Ch.

4: Friction
4.0 Outline 203
Introduction 204
Types of Friction 205
Dry Friction 206
4.0 Outline
203
Ch. 4: Friction
4.1 Introduction
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.
204
Ch. 4: Friction
4.2 Types of Friction
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
205
Ch. 4: Friction
4.3 Dry Friction
4.3 Dry Friction
Mechanism of friction
206
Ch. 4: Friction
max
F F <
max s
F F N = =
4.3 Dry Friction
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,
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,
.
c) MotionThe body starts moving in the direction
of the applied force. Here, friction force drops to a
lower value called kinetic friction .
It will drop further with higher velocity.
k
F N =
207
Ch. 4: Friction
tan F/N =
s s
tan =
k k
tan =
4.3 Dry Friction
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 .
When the friction force reaches max value, .
When slippage occurs, .
The friction angle defines the limiting position of
the total reaction force R. The friction cone of
vertex angle represents the locus of possible
positions for the reaction force R.
Friction force is independent of the apparent
or projected area of contact.
s k
,
s k
2 , 2
208
Ch. 4: Friction
4.3 Dry Friction
Friction cone
209
Ch. 4: Friction
s
F N =
4.3 Dry Friction
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
2) Relative motion is known to exist
Friction force is the kinetic friction
3) Unknown status of the problem
Assume static equilibrium and solve for the required
friction force F. Then check and conclude the status.
k
F N =
210
Ch. 4: Friction
s
N
s
F N >
s
F N =
4.3 Dry Friction
Possible outcomes
a) friction force for the assumed equilibrium
can be provided and so the body is in static equilibrium.
b) max friction force is required for the
static equilibrium condition and so motion impends.
c) surfaces cannot support more friction than
. So the equilibrium assumption is invalid
and motion occurs instead. Friction force
is the kinetic friction . Even with the correct
kinetic friction substituted, equilibrium equations
are still not hold accelerated motion
s
F N <
k
F N =
211
Ch. 4: Friction
4.3 Dry Friction
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
.
212
Ch. 4: Friction
y
x s
1
s s
F 0 N mgcos 0
F 0 N mgsin 0
tan or tan

( = =

( = =

= =

4.3 Dry Friction

P. 4/1
at the moment of slipping, friction is upward
s
F N =
when the friction force reaches max value,
s s
tan =
by equilibrium, R = W and
s
=
1
s
tan

=
s

R
213
Ch. 4: Friction
4.3 Dry Friction
P. 4/2 Determine the range of values which the mass
m
o
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.
214
Ch. 4: Friction
y
F 0 N 100gcos20 0, N 922 N ( = = =

4.3 Dry Friction

P. 4/2
bounded m
o
values block start moving
Case I: max m
o
, start moving up, friction downward
Case II: min m
o
, start moving down, friction upward
s
F N =
x o s o
F 0 mg N 100gsin20 0, m 62.4 kg ( = = =

x o s o
o max
F 0 mg N 100gsin20 0, m 6.0 kg
6.0 m 62.4 kg and F F 277 N up/downward
( = + = =

=

215
Ch. 4: Friction
4.3 Dry Friction
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.
216
Ch. 4: Friction
y
s
x s
F 0 N 500sin20 100gcos20 0, N 1092.85 N
max supportable friction N 218.6 N
F 0 500cos20 F 100gsin20 0, F 134.3 N N
the assumption is valid

( = = =

= =
( = = = <

4.3 Dry Friction

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
P = 100 N: assume the block tends to slide down friction upward
y
s
x s
F 0 N 100sin20 100gcos20 0, N 956.04 N
max supportable friction N 191.21 N
F 0 F 100cos20 100gsin20 0, F 241.55 N N
the assumption is invalid, block is moving downward
kinetic f

( = = =

= =
( = + = = >

k
riction upward N 162.5 N = =
217
Ch. 4: Friction
4.3 Dry Friction
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.
218
Ch. 4: Friction
k
tan =
4.3 Dry Friction
P. 4/4
a) On the verge of tipping over, reaction acts at the corner A
When slippage occurs,
Block moves w/ const. velocity equilibrium
Three-force member: reaction at A must pass through B
( )
k k
tan b/2h, h b/ 2 = = =
b) When slippage occurs,
Block moves w/ const. velocity equilibrium
Three-force member: reaction at C must pass through G
k
tan =
( )
k k
tan x/ H/2 , x H/2 = = =
219
Ch. 4: Friction
4.3 Dry Friction
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.
220
Ch. 4: Friction
4.3 Dry Friction
P. 4/5
221
Ch. 4: Friction
y 1 1
2 1 2
3 2 3
F 0 N 30gcos30 0, N 254.87 N
N N 50gcos30 0, N 679.66 N
N N 40gcos30 0, N 1019.5 N
( = = =

