Friction

W.T.H. Jayawardane (BSc Eng)

• Friction is a force that resists the movement of two contacting surfaces that slide
relative to one another.

• This force always acts tangent to the surface at the points of contact and is directed so as
to oppose the possible or existing motion between the surfaces.

• Dry friction is the force that opposes one solid surface sliding across another solid
surface.

• Dry friction always opposes the surfaces sliding relative to one another, and it can have
the effect of either opposing motion or causing motion in bodies.

• The theory of dry friction can be explained by considering the effects caused by pulling
horizontally on a block of uniform weight W which is resting on a rough horizontal surface
that is non-rigid or deformable. The upper portion of the block, however, can be
considered rigid.
A block of weight W is placed on a horizontal
plane surface. The force acting on the block
are its Weight and the reaction force of the
table. Since the weight force has no horizontal
component, the reaction of the surface also
has no horizontal component. The reaction is
therefore, normal to the surface and is
represented by the normal force N
Suppose now that a horizontal force P is applied
to the block. If P is small the block will not move,
some other horizontal force therefore must exist
which balances P. this other force is known as the
STATIC FRICTION FORCE.
If the force P is increased, the friction
force F also increases, continuing to
oppose P, until its magnitude reaches a
certain maximum value Fm. If P is
increased the friction force cannot balance
it any more and the block starts to move.
As soon as the block starts to move the
value of F drops to a lower value of Fk
and is known as the kinetic force of
friction
Equilibrium

• The effect of the distributed normal and frictional

loadings is indicated by their resultants N and F on the
free-body diagram.

• The angle between normal reaction (A) and resultant

force (R) is called angle of friction.
• It is also called limiting angle of friction.
Impending Motion

In cases where the surfaces of contact are rather “slippery,” the frictional force F may not be
great enough to balance P, and consequently the block will tend to slip.

In other words, as P is slowly increased, F correspondingly increases until it attains a certain

maximum value Fs, called the limiting static frictional force.

When this value is reached, the block is in unstable equilibrium since any further increase in
P will cause the block to move.

Experimentally, it has been determined that this limiting static frictional force Fs is directly
proportional to the resultant normal force N. Expressed mathematically,
Where the constant of proportionality, µs, is called the coefficient of static friction.

Thus, when the block is on the verge of sliding, the normal force N and frictional force Fs
combine to create a resultant Rs. The angle fs that Rs makes with N is called the angle of
static friction.
Motion

• If the magnitude of P acting on the block is increased so that it becomes slightly greater
than Fs, the frictional force at the contacting surface will drop to a smaller value Fk,
called the kinetic frictional force.

• Experiments with sliding blocks indicate that the magnitude of the kinetic friction force is
directly proportional to the magnitude of the resultant normal force, expressed
mathematically as,

• Here the constant of proportionality, µk, is called the coefficient of kinetic friction. Typical
values for µk are approximately 25 percent smaller than those listed in Table for µs.
In this case, the resultant force at the surface of contact, Rk, has a line of action defined by fk.
This angle is referred to as the angle of kinetic friction, where,
Procedure for Analysis
• Equilibrium problems involving dry friction can be solved using the following procedure.

Free-Body Diagrams

• Draw the necessary free-body diagrams, and unless it is stated in the problem that impending motion or
slipping occurs, always show the frictional forces as unknowns (i.e., do not assume F=µN).

• Determine the number of unknowns and compare this with the number of available equilibrium equations.

• If there are more unknowns than equations of equilibrium, it will be necessary to apply the frictional
equation at some, if not all, points of contact to obtain the extra equations needed for a complete solution.

• If the equation F=µN is to be used, it will be necessary to show F acting in the correct sense of direction on
the free-body diagram.
Equations of Equilibrium and Friction
• Apply the equations of equilibrium and the necessary frictional equations (or conditional
equations if tipping is possible) and solve for the unknowns.

