ES 1022y Engineering Statics Friction

Friction
Introduction
So far in this course the effects of friction have not been considered. For example, in
determining the reactions associated with the roller support shown below we have assumed
that the roller is free to move in the horizontal direction, and, as a result, the only force
developed is in a vertical direction.

In practice, for all real surfaces forces develop between a body in contact with either a second
body or a surface that act to prevent or retard slipping of the first body. This resisting force is
referred to as friction, and always acts tangent to the surface at the points of contact with
another body or surface in such a direction as to oppose motion of the body relative to these
points.

Two types of friction can occur between surfaces:

1) fluid friction

2) dry friction (sometimes referred to as Coulomb friction)

Consider a block of uniform weight W resting on a rough surface with a horizontal force P
being applied to it.

In order for the block to slide the applied force P must exceed the friction force F developed at
the points of contact between the block and the underlying rough surface.

Experimentally the friction force F is found to be dependent upon:

1) the normal force N acting perpendicular to the surface at the points of contact, and
2) the characteristics of the contacting surfaces.

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If P is steadily increased from zero, a point is reached at which sliding occurs. The force at
this point corresponds to the limiting value of the static frictional force Fs, which is equal to

where μs is the coefficient of static friction.

Once sliding has been initiated, it is usually found that a smaller force is required to maintain
sliding. This force is referred to as the kinetic frictional force, and is equal to

where μk is the coefficient of kinetic friction.

Note that both μs and μk depend only on the characteristics of the two surfaces in contact with
each other, and that the value of μk is typically 25% less than that of μs.

The above effects can be summarised graphically as shown below.

Determining the Coefficient of Static Friction Experimentally

Consider a block of uniform weight W resting on an inclined plane. The plane is slowly tilted
until the block just begins to slip.

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If the angle the plane makes at this point is θs, then drawing a FBD and summing forces in the
x and y directions, assuming that x is perpendicular and y is tangent to the plane, yields

Since

this allows us to write

or

Thus, if we can determine θs, a value for μs can be obtained.

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Impending Tipping versus Sliding

In the foregoing discussion we have implicitly assumed that the block will slide before
tipping. However, in solving equilibrium problems we often need to check whether the block
will slide or tip first. Consider the block shown below.

In this case we have four unknowns (F, N, x, and P), but only three equilibrium equations.
Hence we need to make an assumption about one of our unknowns.

If slipping occurs then

Solve for x, P, and N, and check that 0 ≤ x ≤ b/2.

Alternatively, if the block is on the verge of tipping then

Solve for P, N, and F, and check that F ≤ μs N.

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Solving Equilibrium Problems Involving Friction

Equilibrium problems involving friction fall into one of three categories:
1) Will it move?
• total number of unknowns equals number of equilibrium equations
• calculate friction force F and check that F ≤ μs N
2) The entire body is about to move
• total number of unknowns equals number of equilibrium equations plus friction
equations
• set all friction forces equal to μs N and solve for unknowns
3) Part of the body is about to move
• total number of unknowns is less than the number of equilibrium equations plus
friction equations
• set one of the friction forces equal to μs N and solve for unknowns
• check that none of the other friction forces exceed μs N

Procedure for Analysis

To solve an equilibrium problem involving friction
• draw the necessary FBDs, making sure that you show all friction forces acting in the
correct direction
• count the number of unknowns - do not assume that F = μs N unless you are told that
motion is impending
• if the number of unknowns exceeds the number of equilibrium equations, apply the
friction equations at some, if not all, of the points of contact.
• apply the equations of equilibrium

and solve for the unknowns

• remember to check for tipping and that none of the friction forces exceed μs N.

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Example Problem

The refrigerator has a weight of 180 lb and rests on a tile floor for which μs = 0.25. If the
man pushes horizontally on the refrigerator in the direction shown, determine the smallest
magnitude of horizontal force needed to move it. Also, if the man has a weight of 150 lb,
determine the smallest coefficient of friction between his shoes and the floor so that he
does not slip.

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Example Problem

Two blocks A and B, each having a mass of 6 kg, are connected by the linkage shown. If
the coefficients of static friction at the contacting surfaces are μA = 0.2 and μB = 0.8,
determine the largest vertical force P that may be applied to pin C without causing the
blocks to slip. Neglect the weight of the links.

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Wedges
A wedge is a simple machine for transforming a small applied force into a much larger force.

They can also be used to give small displacements or adjustments to heavy loads.

The interacting surfaces present in a wedge experience frictional forces which need to be
taken into account when solving problems involving wedges.

Procedure for Analysis

To analyze a wedge:
• draw FBDs of the wedge(s) and the object on top of the wedge, remembering that:
- the friction forces always act in the direction opposite to motion, or impending
motion of the wedge.
- the friction forces act tangentially to the contacting surfaces.
- the normal forces act perpendicular to the contacting surfaces.
- bodies in contact with each other exert forces equal in magnitude, but opposite in
direction on each other.
• if motion is impending the frictional force on each sliding surface is given by F = μs N.
• solve for the unknowns by applying the equations of equilibrium

starting with the FBD in which the number of unknowns is less than or equal to the
number of equilibrium equations.

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Example Problem

If P = 250 N, determine the required minimum compression in the spring so that the wedge
will not move to the right. Neglect the weight of A and B, and friction at the rollers. The
coefficient of static friction for all contacting surfaces is μs = 0.35.

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Frictional Forces on Flat Belts

Consider a flat belt passing over a fixed curved surface with the total angle of contact
equal to β radians.

If the belt slips or is just about to slip in the direction shown, then T2 must be larger than
T1 and the friction forces combined. This means that T2 must be greater than T1.

If we now consider a small element ds of the belt, and draw a FBD showing all the forces
acting on it and apply the equations of equilibrium we can write

If length ds is very small, then angle dθ will also be very small, and we can write

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Furthermore, if dT and dθ/2 are very small the product of these two variables will be even
smaller relative to the magnitude of the terms involving only dT or dθ/2, and hence we
can neglect this term. Therefore, as we let dθ → 0 the two equilibrium equations above
become:

Eliminating dN yields the result

and if we now integrate this expression we obtain the following:

or

where μ is the coefficient of static friction between the belt and the surface and β is the
total angle of contact between the belt and the curved surface.

Important

Note that β must be given in radians when using this formula.

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Example Problem

If the rope wraps three full turns plus the basic wrap (165o) around the peg, determine if
the 80 kg man can keep the 300 kg crate from moving. The coefficients of static friction
between the rope and peg and between the man’s shoes and the ground are μs = 0.1 and
μ’s = 0.4 respectively.

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