CHAPTER 6

FRICTION
Lecture Goals
The Laws of Dry Friction
Coefficient of Static Friction
Coefficient of Kinetic Friction
Angles of Friction
angle of static friction
angle of kinetic friction
angle Repose

Friction
A friction force is a shear force that acts tangent to
the surface of contract between two bodies. This
force opposes sliding motion between bodies.
Friction
The force of static friction is maximum when the
two bodies in contact are just ready to slip relative
to each other.




The maximum force of friction increases as the
normal force between the bodies increases.
Friction
There are two force horizontal forces, P
max
, which
is the magnitude of maximum horizontal force
which the object can resist.



where
s
is the coefficient of static friction and N is
the normal force.
max s
P N =
Friction
The other horizontal force, F
k
, due to friction is the
kinetic-friction force which the object can resist.



where
k
is the coefficient of kinetic friction and N
is the normal force.
k k
F N =
Friction
The coefficients of friction
s
and
k
do not depend
upon the area of the surfaces in contact. Both
coefficients depend strongly on the nature of the
surface contact.
metal on metal
s
- 0.15 - 0.6
metal on wood
s
- 0.20 - 0.6
wood on leather
s
- 0.25 - 0.5
Friction
Four different situation may occur when a rigid
body is in contact with a horizontal surface.
The force applied to the body
do not tend to move it along
the surface of contact.
The applied force tend to
move body along the surface
of contact but are not large
enough to set it in motion.
a


b
Friction
Note
Since there is no evidence that
the maximum value of the
static-friction force has been
reached the equation


can not be used to determine
the friction force.
max s
F N =
Friction
Four different situation may occur when a rigid
body is in contact with a horizontal surface.
The applied force are such that
the body is just about to slide ,
motion is impending.
The body is sliding under the
action of the applied forces,
and the equations of
equilibrium do not apply
anymore.
c


d
Angle of Friction
k k
F N =
N
F
K
max
=
S S
| = tan
It is sometimes found convenient to replace the
normal force N and friction force F by their
resultant R.
max
s
tan
F
N
| =
The angle |
s
is known as the angle of
static friction.
recall that:
N
F
MAX
S
=
Angle of Friction
The four cases are
No horizontal forces are
applied to the block and R
reduces to the normal force,
N.
P is applied to the block and
the horizontal force P
x
does
not have enough force to
overcome frictional resistance.
a



b
Angle of Friction
The four cases are
The horizontal force, F
max
is
sufficient to start the block in
motion.
The block is in motion.
c


d
Angle of Friction
Another example that will show how the angle of
friction may be used to advantage in the analysis of
certain types of problems. For block on an incline.
The block is in not motion
and friction force is not
overcome.
Angle of Friction
If we continue to increase the
angle of inclination, motion will
soon become impending. At the
time, the angle between R and
the normal will have reached its
maximum value |
s
. The value
of the angle of inclination
corresponding to impending
motion is called the angle of
repose.
Solving Friction Problem
There are three groups,
All of the applied forces are given and the coefficients of
friction are known are determined whether the body
considered will remain at rest or slide.
All applied forces are given and the motion is known to
be impending; we are to determine the value of the
coefficient of static friction.
The coefficient of static friction is given, and it is known
that motion is impending in a given direction, we are to
determine the magnitude or the direction of one of the
applied forces.
Example Problem Friction I
A 100-lb force acts on a 300-lb block on an inclined
plane. The coefficient of friction between the block
and the plane are
s
= 0.25 and
k
= 0.2. Determine
whether or not the block is in equilibrium and find the
value of the friction force.
Example Problem Friction I
Determine the value of the friction force required to
maintain equilibrium.
( )
( )
x
y
3
0 100 lb 300 lb
5
80 lb
4
0 300 lb
5
240 lb
F F
F
F N
N
'
= =
=
'
= =
=

The force needed to maintain equilibrium is an 80-lb

force directed up and to the right, the tendency is for
the block to move down the incline.
Example Problem Friction I
Maximum friction force is may be computed.
( )
max s
0.25 240 lb 60 lb
F N =
= =
Since the value of the force required to maintain
equilibrium (80-lb) is larger tan the maximum value
which may be obtained (60-lb) equilibrium will not be
maintained and the block will slide down the plane.
Example Problem Friction I
Actual value of friction force The magnitude of the
actual friction force is obtained.
( )
actual k
0.2 240 lb 48 lb
F N =
= =
The forces acting on the block are
not balanced , the resultant is
( )
x
3
100 lb 300 lb 48 lb 32 lb
5
F
'
= + =

