force  distance = F  s =  mg s
It is clear that work done depends upon
R

F P

s
mg
(i) Weight of the body.
Fig. 5.27
(ii) Material and nature of surface in contact.
(iii) Distance moved.
Motion of Two Bodies one Resting on the Other
When a body A of mass m is resting on a body B of mass M then two conditions are possible
(1) A force F is applied to the upper body, (2) A force F is applied to the lower body

m A F

L
M B

Fig. 5.28
 We will discuss above two cases one by one in the following manner :
(1) A force F is applied to the upper body, then following four situations are possible
(i) When there is no friction
(a) The body A will move on body B with acceleration (F/m).
a A =F / m
(b) The body B will remain at rest
a B =0
(c) If L is the length of B as shown in figure, A will fall from B after time t

t=
√ √
2L
a
=
2 mL
F [ 1
As s= a t 2 and a=F/m
2 ]
(ii) If friction is present between A and B only and applied force is less than limiting friction (F < Fl)
(F = Applied force on the upper body, Fl = limiting friction between A and B, Fk = Kinetic friction between A
and B)
F< Fl F< μ s mg
(a) The body A will not slide on body B till i.e.
F
a A =aB =
(b) Combined system (m + M) will move together with common acceleration M +m
(iii) If friction is present between A and B only and applied force is greater than limiting friction (F >
Fl )
In this condition the two bodies will move in the same direction (i.e. of applied force) but with different
μk mg
acceleration. Here force of kinetic friction will oppose the motion of A while cause the motion of B.

F−F k =m a A Free body diagram of A

F−F k maA
a A=
m
i.e. A F
( F−μk mg)
a A= Fk
m

F k =M aB Free body diagram of B

Fk MaB
a B=
M FK
i.e.
B
μk mg
a B=
M


Note : As both the bodies are moving in the same direction.

Acceleration of body A relative to B will be

MF−μ k mg (m+ M )
a=a A −a B =
mM
So, A will fall from B after time
 t=
√ √
2L
a
=
2 m ML
MF −μ k mg (m+M )
(iv) If there is friction between B and floor
' '
F l=μ ( M +m) g
(where = limiting friction between B and floor, Fk = kinetic friction between A and B)
' '
Fk> Fl F k −F l =M a B
B will move only if and then
MaB
FK
B
Fl
Fig. 5.29
However if B does not move then static friction will work (not limiting friction) between body B and the
'
Fl
floor i.e. friction force = applied force (= Fk) not .
(2) A force F is applied to the lower body, then following four situations are possible
(i) When there is no friction
(a) B will move with acceleration (F/M) while A will remain at rest (relative to ground) as there is no
pulling force on A.

a B= ( MF ) and
a A =0
(b) As relative to B, A will move backwards with acceleration (F/M) and so will fall from it in time t.

A m

L F
M B


t=
√ √ 2L
a
=
2 ML
F Fig. 5.30
(ii) If friction is present between A and B only and F < Fl
(where F = Pseudo force on body A and Fl = limiting friction between body A and B)
F
a=
(a) Both the body will move together with common acceleration M +m
(b) Pseudo force on the body A,
' mF
F =ma=
m+ M and F l=μ s mg
mF
< μ s mg
'
F < Fl F< μ s (m+ M ) g
(c)  m+ M 
F
a A =aB =
So both bodies will move together with acceleration m+ M if F< μ s [m+ M ] g
(iii) If friction is present between A and B only and F > Fl
(where Fl = s mg = limiting friction between body A and B)
μk mg
Both the body will move with different acceleration. Here force of kinetic friction will oppose the
motion of B while will cause the motion of A.
 ma A =μ k mg Free body diagram of A

a A=μ k g A maA
i.e.
Fk
F−F k =Ma B Free body diagram of B
MaB
[ F−μk mg ]
a B= FK
M F
i.e. B

Note : As both the bodies are moving in the same direction

Acceleration of body A relative to B will be

a=a A−a B=− [ F−μ k g (m+ M )

M ]
Negative sign implies that relative to B, A will move backwards and will fall it after time

t=
√ √
2L
a
=
2 ML
F−μ k g (m+ M )
(iv) If there is friction between B and floor and F > Fl :
(where Fl = s(m+M)g = limiting friction between body B and surface)
F> F''l F−F l ′′
The system will move only if then replacing F by . The entire case (iii) will be valid.
F< F1 ′′
However if the system will not move and friction between B and floor will be F while between A
and B is zero.
Motion of an Insect in the Rough Bowl
The insect crawl up the bowl, up to a certain height h only till the component of its weight along the bowl
is balanced by limiting frictional force.

r
O

Fl R
y

A
mg sin h

mg cos
Let m = mass of mgthe insect, r = radius of the bowl,  = coefficient of friction
Fig.
for limiting condition at 5.31A
point
R=mgcos θ F l=mg sin θ
......(i) and ......(ii)
Dividing (ii) by (i)
Fl
tan θ= =μ
R [ As F l =μR ]
√r 2− y 2 =μ y=
r
∴ y or √ 1+μ2
 So
h=r− y=r 1−
[ 1
√ 1+μ 2 ] ,∴
[
h=r 1−
1
√ 1+μ2 ]
Minimum Mass Hung from the String to Just Start the Motion
m2
(1) When a mass m1 placed on a rough horizontal plane Another mass hung from the string
m1
connected by frictionless pulley, the tension (T) produced in string will try to start the motion of mass
. R
T
Fl m1

T
m1 g

m2
T =F
Fig. 5.32l
At limiting condition m2 g
m 2 g=μR m 2 g=μ m1 g
 
∴ m 2 =μm1 this is the minimum value of m 2 to start the motion.
m2
μ=
Note :  In the above condition Coefficient of friction
m1

m2
(2) When a mass m1 placed on a rough inclined plane Another mass hung from the string
m1
connected by frictionless pulley, the tension (T) produced in string will try to start the motion of mass
.

