Principles of Friction

- Is the resistance to motion of one object moving relative to another.

STATIC FRICTION
It is the friction experienced by a body when it is at rest. Or in other
words, it is the friction when the body tends to move.
DYNAMIC FRICTION
It is the friction experienced by a body when it is in motion. It is also
called kinetic friction. The dynamic friction is of the following two types :
1. Sliding friction. It is the friction, experienced by a body when it
slides over another body.
2. Rolling friction. It is the friction, experienced by a body when it rolls
over another body.
Coulomb's Laws of Dry Friction
The direction of the friction force on a surface is such as to
oppose the tendency of the one surface to slide relative to the
other. It is the relative motion or the impending relative motion
of one body relative to another that is important.
The friction force is never greater than just sufficient to
prevent motion. For the static equilibrium case in which the
two surfaces are stationary with respect to one another, the
normal and tangential components of the contact force satisfy
Coulomb's Laws of Dry Friction
𝐹 𝑓 ≤ 𝜇𝑠 𝑁
where the equality holds for the case of impending motion
in which the contacting surfaces are on the verge of sliding
relative to each other. For the case where two contacting
surfaces are sliding over each other, the normal and
tangential components of the contact force satisfy

𝐹 𝑓 =𝜇𝑘 𝑁
Where:
Frictional Force – is a static force acting
parallel to the surface to prevent
impending motion of the body.

𝐹 𝑓 =𝜇 𝑁 tan ∅=𝜇
Where:
= Frictional Force
P = applied force
N = Normal Force (reaction from surface)
R = Resultant of Force F and N
= coefficient of friction
= angle of friction
Example:
A 20-lb piece of electronic equipment is placed on a wooden
skid that weighs 10 lb. and that rests on a concrete floor (Fig. 9-
7). Assume a coefficient of static friction of 0.45 and determine
the minimum pushing force along the handle necessary to cause
the skid to start sliding across the floor.
 Ans.
P = 87.1 N

Solution:
𝑃𝑠𝑖𝑛𝜃
P
N
𝑃𝑐𝑜𝑠 𝜃
𝐹𝑓
Solution:
Substitute eq. 2 to 1:

𝑃𝑠𝑖𝑛𝜃
P
N
𝑃𝑐𝑜𝑠 𝜃
𝐹𝑓
Example:
A 2 kg block rests on a 30° incline. If the coefficient of
static friction is 0.2, how much additional force P (parallel to
the plane) must be required to prevent the block from sliding
down the incline?
Solution:
Solution:
Since the impeding motion is going
down the plane, thus the frictional
force Ff must be directed going up the
plane.
Ans.
μ = 0.15
Solution:
900 𝑁 𝐵 𝑅𝐵

m5
2.
750 𝑁
0.86 m
4.7 m

m5
1.
1.2 m
𝐴 70°
𝐹𝑓
1.71 m
𝑅𝐴
BELT FRICTION
When a belt passes a rough pulley, the tensions in the belt or
band on its sides of the pulley will differ. When slip is about to occur,
the following formula applies.

Where:
= larger tension (tight side)
= smaller tension (slack side)
= angle of contact (radian)
= coefficient of friction
Ex. Two turns of rope wrapped around a horizontal
cylindrical bar. A pull of 10 lb on one end of the rope
justs prevents a 150 lb weight attached to the other
end from slipping downward. Determine the
coefficient of friction between the rope and the bar.
Ans. = 0.2155
Ex. Four turns of rope wrapped around a horizontal
post will hold a 1000 lb weight with a pull of 10 lbs.
Find the coefficient of friction between the rope and
the posts.
Ans. = 0.183
ROLLING FRICTION
Rolling friction occurs (resistance) because of the deformation of
the surface under a rolling load.

𝑊𝑎
𝑃=
𝑟
Where:
= Horizontal force applied
= weight
= coefficient of rolling resistance
(a dimension of length)
= radius
Ex. A wheel of 500 mm diameter carries a load of
20 000 N. If a horizontal force of 20 N is necessary to
move it over a level surface, determine the coefficient
of rolling resistance.
Ans. a = 0.25 mm
Ex. A mass of 1400 kg rests on an oak beam. The
beam rests on a 200 mm diameter rollers. Assuming
the coefficient of rolling resistance of between the
beam and the rollers to be 0.9 mm, what horizontal
force is needed to move the load on a level surface?
Ans. P = 123 N
LINEAR MOTION WITH CONSTANT
ACCELERATION
A body is said to be in linear motion, if the
path traced by it is a straight line.

Acceleration – change in velocity with respect to

time
Velocity – of an object is the rate of change of
its position with respect to a time.
 Horizontal Motion

Where:
S = horizontal distance
travelled
= initial velocity
= final velocity
t = time
a = acceleration
= (+ sign) if body is
speeding up
= (- sign) if body is
slowing down
Ex. An automobile is travelling at 25 m/s. It
takes 0.3 s to apply the brakes after which the
deceleration is 6 m/. How far does the
automobile travel before it stops? Ans. 60 m
Solution:
t = 0.3 s to apply brakes
6 m/ d = ?

