Friction

Engineering Mechanics:
Statics in SI Units, 12e

8
Friction
Copyright 2010 Pearson Education South Asia Pte Ltd
Chapter Objectives
Introduce the concept of dry friction
To present specific applications of frictional force
analysis on wedges, screws, belts, and bearings
To investigate the concept of rolling resistance
Chapter Outline
1.
2.
3.
4.
5.
6.
Characteristics of Dry Friction

Problems Involving Dry Friction
Wedges
Frictional Forces on Screws
Frictional Forces on Flat Belts
Frictional Forces on Collar Bearings, Pivot Bearings,
and Disks
7. Frictional Forces on Journal Bearings
8. Rolling Resistance
8.1 Characteristics of Dry Friction

Friction
Force that resists the movement of two contacting

surfaces that slide relative to one another
Acts tangent to the surfaces at points of contact with
other body
Opposing possible or existing motion of the body
relative to points of contact
Two types of friction Fluid and Coulomb Friction
Fluid friction exist when the contacting surface are

separated by a film of fluid (gas or liquid)
Depends on velocity of the fluid and its ability to resist
shear force
Coulomb friction occurs
between contacting surfaces
of bodies in the absence of a
lubricating fluid

Theory of Dry Friction
Consider the effects caused by pulling horizontally on
a block of uniform weight W which is resting on a
rough horizontal surface
Consider the surfaces of contact to be nonrigid or
deformable and other parts of the block to be rigid

Normal force Nn and frictional force
Fn act along the contact surface
For equilibrium, normal forces act upward to balance

the blocks weight W, frictional forces act to the left to
prevent force P from moving the block to the right

Many microscopic irregularities exist between the two
surfaces of floor and the block
Reactive forces Rn developed at each of the

protuberances
Each reactive force consist
of both a frictional component
Fn and normal component Nn

Equilibrium
Effect of normal and frictional loadings are indicated
by their resultant N and F
Distribution of Fn indicates that F is tangent to the
contacting surface, opposite to the direction of P
Normal force N is determined
from the distribution of Nn

Equilibrium
N is directed upward to balance W
N acts a distance x to the right of the line of action of
W
This location coincides with the centroid or the
geometric center of the loading diagram in order to
balance the tipping effect caused by P

Impending Motion
As P is slowly increased, F correspondingly increase
until it attains a certain maximum value F, called the
limiting static frictional force
Limiting static frictional force Fs is directly proportional
to the resultant normal force N
Fs = sN

Impending Motion
Constant of proportionality s is known as the
coefficient of static friction
Angle s that Rs makes with N is called the angle of
static friction
Fs
1 s N
1
s tan
tan
tan
s
N
N
1

Typical Values of s
Contact Materials
Coefficient of Static Friction s
Metal on ice
0.03 0.05
Wood on wood
0.30 0.70
Leather on wood
0.20 0.50
Leather on metal
0.30 0.60
Aluminum on aluminum
1.10 1.70

Motion
When P is greater than Fs, the frictional force is
slightly smaller value than Fs, called kinetic frictional
force
The block will not be held in equilibrium (P > Fs) but
slide with increasing speed

Motion
The drop from Fs (static) to Fk (kinetic) can by
explained by examining the contacting surfaces
When P > Fs, P has the capacity to shear off the
peaks at the contact surfaces

Resultant frictional force Fk is directly proportional to
the magnitude of the resultant normal force N
F k = k N
Constant of proportionality k is coefficient of kinetic

friction
k are typically 25% smaller than s
Resultant Rk has a line of action defined by k, angle
of kinetic friction
F
N
k tan 1 k tan 1 k tan 1 k
N
N

F is a static frictional force if equilibrium is maintained
F is a limiting static frictional force when it reaches a
maximum value needed to maintain equilibrium
F is termed a kinetic frictional force when sliding
occurs at the contacting surface

Characteristics of Dry Friction
The frictional force acts tangent to the contacting
surfaces
The max static frictional force Fs is independent of the
area of contact
The max static frictional force is greater than kinetic
frictional force
When slipping, the max static frictional force is
proportional to the normal force and kinetic frictional
force is proportional to the normal force
8.2 Problems Involving Dry Friction

Types of Friction Problems
In all cases, geometry and dimensions are assumed
to be known
3 types of mechanics problem involving dry friction
- Equilibrium
- Impending motion at all points
- Impending motion at some points