• If the problem involves a three-dimensional force system such that it becomes difficult to
obtain the force components or the necessary moment arms, apply the equations of
equilibrium using Cartesian vectors.
Determine the friction force at the surface of contact.
Determine the force P to move block B.
Determine the force P needed to cause impending motion of the block.
Applications of Friction: Wedges,
Screws, Bearings, Wheel Friction,
Belt Friction.
 Wedge Friction
• A wedge is, usually, of a triangular or trapezoidal in cross-section. It is, generally, used for slight adjustments
in the position of a body.
i.e. for tightening fits or keys for shafts. Sometimes, a wedge is also used for lifting heavy weights as shown in
Figure.
• A wedge is one of the simplest and most useful machine. A wedge is used to produce small adjustments in
the position of the body or to apply large forces. Wedges largely depend on friction to function.

• It will be interesting to know that the problems on wedges are basically the
problems of equilibrium on inclined planes. Thus these problems may be
solved by the equilibrium method.
The uniform stone in Figure has a mass of 500 kg and is held in the horizontal position using a
wedge at B. If the coefficient of static friction is µs = 0.3 at the surfaces of contact, determine
the minimum force P needed to remove the wedge. Assume that the stone does not slip at A.
The minimum force P requires F = µsN at the surfaces of contact with the wedge. The free-
body diagrams of the stone and wedge are shown in Figure.

On the wedge the friction force opposes the impending motion, and on the stone at, A,

FA ≤ µsNA, since slipping does not occur there. There are five unknowns.

Three equilibrium equations for the stone and two for the wedge are available for solution.
From the free-body diagram of the stone,
It is observed that when the bed of the dump truck is raised to an angle of u = 250 the
vending machines will begin to slide off the bed, Fig. 8–8a. Determine the static coefficient of
friction between a vending machine and the surface of the truck-bed.
SOLUTION

An idealized model of a vending machine resting on the truck bed

is shown in Figure. The dimensions have been measured and the
center of gravity has been located. We will assume that the
vending machine weighs W.

Free-Body Diagram.

As shown in Figure, the dimension x is used to locate the position

of the resultant normal force N. There are four unknowns, N, F,
ms, and x
From Eq. 3, we find x = 1.17 ft. Since 1.17 ft 6 1.5 ft, indeed the vending
machine will slip before it can tip as observed in Figure.
Screw Friction
Since frictional force between surfaces is independent of the contact area, the screw is
represented as a block over the thread of the jack. Angle between the reaction force and the
normal to the thread is the angle of friction.

α – Helix Angle
Lead Screw
Screw Jacks
Belt Friction
• In any system where a belt or a cable is
wrapped around a pulley or some other
cylindrical surface, we have the
potential for friction between the belt
or cable and the surface it is in contact
with.

• In some cases, such as a rope over a

tree branch being used to lift an object,
the friction forces represent a loss.

• In other cases such as a belt-driven

system, these friction forces are put to
use transferring power from one pulley
to another pulley.
• In a frictionless scenario, if we were to increase the tension on one side of the rope it
would begin to slide across the cylinder. If friction exists between the rope and the
surface though, the friction force will oppose with sliding motion, and prevent it up to a
point.

With equal tensions on each side of With unequal tensions, a friction

the belt, only a non-uniform normal force will also be present
force exists between the belt and the opposing the relative sliding of
surface. the belt to the surface.
Friction in Flat Belts

• Whenever belt drives or band brakes are designed, it is necessary to determine the
frictional forces developed between the belt and its contacting surface.

• A flat belt is any system where the pulley or surface only interacts with the bottom surface
of the belt or cable. If the belt or cable instead fits into a groove, then it is considered a V
belt.

• Starting with the smaller tension force on one side(𝑇1), we can increase the second
tension force(𝑇2) to some maximum value before slipping.
Consider the flat belt shown in Figure, which passes over a fixed curved surface. The total
angle of belt-to-surface contact in radians is β, and the coefficient of friction between the
two surfaces is µ.