T
R
T
m1 m2

m1g sin + F  m1 g m2 g
cos
m1 g
Fig. 5.33

At limiting condition
m 2 T =m 2 g
For …(i)
m 1 T =m 1 g sin θ+ F
For
T =m 1 g sin θ+ μR

T =m 1 g sin θ+ μm1 g cos θ
 …(ii)
m 2 =m 1 [ sinθ + μ cos θ ]
From equation (i) and (ii)
m2
this is the minimum value of to start the motion

Note :  In the above condition Coefficient of friction

 μ=
[ m2
m1 cos θ
−tan θ
]
Maximum Length of Hung Chain
A uniform chain of length l is placed on the table in such a manner that its l ' part is hanging over the
edge of table without sliding. Since the chain have uniform linear density therefore the ratio of mass and ratio
of length for any part of the chain will be equal.
m2 mass hanging from the table
μ= =
m1 mass lying on the table
We know
 For this case we can rewrite above expression in the following manner
length hanging from the table
μ=
length lying on the table [As chain
( l – lhave
 uniform linear density]
l
' )
μ= '
∴ l−l
l
'μl
l=
by solving ( μ+1)
Fig. 5.34

Coefficient of Friction Between a Body and Wedge

A body slides on a smooth wedge of angle  and its time of descent is t.

S S

Smooth wedge Rough wedge

 

If the same wedge made rough then

Fig. 5.35 time taken by it to come down becomes n times more (i.e. nt)
Fig. 5.36
The length of path in both the cases are same.
1
S=u t+ at 2
For smooth wedge, 2
1
S= ( g sin θ) t 2
2 …(i)
[ As u=0 and a=g sin θ ]
1
S=u t+ at 2
For rough wedge, 2
1
S= g (sin θ−μ cosθ ) (nt )2
2 …(ii)
[ As u=0 and a=g (sinθ−μ cosθ )]
From equation (i) and (ii)
1 1
( g sin θ ) t2 g (sin θ−μ cosθ ) (nt )2
2 = 2

 sin θ= (sin θ−μcosθ ) n2


μ=tan θ 1−
[ ] 1
n2
Stopping of Block Due to Friction
(1) On horizontal road
(i) Distance travelled before coming to rest : A block of mass m is moving initially with velocity u on
a rough surface and due to friction, it comes to rest after covering a distance S.
S
v=0
u

Fig. 5.37
Retarding force F=ma=μR  ma=μ mg
∴ a=μg
2
From v =u −2 aS 
2
0=u2 −2μ g S
[ As v=0 , a=μg ]
u 2
P2
S= S=
∴ 2 μg or 2 μm2 g
[As momentum P = mu]
(ii) Time taken to come to rest
From equation v=u−a t  0=u−μ g t
[ As v=0, a=μ g]
u
t=
∴ μg
(2) On inclined road : When block starts with velocity u its kinetic energy will be converted into
potential energy and some part of it goes against friction and after travelling distance S it comes to rest i.e. v
= 0.

We know that retardation a=g [ sin θ+μ cosθ ]

By substituting the value of v and a in the following equation

v=0

S
u


v 2=u 2−2a S
Fig. 5.38

 0=u2 −2 g [sin θ+μcos θ ] S

u2
S=
∴ 2 g (sin θ+μ cosθ )
Stopping of Two Blocks Due to Friction
When two masses compressed towards each other and suddenly released then energy
acquired by each block will be dissipated against friction and finally block comes to rest
i.e., F × S = E [Where F = Friction, S = Distance covered by block, E = Initial kinetic energy of the
block]
A B
m1 m1 m2 m2

S1 S2
Fig. 5.39
P2
F×S=
 2m [Where P = momentum of block]
 P2
μ mg×S=
 2m [As F =  mg]
2
P
S=
 2 μm2 g
In the given condition P and  are same for both the blocks.

[ ]
2
1 S1 m
S∝ 2 = 2
So, m ; ∴ S2 m1

Velocity at the Bottom of Rough Wedge

A body of mass m which is placed at the top of the wedge (of height h) starts moving downward on a
rough inclined plane.
Loss of energy due to friction = FL (Work against friction)
PE at point A = mgh u=0
m
1 2 A
mu L
2
KE at point B = h
m B
By the law of conservation
v of energy
Fig. 5.40
1 2
mv =mgh−FL
i.e. 2

v=
√ 2
m
(mgh−FL)

Sticking of a Block With Accelerated Cart

When a cart moves with some acceleration toward right then a pseudo force (ma) acts on block toward
left.
This force (ma) is action force by a block on cart.
a
F

ma m F
R M m
CART

mg
Fig. 5.41
Now block will remain static w.r.t. cart. If friction force μR≥mg
 μ ma≥mg [ As R=ma]
g
a≥
 μ
g
a min=
∴ μ
This is the minimum acceleration of the cart so that block does not fall.
and the minimum force to hold the block together
F min=( M+m) amin
g
F min=( M+m)
μ
Sticking of a Person with the Wall of Rotor
 A person with a mass m stands in contact against the wall of a cylindrical drum (rotor). The coefficient of
friction between the wall and the clothing is .
If Rotor starts rotating about its axis, then person thrown away from the centre due to centrifugal force
at a particular speed ω , the person stuck to the wall even the floor is removed, because friction force
balances its weight in this condition.
From the figure.
Friction force (F) = weight of
person (mg)
F
c μ F =mg
 R = mg  R FC
[Here, Fc= centrifugal
mg
force]

μmω2min r=mg Fig. 5.42



∴
ω min=
√ g
μr