Types of Friction Problems
Equilibrium
Total number of unknowns = Total number of available
equilibrium equations
Frictional forces must satisfy F sN; otherwise,
slipping will occur and the body will not remain in
equilibrium
We must determine the frictional
forces at A and C to check
for equilibrium

Equilibrium Versus Frictional Equations
Frictional force always acts so as to oppose the
relative motion or impede the motion of the body over
its contacting surface
Assume the sense of the frictional force that require F
to be an equilibrium force
Correct sense is made after solving the equilibrium
equations
If F is a negative scalar, the sense of F is the reverse
of that assumed
Example 8.1
The uniform crate has a mass of 20kg. If a force P = 80N
is applied on to the crate, determine if it remains in
equilibrium. The coefficient of static friction is = 0.3.
Solution
Resultant normal force NC act a distance x from the
crates center line in order to counteract the tipping effect
caused by P.
3 unknowns to be determined by 3 equations of
equilibrium.
Solution
Fx 0;
80 cos 30 N F 0
Fy 0;
80 sin 30 N N C 196.2 N 0
M O 0;
80 sin 30 N (0.4m) 80 cos 30 N (0.2m) N C ( x) 0
Solving
F 69.3 N , N C 236 N
x 0.00908m 9.08mm
Solution
Since x is negative, the resultant force acts (slightly) to
the left of the crates center line.
No tipping will occur since x 0.4m
Max frictional force which can be developed at the
surface of contact
Fmax = sNC = 0.3(236N) = 70.8N
Since F = 69.3N < 70.8N, the crate will not slip thou it is
close to doing so.
8.3 Wedges
A simple machine used to transform an applied force

into much larger forces, directed at approximately right
angles to the applied force
Used to give small displacements or adjustments to
heavy load
Consider the wedge used to lift a block of weight W by
applying a force P to the wedge
8.3 Wedges
FBD of the block and the wedge
Exclude the weight of the wedge since it is small

compared to weight of the block
Example 8.6
The uniform stone has a mass of 500kg and is held in
place in the horizontal position using a wedge at B. if the
coefficient of static friction s = 0.3, at the surfaces of
contact, determine the minimum force P needed to
remove the wedge. Is the wedge self-locking? Assume
that the stone does not slip at A.
Solution
Minimum force P requires F = s NA at the surfaces of
contact with the wedge.
FBD of the stone and the wedge as below.
On the wedge, friction force opposes the motion and on
the stone at A, FA sNA, slipping does not occur.
Solution
5 unknowns, 3 equilibrium equations for the stone and 2
for the wedge.
M A 0;
4905 N (0.5m) ( N B cos 7 N )(1m) (0.3 N B sin 7 N )(1m) 0
N B 2383.1N
Fx 0;
2383.1sin 7 0.3(2383.1 cos 7 ) P 0.3N C 0
Fy 0;
N C 2383.1 cos 7 N 0.3(2383.1sin 7 ) 0
N C 2452.5 N
P 1154 .9 N 1.15kN
Solution
Since P is positive, the wedge must be pulled out.
If P is zero, the wedge would remain in place (selflocking) and the frictional forces developed at B and C
would satisfy
FB < sNB
FC < sNC
8.4 Frictional Forces on Screws

Screws used as fasteners
Sometimes used to transmit power or motion from one
part of the machine to another
A square-ended screw is commonly used for the latter
purpose, especially when large forces are applied
along its axis
A screw is thought as an inclined plane or wedge
wrapped around a cylinder

A nut initially at A on the screw will move up to B when
rotated 360 around the screw
This rotation is equivalent to translating the nut up an
inclined plane of height l and length 2r, where r is the
mean radius of the head
Applying the force equations of equilibrium, we have
M rW tan s

Downward Screw Motion
If the surface of the screw is very slippery, the screw
may rotate downward if the magnitude of the moment
is reduced to say M < M
This causes the effect of M to become S
M = Wr tan( )
Example 8.7
The turnbuckle has a square thread with a mean radius of
5mm and a lead of 2mm. If the coefficient of static friction
between the screw and the turnbuckle is s = 0.25,
determine the moment M that must be applied to draw
the end screws closer together. Is the turnbuckle selflocking?
Solution
Since friction at two screws must be overcome, this
requires
M 2Wr tan
W 2000 N , r 5mm, s tan 1 s tan 1 0.25 14.04
tan 1 / 2r tan 1 2mm / 2 5mm 3.64
Solving
M 2 2000 N 5mm tan 14.04 3.64