Class Problem Friction I

Workers are pulling a 400-lb crate up an incline. The
coefficient of friction between the crate and the surface is
0.2 and the rope on which the workers are pulling is
horizontal.
(a) Determine the force P that the workers must exert to
start the crate up the incline.
(b) If one of the workers lets go of the rope for a moment
determine the minimum force the other workers must
exert to keep the crate from sliding back down the
incline.
Example Problem Friction II
Two blocks are connected by a light, flexible cable that
passes over a friction-less pulley. Block A weighs 500
N and block B weighs 200 N. The coefficient of static
friction between block A and ramp is
s
= 0.3.
Determine whether the
two blocks are in
equilibrium
Determine whether block
A will slide down the
ramp after the cable is cut.
Example Problem Friction II
( )
( )
( )
x
y
3
0 500 N
5
3
200 N 500 N
5
100 N
4
0 500 N
5
400 N
F T F
F
F
F N
N
'
= =
=
=
'
= =
=

T
N
F
|
x
y
T
N
F
|
x
y
Example Problem Friction II
Maximum friction force is may be computed.
( )
max s
0.3 400 N 120 N
F N =
= =
Since the value of the force sign is -100 N assume
sense of F is wrong. The blocks are in equilibrium,
since F
s
does not exceed the maximum static frictional
force 120N.
Example Problem Friction II
( )
( )
x
3
0 500 N
5
3
0 N 500 N
5
300 N
F T F
F
F
'
= =
=
=

The cable is cut and the tension is zero.

The force exceeds the friction resistance 120 N so the
block will slide down the ramp.
T
N
F
|
x
y
Example Problem Friction II
( )
1 o
1 o
s
3
tan 36.87
4
tan 0.3 16.70
|
|

| |
= =
|
\ .
= =
The second part can be obtained by comparing the
ramps angle of inclination | to the angle of repose |
s
.
Since force | >the angle of repose |
s
, the ramp is
inclined at an angle greater tan the angle of repose.
T
N
F
|
x
y
Class Problem Friction II
Two blocks are connected with a flexible cable that
passes over a friction-less pulley. The weight of block A
is 25 lb, and the coefficient of friction is 0.20 on both
inclined surfaces. Determine the maximum and
minimum weights for the block B if the system remains
in equilibrium.

lbs Sin lb F
x
5 . 12 ) 30 ( 25 ' = =
BLOCK A
lbs Cos lb F
y
65 . 21 ) 30 ( 25 ' = =
25lb
A
T
F
fric
30
lbs N F 33 . 4 ) 65 . 21 ( 2 .
max
= = =
BLOCK B
) 60 ( ' Sin Wlb F
x
=
) 60 ( ' Cos W F
y
=
) 60 ( 2 .
max
WCos N F = =
) 60 ( 2 . ) 60 (sin 3 . 4 5 . 12 Cos W W F
X
+ + =
Example Problem Friction III
The movable bracket shown may be
placed at any height on 3-in.
diameter pipe. If the coefficient of
static friction between the pipe and
bracket is 0.25, determine the
minimum distance x at which the
load W can be supported. Neglect
the weight of the bracket.
Example Problem Friction III
Determine the value of the friction force required to
maintain equilibrium.
x B A
B A
y A B
0
0
F N N
N N
F F F W
= =
=
= = +

F
A
= N
A
and F
B
=N
B
,which from sum in the x
direction will give F
A
= F
B
Example Problem Friction III
Determine the value of the friction force required to
maintain equilibrium.
y A B
A B
A
0
0.25 0.25
2
F N N W
N N W
N W
= = +
+ =
=

Use the moment about A to determine the distance,x.

Example Problem Friction III
Using the moment about A to find x.
( ) ( ) ( )
( ) ( ) ( )( ) ( )
( )
A B B
0 6 in. 0.25 3 in. 1.5 in.
2 6 in. 0.25 2 3 in. 1.5 in.
12 in. 12 in.
M N N W x
W x W W W
Wx W x
= = + +
= +
= =

The x=12 in.

Class Problem Friction III
The 200-lb block is sitting of a 30
o
inclined surface. The
coefficient of friction between the block and the surface is
0.50. A light inextensible cord is attached to the block,
passes around a friction-less pulley, and is attacked to a
second block of mass M. Determine the minimum and
maximum masses, M
min
and M
max
, such that the system is
in equilibrium. Is impending motion by slipping or by
tipping?
Example Problem Friction IV
A large rectangular shipping crate of
height h and width b is at rest on the
floor. It is acted on by a horizontal
force P. Assume that the material in
the crate is uniformly distributed so
that the weights acts at the centroid
of the crate.
(a) Determine the conditions for which the crate is on the
verge of sliding.
(b) Determine the conditions under which the crate will
tip about point A.
Example Problem Friction IV
Draw the free-body diagram, look at
the equations of equilibrium.
( )
x
y
A
0
0
0 0.5
F F P
F N W
M Nx W b Ph
= =
= =
= = +

If F=P and N=W substitute into the moment equation

( )
0 0.5 0.5
Ph
Wx W b Ph x b
W
= + =
Example Problem Friction IV
If the crate is on the verge of sliding F=
s
N where the
coefficient of static friction .
If the crate is on the verge on
tipping it is on the verge of
rotation about point A, that is the
crate and the floor are in contact
only at A. Therefore x=0
0 0.5
2
Ph Wb
b P
W h
= =
sliding s s
P F N = =
Example Problem Friction IV
Note that tipping will occur before sliding, provided
that P
sliding
> P
tipping
, therefore if P increases until
motion occurs tipping will occur before sliding if
sliding s
tipping s
2 2
P W
b b
P W
h h