We wish to determine the tension T2 in the belt, which is needed to pull the belt
counterclockwise over the surface, and thereby overcome both the frictional forces at the
surface of contact and the tension T1 in the other end of the belt. Obviously, T2 > T1.
A free-body diagram of the belt segment in contact with the surface is shown in Figure. As
shown, the normal and frictional forces, acting at different points along the belt, will vary both
in magnitude and direction. Due to this unknown distribution, the analysis of the problem will
first require a study of the forces acting on a differential element of the belt.
The uniform concrete pipe has a weight of 800 lb and is unloaded slowly from the truck bed
using the rope and skids shown. If the coefficient of kinetic friction between the rope and
pipe is µk = 0.3, determine the force the worker must exert on the rope to lower the pipe at
constant speed. There is a pulley at B, and the pipe does not slip on the skids. The lower
portion of the rope is parallel to the skids.
A cable is attached to the 20-kg plate B, passes over a fixed peg at C, and is attached to the
block at A. Using the coefficients of static friction shown, determine the smallest mass of
block A so that it will prevent sliding motion of B down the plane
Determine the maximum and the minimum values of weight W which may be applied
without causing the 50-lb block to slip. The coefficient of static friction between the block
and the plane is µs = 0.2, and between the rope and the drum D is µ’s = 0.3.
The belt on the portable dryer wraps around the drum D, idler pulley A, and motor pulley B. If
the motor can develop a maximum torque of M = 0.80 Nm, determine the smallest spring
tension required to hold the belt from slipping. The coefficient of static friction between the
belt and the drum and motor pulley is µs = 0.3.
Wheel (Rolling) Friction

What Is Rolling Friction?

• For a moving solid body, there are two principal types of friction that act upon it:
The force resisting the motion of a rolling body on a surface is known as rolling friction or
rolling resistance. Rolling of ball or wheel on the ground is an example of Rolling friction.

• Rolling friction is considerably weaker than sliding friction.

Cause of Rolling Friction

When an object is rolled on a surface, certain things happen:

1. The object is deformed at the point of contact with the surface.

2. The surface is deformed at the point of contact with the object.
3. The motion is created below the surface as a result of the above-mentioned points.
The amount of friction is based on a variety of factors such as:

• The quality of the sliding body

• The quality of the surface

• Load

• The diameter of the rolling object

• The surface area of the body

The tractor exerts a towing force Determine the normal reactions at each of the two front
and two rear tires and the tractive frictional force F, on each rear tire needed to pull the load
forward at constant velocity. The tractor has a weight of 7500 lb and a center of gravity
located at .An additional weight of 600 lb is added to its front having a center of gravity at GA.
Take µs = 0.4. The front wheels are free to roll.
The uniform crate shown in Figure has a mass of 20 kg. If a force P = 80 N is applied to the
crate, determine if it remains in equilibrium. The coefficient of static friction is ms = 0.3.

Free-Body Diagram

As shown in Figure, the resultant normal force NC

must act a distance x from the crate’s center line in
order to counteract the tipping effect caused by P.
There are three unknowns, F, NC, and x, which can
be determined strictly from the three equations of
equilibrium.
Since x is negative it indicates the resultant normal force acts (slightly) to the left of the
crate’s center line.

No tipping will occur since x 6 0.4 m. Also, the maximum frictional force which can be
developed at the surface of contact is,

Fmax = msNC = 0.3(236.2 N) = 70.9 N

Since F = 69.3 N 6 70.9 N, the crate will not slip, although it is very close to doing so.
Figure
Beam AB is subjected to a uniform load of 200 N/m and is supported at B by post BC,
Figure. If the coefficients of static friction at B and C are µB = 0.2 and µC = 0.5, determine
the force P needed to pull the post out from under the beam. Neglect the weight of the
members and the thickness of the beam.
Blocks A and B have a mass of 3 kg and 9 kg, respectively, and are connected to the
weightless links shown in Figure. Determine the largest vertical force P that can be applied at
the pin C without causing any movement. The coefficient of static friction between the blocks
and the contacting surfaces is µs = 0.3.
SOLUTION: Free-Body Diagram.

The links are two-force members and so the free-body diagrams of pin C and blocks A
and B are shown in Figure. Since the horizontal component of FAC tends to move
block A to the left, FA must act to the right. Similarly, FB must act to the left to
oppose the tendency of motion of block B to the right, caused by FBC. There
are seven unknowns and six available force equilibrium equations, two for the pin
and two for each block, so that only one frictional equation is needed.