6374.7 N .mm 6.37 N .m
When the moment is removed, the turnbuckle will be selflocking

8.5 Frictional Forces on Flat Belts

It is necessary to determine the frictional forces
developed between the contacting surfaces
Consider the flat belt which passes over a fixed curved
surface
Obviously T2 > T1
Consider FBD of the belt
segment in contact with the surface
N and F vary both in
magnitude and direction

Consider FBD of an element having a length ds
Assuming either impending motion or motion of the
belt, the magnitude of the frictional force
dF = dN
Applying equilibrium equations
Fx 0;
d
d
dN
(
T
dT
)
cos
0
2
2
Fy 0;
T cos
d
d
T
sin
0
2
2
dN (T dT ) sin

We have
dN dT
dN Td
dT
d
T
T T1 , 0, T T2 ,
dT
T1 T 0 d
T
In 2
T1
T2
T2 T1e
Example 8.8
The maximum tension that can be developed In the cord
is 500N. If the pulley at A is free to rotate and the
coefficient of static friction at fixed drums B and C is s =
0.25, determine the largest mass of cylinder that can be
lifted by the cord. Assume that the force F applied at the
end of the cord is directed vertically downward.
Example 8.8
Weight of W = mg causes the cord to move CCW over
the drums at B and C.
Max tension T2 in the cord occur at D where T2 = 500N
For section of the cord passing over the drum at B
180 = rad, angle of contact between drum and cord
= (135/180) = 3/4 rad
T2 T1e s ;
500 N T1e 0.25 3 / 4
T1
500 N
e 0.25 3 / 4
500 N
277.4 N
1.80
Example 8.8
For section of the cord passing over the drum at C
W < 277.4N
T2 T1e s ;
277.4 We 0.25 3 / 4
W 153.9 N
W
153.9 N
m
15.7kg
2
g 9.81m / s
8.6 Frictional Forces on Collar Bearings,

Pivot Bearings and Disks
Pivot and collar bearings are used to support axial load
on a rotating shaft
Laws of dry friction is applied to determine the moment
M needed to turn the shaft when it supports an axial
force P
8.6 Frictional Forces on Collar Bearings,

Pivot Bearings and Disks
Frictional Analysis
The collar bearing on the shaft is subjected to an axial
force P and has a total contact area (R22 R12)
Normal pressure p is considered to be uniformly
distributed over this area a reasonable assumption
provided the bearing is new and evenly distributed
Since Fz = 0,
p measured as a force per unit area
p = P/(R22 R12)
Example 8.9
The uniform bar has a total mass m. if it is assumed that
the normal pressure acting at the contracting surface
varies linearly along the length of the bar, determine the
couple moment M required to rotate the bar. Assume that
the bars width a is negligible in comparison to its length l.
the coefficient of static friction is equal to s.
Solution
FBD of the bar is as shown.
Bar has a total weight of W = mg.
Intensity wo of the distributed lead at the center (x = 0) is
determined from vertical force equilibrium.
Fz 0;
1
mg 2 wo 0
2 2
2mg
wo
Solution
Since w = 0 at x = l/2, for distributed load function,
2 x 2mg
2x
w wo 1
1
For magnitude of normal force acting on a segment of

area having length dx,
2mg
2x
dN wdx
1 dx

Solution
For magnitude of the frictional force acting on the same
element of area,
2 s mg
2x
dF s dN
1 dx

For moment created by this force about z axis,

2 s mg
dM xdF
2x
x 1 dx
Summation of moments by integration,

M z 0; M 2
/ 2
2 s mg
4 s mg x 2 2 x 3
2
3
2x
x 1 dx 0
/ 2
s mg
6
8.7 Frictional Forces on Journal

Bearings
When a shaft or axle is subjected to lateral loads, a
journal bearing is used for support
Well-lubricated journal bearings are subjected to the
laws of fluid mechanisms
When the bearing is not lubricated, analysis of the
frictional resistance can be based on the laws of dry
friction
If the lateral load is P, the bearing
reactive force R acting at A is
equal and opposite to P
8.7 Frictional Forces on Journal