= =
= =

1 s 1 2 s 2
3max s 3
2 3 3 3max
F N 76.46 N, F N 271.86 N
F N 458.8 N
block #3: F F 40gsin30 0, F 468.06 N F
block #3 cannot stay still -- the assumption is invalid

= = = =
= =
+ = = >

4.3 Dry Friction

P. 4/5
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 F
1
& F
2
max (either one alone will not slip)
50&40 kg-blocks tend to move together F
1
& F
3
max (either one alone will not slip)
2 3 2 2max
1 2
block #3: F F 40gsin30 0, F 262.6 N F
block #2 & #3 does not slip relative to each other
block #2: P F F 50gsin30 0, P 93.8 N
+ = = <

+ = =
222
Ch. 4: Friction
4.3 Dry Friction
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.
223
Ch. 4: Friction
1 1
A B
tan 21.8 , tan 16.7

= = = =
( )
1
B A
sin 75/300 14.5

= = < <
4.3 Dry Friction
P. 4/6
Bar is a two-force member.
Assume the system is in equilibrium.
Hence the reaction forces at both ends
act along the axial direction.
at x = 75 mm:
limitation of the reaction force on each end
y
R inside the static friction cone, system is in equilibrium and
F Ntan 126.6 N = =
y
F 0 N 50g 0, N 490.5 N ( = = =

max x before slipping when the bar angle = that of small friction cone
B
x/300 sin , x 86.2 mm = =
R
R
N
N
F
F
224
Ch. 4: Friction
4.3 Dry Friction
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
225
Ch. 4: Friction
1
2 1 2
1max 1
2max 2
N 8gcos20 73.75 N
N N 15gcos20 0, N 212 N
F 0.3N 22.12 N
F 0.4N 84.81 N
= =
= =
= =
= =
1max 2max
1max
P F F 15gsin20 0, P 56.6 N
F 8gsin20 T 0, T 49 N
+ = =
+ = =
4.3 Dry Friction
P. 4/7
a) pulling down, 15 kg block impends to slide downward
15g
8g
F
1
F
1
N
1
N
1
T
P
F
2
N
2
226
Ch. 4: Friction
1
2 1 2
1max 1
2max 2
N 8gcos20 73.75 N
N N 15gcos20 0, N 212 N
F 0.3N 22.12 N
F 0.4N 84.81 N
= =
= =
= =
= =
4.3 Dry Friction
P. 4/7
b) pushing up, assume 15&8 kg blocks impends to slide upward together
the cable slacks T=0
1 1 1max
1max 2max
1max
8 kg block: 8gsin20 F 0, F 26.84 N F
15 kg block impends to slide upward alone
P F F 15gsin20 0, P 157.3 N
T F 8gsin20 0, T 4.72 N
= = >

+ + + = =
+ = =
15g
8g
F
1
F
1
N
1
N
1
T
P
F
2
N
2
227
Ch. 4: Friction
4.3 Dry Friction
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.
228
Ch. 4: Friction
| |
a/r a 20 R R/9
180

| |
= = =
|
\ .

4.3 Dry Friction

P. 4/8
no slip until =20
distance on bar = length on curve
( )
( )
s
L/2 R/9
tan F/N 0.211
L/ 2tan20

= = = =
20
L/(2tan20)

229
Ch. 4: Friction
4.3 Dry Friction
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.
230
Ch. 4: Friction
O A B
A B
Amax Bmax A B
A Amax B
M 0 F F
from the figure, N N
F F so F reaches the limit value before F
slipping does occur first at contact A
F F and F determined by equilibrium equation
( = =

<
<

4.3 Dry Friction

P. 4/9
lower roller: three-force member
reaction force at A must pass through contact B
from geometry,
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)
Amax s
F F , tan tan15 0.268 = = = =
A
B
N
B
N
A
F
A
F
B
mg
O
R

30 15
r
r
A
B
O
231
Ch. 4: Friction
4.3 Dry Friction
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.
232
Ch. 4: Friction
4.3 Dry Friction
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
A
O B A
x A B B B A
y A B B
A B B B
slipping at A, F 0.4N
M 0 F 0.4N
F 0 N F cos30 N sin30 0, N 1.307N
F 0 0.4N 1200g F sin30 N cos30 0
N 22.1 kN, N 28.9 kN, F 8853 N 0.4N
=
( = =

( = = =

( = + =

= = = <

A
O
B
N
B
F
B
N
A
0.4N
A
1200g
233