=
= >
THE WEDGE
A simple machine
Uses mechanical advantage based on the Inclined Plan
Can apply large forces
Can be used to produce small adjustments
a triangular object placed between 2 objects
to either hold them in place, or move one
relative to the other.
If force P is large enough, the
block will rise
Since before the wedge can move, it must
overcome F
max
, then we can assume:
If force P is NOT large enough to
keep with block from coming down,
the wedge must move to the left and the
direction for friction in the FB changes.
The block shown supports a load of 700 lbs and is to be raised by forcing a wedge under it.
The coefficient of friction on the 3 contact surfaces is .25. Calculate the force P needed to
begin moving the wedge. Neglect the weight of the wedge and block.
BEGIN WITH
BLOCK
Now consider
the wedge
The Screw
Combination of an Inclined
Plane wrapped around a
cylinder (forming the path
and pitch) and a Wedge
coiled around the cylinder

Changes rotary motion to
linear motion

Very large mechanical
advantage
When turned, a
screw converts rotary
motion into linear motion.

It is used in jacks, clamps,
measuring tools, valves, etc.
The Screw
Nut Splitter
CALCULATING PITCH
The distance between 2 adjacent screw threads is called the
pitch of the screw
For example, if you place a ruler parallel to a screw and
count 10 threads over a distance of 1 inch, the pitch would
be 1/10.
Converting Linear Motion
Turning the screw one complete revolution
will move it into or out of an object a distance
to the pitch of the screw, or .1 in this case.
Therefore, a screw can be used to convert
circular motion into linear motion
1 Revolutions Distance = Pitch of Screw
Calculating the Mechanical
Advantage of a Screw
p = Screw pitch (Load distance)
t = 3.1416
r
E
= Effort arm length
L = Weight of the Load
E = Effort Force
E
I
E
A
(Ideal)
(Actual)
Ideal Mechanical Advantage is a function of
distance. It disregards friction, and other
causes that reduce the efficiency of a machine.
Calculating the Mechanical
Advantage of a Screw
2tr
E
p
IMA
=
The Screw
2tr
E
p
IMA
=
Ideal Mechanical Advantage can also be
calculated if you know the weight of the Load
and the ideal Effort force (perfect world
scenario) needed to move it.
Calculating the Mechanical
Advantage of a Screw
L
E
I
=
2tr
E
p
IMA
=
Calculating the Mechanical
Advantage of a Screw
Actual Mechanical Advantage is a function of
weight. It is a measure of the actual performance
of the simple machine and will always be less
than the IMA due to friction, and other energy
absorbing phenomena.
AMA
L
E
A
=
Comparison of Mechanical Advantage:
Other Uses
Because of the mechanical advantage of a screw,
it is also useful for moving heavy loads. Such
screw driven devices include garage door openers
and jacks.

SCREWS
A bolt and screw in combination
work together as 2 wedges.
What if you could unwrap the
threads off of a screw?
= lead angle of screw
1. Screw is pushed down by
screwdriver
2. A moment is generated by the
rotation of the screwdriver

case 2
The moment dominates and
the screw moves up.
case 1
The axial load dominates and
the screw moves down
Sample Problem 8.5
A clamp is used to hold two pieces of
wood together as shown. The clamp
has a double square thread of mean
diameter equal to 10 mm with a pitch
of 2 mm. The coefficient of friction
between threads is
s
= 0.30.
If a maximum torque of 40 N*m is
applied in tightening the clamp,
determine (a) the force exerted on the
pieces of wood, and (b) the torque
required to loosen the clamp.
SOLUTION
Calculate lead angle and pitch angle.
Using block and plane analogy with
impending motion up the plane, calculate
the clamping force with a force triangle.
With impending motion down the plane,
calculate the force and torque required to
loosen the clamp.
Sample Problem 8.5
SOLUTION
Calculate lead angle and pitch angle. For the double
threaded screw, the lead L is equal to twice the pitch.
( )
30 . 0 tan
1273 . 0
mm 10
mm 2 2
2
tan
= =
= = =
s s
r
L
|
t t
u = 3 . 7 u
= 7 . 16
s
|
Using block and plane analogy with impending
motion up the plane, calculate clamping force with
force triangle.
kN 8
mm 5
m N 40
m N 40 =

= = Q r Q
( )

= = +
24 tan
kN 8
tan W
W
Q
s
| u
kN 97 . 17 = W
Sample Problem 8.5
With impending motion down the plane, calculate
the force and torque required to loosen the clamp.
( ) ( ) = = 4 . 9 tan kN 97 . 17 tan Q
W
Q
s
u |
kN 975 . 2 = Q
( )( )
( )( ) m 10 5 N 10 975 . 2
mm 5 kN 975 . 2
3 3
=
= = r Q Torque
m N 87 . 14 = Torque