Bearings
Moment needed to maintain constant rotation of the
shaft can be found by the summation of moments
about the z axis of the shaft,
M z 0;
M ( R sin k )r 0
M Rr sin k
If the bearing is partially lubricated, k is small,

tank sink k
Frictional resistance
M Rrk
k =
Example 8.10
The 100mm diameter pulley fits loosely on a 10mm
diameter shaft for which the coefficient of static friction is
s = 0.4. Determine the minimum tension T in the belt
needed to (a) raise the 100kg block and (b) lower the
block. Assume that no slipping occurs between the belt
and the pulley and neglect the weight of the pulley.
Example 8.10
Part (a)
FBD of the pulley is shown.
As tension T is increased, the pulley will roll around the
shaft to point before motion P2 impends.
Friction circles radius, rf = r sins.
Using the simplification,
sin s (tan s s )
rf r s (5mm)(0.4) 2mm
M P2 0;981N (52mm) T (48mm) 0
T 1063 N 1.06kN
and s tan 1 0.4 20.8
Example 8.10
Part (a)
For radius of friction circle,
rf r sin s 5 sin 21.8 1.86mm
Therefore,
M P2 0;
981N (50mm 1.86mm) T (50mm 1.86mm) 0
T 1057 N 1.06kN
Example 8.10
Part (b)
When the block is lowered, the resultant force R acting on
the shaft passes through the point P3.
Summing moments about this point,
M P3 0;
981N (48mm) T (52mm) 0
T 906 N
8.8 Rolling Resistance

A rigid cylinder of weight W rolls at constant velocity
along a rigid surface, the normal force is at tangent
point of contact
Hard material cylinder will compresses the soft surface
underneath it
8.8 Rolling Resistance

We consider the resultant of the entire normal pressure
acting on the cylinder
N = Nd + Nr
To keep the cylinder in equilibrium, rolling at constant
rate, N must be concurrent with the driving force P and
the weight W
Summation of moment about A,
Wa = P (r cos)
Wa Pr
P (Wa)/r
Example 8.11
A 10kg steel wheel has a radius of 100mm and rest on an
inclined plans made of wood. If is increased so that the
wheel begins to roll down the incline with constant
velocity when = 1.2, determine the coefficient of rolling
resistance.
Solution
FBD of the wheel is as shown.
Wheel has impending motion.
Normal reaction N acts at point A defined by dimension a.
Summing moments about point A,
M A 0;
9.81 cos 1.2 N (a ) 9.81sin 1.2 N (100mm) 0

Solving
a 2.09mm
QUIZ
1. A friction force always acts _____ to the contact
surface.
A) Normal
B) At 45
C) Parallel
D) At the angle of static friction
2. If a block is stationary, then the friction force acting on
it is ________ .
A) s N
C) s N
B) = s N
D) = k N
QUIZ
3. A 100 lb box with a wide base is pulled by a force P
and s = 0.4. Which force orientation requires the least
force to begin sliding?
A) P(A)
B) P(B)
100 lb
C) P(C)
D) Not determined
4. A ladder is positioned as shown. Please indicate the
direction of the friction force on the ladder at B.
B
A)
B)
C)
D)
A
P(A)
P(B)
P(C)
QUIZ
5. A wedge allows a ______ force P to lift a _________
weight W.
A) (large, large) B) (small, small)
C) (small, large) D) (large, small)
6. Considering friction forces and the indicated motion of
the belt, how are belt tensions T1 and T2 related?
A) T1 > T2
B) T1 = T2
C) T1 < T2
D) T1 = T2 e
QUIZ
7. When determining the force P needed to lift the block
of weight W, it is easier to draw a FBD of ______ first.
A) The wedge
B) The block
C) The horizontal ground D) The vertical wall
8. In the analysis of frictional forces on a flat belt, T2 = T1
e . In this equation, equals ______ .
A) Angle of contact in deg
B) Angle of contact in rad
C) Coefficient of static friction D) Coefficient of kinetic
friction

Friction

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Engineering Mechanics:

Statics in SI Units, 12e

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Characteristics of Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Force that resists the movement of two contacting

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Fluid friction exist when the contacting surface are

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

For equilibrium, normal forces act upward to balance

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Reactive forces Rn developed at each of the

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Coefficient of Static Friction s

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Constant of proportionality k is coefficient of kinetic

8.1 Characteristics of Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

8.1 Characteristics of Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

8.2 Problems Involving Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

8.2 Problems Involving Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

8.2 Problems Involving Dry Friction

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

A simple machine used to transform an applied force

Copyright 2010 Pearson Education South Asia Pte Ltd

FBD of the block and the wedge

Exclude the weight of the wedge since it is small

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

8.4 Frictional Forces on Screws

Copyright 2010 Pearson Education South Asia Pte Ltd

8.4 Frictional Forces on Screws

Copyright 2010 Pearson Education South Asia Pte Ltd

8.4 Frictional Forces on Screws

Copyright 2010 Pearson Education South Asia Pte Ltd