𝑡 1= 0.3 𝑠 𝑎=− 6 𝑚/ 𝑠2

𝑑1 𝑑2
Ex. An automobile moving at a constant velocity
of 15 m/s passes a gasoline station. Two
seconds later, another automobile leaves the
gasoline station and accelerates at a constant
rate of 2 m/s2. How soon will the second
automobile overtake the first? Ans. 16.8 s
Solution: 𝑡 1= 2+𝑡 2
𝑉 =15 𝑚/ 𝑠
𝑑
𝑡2
𝑎=2 𝑚/ 𝑠2
𝑑
Car A:

Car B:

Equating 1 & 2:
 Vertical Motion

Where:
H = vertical distance
travelled
= initial velocity
= final velocity
t = time
g = gravitational
acceleration
= (+ sign) if body is
moving down
= (- sign) if body is
moving up
Ex. A man standing at a window 5 m tall
watches a falling ball pass by the window in 0.3
s. How high above the window was the ball
released? Ans. 11.77 m
Solution:
Ex. A ball is dropped from the top of a building
150 m high at the same instant a second ball is
thrown upward from the ground. If two balls
pass each other at a point 60 m above the
ground, solve the initial velocity of the second
ball? Ans. 35 m/s
DIFFERENCE IN ELEVATION FOR BODIES
BEING THROWN UP
- this is an optional solution only since the problem
can be solved in conventional methods.
Ex. A balloon is rising with a velocity of 2 m/s
when a bag of sand is released. If the height at
the time of release is 120 m, how long does it
take the bag of sand to reach the ground?
Ans. 5.154 s
Solution:
Ex. A ball is thrown vertically upward with a
speed of 30 ft/s from the edge of a cliff 50 ft
above sea level. With what velocity will it hit the
water? Ans. 64.187 ft/s
Solution:
PROJECTILE MOTION
- motion of the body that is given initial
velocity and firing angle, then travels and
follows a path determined entirely by the effect
of the gravitational acceleration and air
resistance.
Combining the two equations;
2
𝑔𝑥
± 𝑦=𝑥tan 𝜃 − 2 2
2𝑉 𝑜 𝑐𝑜𝑠 𝜃
Where:
= initial velocity
= firing angle
t = time
y = vertical distance travelled after time t
x = horizontal distance travelled after time t

+y = if the final point of travel is above the initial point

-y = if the final point of travel is below the initial point
Ex. A projectile was launched upward from a
level ground at an angle of 60° with the
horizontal. It has initial velocity of 45 m/s. How
long will it take before the projectile hits the
ground? Ans. 7.945 s
Solution:
Ex. A projectile is launched at a velocity of 125
m/s at an angle of 20°. A building is 200 m
away. At what height above the ground will the
projectile strikes the building? Ans. 58.57 m

Solution:
Ex. A ball rolls of a table 80 cm high with a
speed of 2.4 m/s. How far will it travel before it
strikes the ground? Ans. 0.97 m

Solution:
MAXIMUM HEIGHT AND MAXIMUM RANGE

Where:
= maximum height reached
R = horizontal distance or range of
projectile
Note: For maximum horizontal distance,
Ex. A riffle bullet has a muzzle velocity 200 m/s.
What is the time of flight at the maximum
range? Ans. 28.83 s

Solution: *Note: To reach maximum range, firing angle,

Ex. A cannon is can make maximum angle of
30° with the horizon. What is the maximum
speed of a cannon ball if it must clear a 10 m
high obstacle? Ans. 28 m/s
Solution:
ROTATIONAL MOTION
Rotation is a motion in which the body is
moving in a circular motion but the body has no
horizontal or vertical translation. Relation
between linear and angular parameters:
Where:
= linear distance
= angular distance (radian)
V = linear velocity
= angular velocity (rad/s)
a = linear acceleration
= angular acceleration
t = time spent
r = radius of the rotating body
Ex. What is the linear speed of a point on the
edge of a 14 inch diameter disk turning at 40
rpm? Ans. 2.443 ft/s

Solution:
Ex. A car accelerates from start to 20 m/s in 8 s.
What is the average angular acceleration of the
wheels? Assume the radius of the wheel is 0.3
m. Ans. = 8.33 rad/s2
Solution:
ROTATION WITH CONSTANT ANGULAR
ACCELERATION

Where:
= angular distance covered (rad)
= initial angular velocity (rad/s)
= final angular velocity (rad/s)
t = time (s)
= angular acceleration (rad/)
Ex. In 30 s, the crankshaft of a truck engine
operating at 2400 rpm turns through how many
radians? Ans. 7539.82 rad

Solution:
Ex. A phonograph turntable initially rotating at
3.5 rad/s makes 3 complete revolutions before
coming to a stop. How long did take to come to
a stop? Ans. 10.769 s
Solution:
Ex. A flywheel is brought from rest up to a
speed of 1500 rpm in 30 s. Solve the number of
revolutions needed. Ans. 375 rev
Solution: