8장 마찰-re

VECTOR MECHANICS FOR ENGINEERS:
STATICS
Seventh Edition
Ferdinand P. Beer
E. Russell Johnston, Jr.
Lecture Notes:
J. Walt Oler
Texas Tech University
CHAPTER
2004 The McGraw-Hill Companies, Inc. All rights reserved.
Friction ()
Vector Mechanics for Engineers: Statics
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Contents
Introduction
Laws of Dry Friction. Coefficients
of Friction.
Angles of Friction
Problems Involving Dry Friction
Sample Problem 8.1
Sample Problem 8.3
Wedges
Square-Threaded Screws
Sample Problem 8.5
Journal Bearings. Axle Friction.
Thrust Bearings. Disk Friction.
Wheel Friction. Rolling Resistance.
Sample Problem 8.6
Belt Friction.
Sample Problem 8.8
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8.1 Introduction
In preceding chapters, it was assumed that surfaces in contact were
either frictionless (surfaces could move freely with respect to each
other) or rough (tangential forces prevent relative motion between
surfaces).
Actually, no perfectly frictionless surface exists. For two surfaces
in contact, tangential forces, called friction forces, will develop if
one attempts to move one relative to the other.
However, the friction forces are limited in magnitude and will
not prevent motion if sufficiently large forces are applied.
The distinction between frictionless and rough is, therefore, a matter
of degree.
There are two types of friction: dry or Coulomb friction and fluid
friction. Fluid friction applies to lubricated mechanisms. The
present discussion is limited to dry friction between nonlubricated
surfaces.

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8.2 The Laws of Dry Friction. Coefficients of Friction
Block of weight Wplaced on horizontal
surface. Forces acting on block are its weight
and reaction of surface N.
Small horizontal force P applied to block. For
block to remain stationary, in equilibrium, a
horizontal component F of the surface reaction
is required. F is a static-friction force.
As P increases, the static-friction force F
increases as well until it reaches a maximum
value F
m
.
N F
s m
=
Further increase in P causes the block to begin
to move as F drops to a smaller kinetic-
friction force F
k
.
N F
k k
=
reaction force moved
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The Laws of Dry Friction. Coefficients of Friction
Maximum static-friction force:
N F
s m
=
Kinetic-friction force:
s k
k k
N F

75 . 0
=
Maximum static-friction force and kinetic-
friction force are:
- proportional to normal force
- dependent on type and condition of
contact surfaces
- independent of contact area
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The Laws of Dry Friction. Coefficients of Friction
Four situations can occur when a rigid body is in contact with
a horizontal surface:
No friction,
(P
x
= 0)
No motion,
(P
x
< F
m
)
Motion impending,
(P
x
= F
m
)
Motion,
(P
x
> F
m
)
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8.3 Angles of Friction
It is sometimes convenient to replace normal force
N and friction force F by their resultant R:
No friction Motion impending No motion
s s
s m
s
N
N
N
F

=
= =
tan
tan
Motion
k k
k k
k
N
N
N
F

=
= =
tan
tan
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Angles of Friction
Consider block of weight Wresting on board with
variable inclination angle .
No friction No motion Motion impending Motion
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8.4 Problems Involving Dry Friction
All applied forces known
Coefficient of static friction
is known
Determine whether body
will remain at rest or slide
All applied forces known
Motion is impending
Determine value of
coefficient of static friction.
Coefficient of static
friction is known
Motion is impending
Determine magnitude or
direction of one of the
applied forces
,0,
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Sample Problem 8.1
A 450 N force acts as shown on a
1350 N block placed on an inclined
plane. The coefficients of friction
between the block and plane are
s
=
0.25 and
k
= 0.20. Determine whether
the block is in equilibrium and find the
value of the friction force.
SOLUTION:
Determine values of friction force
and normal reaction force from plane
required to maintain equilibrium.
Calculate maximum friction force
and compare with friction force
required for equilibrium. If it is
greater, block will not slide.
If maximum friction force is less
than friction force required for
equilibrium, block will slide.
Calculate kinetic-friction force.
-:
- : =
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Sample Problem 8.1
SOLUTION:
Determine values of friction force and normal
reaction force from plane required to maintain
equilibrium.
: 0 =
x
F ( ) 0 N 1350 N 50 4
5
3
= F
N 360 = F
: 0 =
y
F
( ) 0 N 1350
5
4
= N
N 1080 = N
Calculate maximum friction force and compare
with friction force required for equilibrium. If it is
greater, block will not slide.
( ) N 270 N 080 1 25 . 0 = = =
m s m
F N F
The block will slide down the plane.
sliding down
1: }
t : D
Xt :
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Sample Problem 8.1
If maximum friction force is less than friction
force required for equilibrium, block will slide.
Calculate kinetic-friction force.
( ) N 080 1 20 . 0 =
= = N F F
k k actual

N 216 =
actual
F

Sample Problem 8-2

P
25
O

800N
35 . 0 , 25 . 0 = =
s k

Determine
1) P: incline is impending
2) Friction Force: block is moving up
3) Smallest P: to prevent block from
sliding down

FBD
1)

P
N
F
x
y
Fx: Pcos25-F-800sin25=0
Fy: N-800cos25-Psin25=0
F= s
N
Eq.s : 3, Unknowns: 3
800N
8| L:
0XY ) `
2)

P
N
F
x
y
Fx: Pcos25-F-800sin25=0
F= k
N
800N

Fx: Pcos25+F-800sin25=0
F= s
N
P
N
F
x
y
800N
3)
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Sample Problem 8.3
The moveable bracket shown may be
placed at any height on the 75 mm
diameter pipe. If the coefficient of
friction between the pipe and bracket is
0.25, determine the minimum distance
x at which the load can be supported.
Neglect the weight of the bracket.
SOLUTION:
When Wis placed at minimum x, the
bracket is about to slip and friction
forces in upper and lower collars are at
maximum value.
Apply conditions for static equilibrium
to find minimum x.
static coefficient
?
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Sample Problem 8.3
SOLUTION:
When Wis placed at minimum x, the bracket is about to
slip and friction forces in upper and lower collars are at
maximum value.
B B s B
A A s A
N N F
N N F
25 . 0
25 . 0
= =
= =
Apply conditions for static equilibrium to find minimum x.

: 0 =
x
F 0 =
A B
N N
A B
N N =
: 0 =
y
F
W N
W N N
W F F
A
B A
B A
=
= +
= +
5 . 0
0 25 . 0 25 . 0
0
W N N
B A
2 = =
: 0 =
B
M ( ) ( ) ( )
( ) ( )
( ) ( ) ( ) 0 mm 5 . 37 2 75 . 18 2 150
0 mm 5 . 37 25 . 0 75 150
0 mm 5 . 37 mm 75 mm 150
=
=
=
x W W W
x W N N
x W F N
A A
A A
mm 300 = x
: 5
3: ??

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** 8.5 Wedges
Wedges - simple
machines used to raise
heavy loads.
Force required to lift
block is significantly
less than block weight.
Friction prevents wedge
from sliding out.
Want to find minimum
force P to raise block.
Block as free-body
0
: 0
0
: 0
2 1
2 1
= +
=
= +
=
N N W
F
N N
F
s
y
s
x
or
0
2 1
= + + W R R
v r r
( )
( ) 0 6 sin 6 cos
: 0
0
6 sin 6 cos
: 0
3 2
3 2
= +
=
= +

=
s
y
s s
x
N N
F
P
N N
F

Wedge as free-body
or
0
3 2
= + R R P
r r r
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**8.6 Square-Threaded Screws
Square-threaded screws frequently used in jacks, presses, etc.
Analysis similar to block on inclined plane. Recall friction
force does not depend on area of contact.
Thread of base has been unwrapped and shown as straight
line. Slope is 2r horizontally and lead L vertically.
Moment of force Q is equal to moment of force P.
r Pa Q =
Impending motion
upwards. Solve for
Q.
Self-locking, solve
for Q to lower load.
, >
s
Non-locking, solve
for Q to hold load.
, >
s
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8.4
Sample problem 8.4
400N
Determine P
1) B is impending upward
2) Impending downward
B
8
O

A P

1)

P A
400N
B
Ra

Fa
B:
X,Y: :2, 4
2? F=?xR

A
X,Y: .s:2, 3
?
Fb
Rb
Rb
Fb
Fc
Rc

X,Y: .s:2, 3
?
X,Y: :2, 4
2? F=?xR
B:
A

P
2)
A
B
400N
Fa
Rb
Fb
Fb
Ra
Rc
Rb
Fc
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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.
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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

= 3 . 7
= 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

kN 97 . 17 = W
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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

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

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***8.7 Journal Bearings. Axle Friction
Journal bearings provide lateral support to rotating
shafts. Thrust bearings provide axial support
Frictional resistance of fully lubricated bearings
depends on clearances, speed and lubricant viscosity.
Partially lubricated axles and bearings can be
assumed to be in direct contact along a straight line.
Forces acting on bearing are weight Wof wheels and
shaft, couple Mto maintain motion, and reaction R
of the bearing.
Reaction is vertical and equal in magnitude to W.
Reaction line of action does not pass through shaft
center O; R is located to the right of O, resulting in
a moment that is balanced by M.
Physically, contact point is displaced as axle
climbs in bearing.
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Journal Bearings. Axle Friction
Angle between R and
normal to bearing
surface is the angle of
kinetic friction
k
.
k
k
Rr
Rr M
= sin
May treat bearing
reaction as force-
couple system.
For graphical solution,
R must be tangent to
circle of friction.
k
k f
r
r r
= sin
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***8.8 Thrust Bearings. Disk Friction
Consider rotating hollow shaft:
) (
2
1
2
2
R R
A P r
A
A
P
r N r F r M
k
k k
=
= = =

For full circle of radius R,
PR M
k
3
2
=
2
1
2
2
3
1
3
2
3
2
2
0
2
2
1
2
2
2
1
) (
R R
R R
P
drd r
R R
P
M
k
R
R
k

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***8.9 Wheel Friction. Rolling Resistance
Point of wheel in contact
with ground has no
relative motion with
respect to ground.
Ideally, no friction.
Moment M due to frictional
resistance of axle bearing
requires couple produced by
equal and opposite P and F.
Without friction at rim,
wheel would slide.
Deformations of wheel and
ground cause resultant of
ground reaction to be
applied at B. P is required
to balance moment of W
about B.
Pr = Wb
b = coef of rolling resistance
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Sample Problem 8.6
A pulley of diameter 100 mm
can rotate about a fixed shaft of
diameter 50 mm. The coefficient
of static friction between the
pulley and shaft is 0.20.
Determine:
the smallest vertical force P
required to start raising a
2250 N load,
the smallest vertical force P
required to hold the load,
and
the smallest horizontal force
P required to start raising
the same load.
SOLUTION:
With the load on the left and force
P on the right, impending motion
is clockwise to raise load. Sum
moments about displaced contact
point B to find P.
Impending motion is counter-
clockwise as load is held
stationary with smallest force P.
Sum moments about C to find P.
With the load on the left and force
P acting horizontally to the right,
impending motion is clockwise to
raise load. Utilize a force triangle
to find P.
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Sample Problem 8.6
SOLUTION:
With the load on the left and force P on the right,
impending motion is clockwise to raise load. Sum
moments about displaced contact point B to find P.
The perpendicular distance from center O of pulley
to line of action of R is
( ) mm 5 20 . 0 mm 25 sin = =
f s s f
r r r r
Summing moments about B,
( )( ) ( ) 0 mm 45 N 2250 mm 55 : 0 = = P M
B
N 2750 = P
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Sample Problem 8.6
The perpendicular distance from center O of pulley to
line of action of R is again 5 mm. Summing moments
about C,
( )( ) ( ) 0 mm 55 N 2250 mm 45 : 0 = = P M
C
N 1841 = P
Impending motion is counter-clockwise as load is held
stationary with smallest force P. Sum moments about
C to find P.
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Sample Problem 8.6
With the load on the left and force P acting
horizontally to the right, impending motion is
clockwise to raise load. Utilize a force triangle to
find P.
Since W, P, and R are not parallel, they must be
concurrent. Line of action of R must pass through
intersection of Wand P and be tangent to circle of
friction which has radius r
f
= 5 mm.
( )
=
= = =
1 . 4
0707 . 0
2 mm 0 5
mm 5
sin
OD
OE
From the force triangle,
( ) ( ) = = 9 . 40 cot N 2250 45 cot W P
N 2597 = P

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***8.10 Belt Friction
Relate T
1
and T
2
when belt is about to slide to right.
Draw free-body diagram for element of belt
( ) 0
2
cos
2
cos : 0 =
+ =
N T T T F
s x

( ) 0
2
sin
2
sin : 0 =
+ =

T T T N F
y
Combine to eliminate N, divide through by ,
( )
2
2 sin
2 2
cos
T
T
T
s
In the limit as goes to zero,
0 = T
d
dT
s
Separate variables and integrate from = = to 0

s
e
T
T
T
T
s
= =
1
2
1
2
or ln
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Sample Problem 8.8
A flat belt connects pulley A to pulley B.
The coefficients of friction are
s
= 0.25
and
k
= 0.20 between both pulleys and
the belt.
Knowing that the maximum allowable
tension in the belt is 2.7 kN, determine
the largest torque which can be exerted
by the belt on pulley A.
SOLUTION:
Since angle of contact is smaller,
slippage will occur on pulley B first.
Determine belt tensions based on
pulley B.
Taking pulley A as a free-body, sum
moments about pulley center to
determine torque.
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Sample Problem 8.8
SOLUTION:
Since angle of contact is smaller, slippage will
occur on pulley B first. Determine belt tensions
based on pulley B.
( )
N 1600
1.688
N 2700
688 . 1
N 2700
1
3 2 25 . 0
1 1
2
= =
= = =
T
e
T
e
T
T
s

Taking pulley A as free-body, sum moments about
pulley center to determine torque.
( )( ) 0 N 2700 N 1600 mm 200 : 0 = + =
A A
M M
m N 220 =
A
M

PROBLEM 8.1
Determine whether the block shown is in equilibrium, and find the
magnitude and direction of the friction force when
o
30 = and
200 P = N.

SOLUTION
FBD block:

( ) ( ) 0: 1000 N cos30 200 N sin30 0
n
F N = =
966.03 N N =
Assume equilibrium:

( ) ( ) 0: 200 N cos30 1000 N sin30 0
t
F F = + =
eq.
326.8 N F F = =
But ( )
max
0.3 966 N 290 N
s
F N = = =

eq. max
impossible F F > Block moves
and
k
F N =
( )( ) 0.2 966.03 N =
Block slides down 193.2 N = F

Chapt er 8

PROBLEM 8.2
Determine whether the block shown is in equilibrium, and find the
magnitude and direction of the friction force when
o
35 = and
400 P = N.

SOLUTION
FBD block:

( ) ( )
0: 1000 N cos35 400 N sin35 0
n
F N = =
1048.6 N N =
Assume equilibrium:

( ) ( )
0: 1000 N sin35 400 N cos35 0
t
F F = + =
eq.
246 N F F = =
( )( )
max
0.3 1048.6 N 314 N
s
F N = = =

eq. max
OK equilibrium F F <
246 N = F

PROBLEM 8.3
Determine whether the 9-kg block shown is in equilibrium, and find the
magnitude and direction of the friction force when P = 36 N and

SOLUTION
FBD block:

Assume equilibrium:

eq. max
OK equilibrium F F <
and

F
n
= 0: N (9 9.81 N) cos 20 + (36 N) sin 20 = 0
N = 70.653 N
F
max
= m
s
N = (0.3) (70.653 N) = 21.196 N
F
t
= 0: (36 N) cos 20 (9 9.81 N) sin 20 F = 0
F = 3.632 N = F
eq
.
F = 3.63 N
q = 20.
(9 9.81) N
36 N

PROBLEM 8.4
Determine whether the 9-kg block shown is in equilibrium, and find the
magnitude and direction of the friction force when 60 N P = and
15 . =

SOLUTION
FBD block:

Assume equilibrium:

eq. max
but impossible, so block slides up F F >

F
n
= 0: N (9 9.81 N) cos 20 + (60 N) sin 15 = 0
N = 67.436 N
F
max
= m
s
N = (0.3) (67.436 N) = 20.231 N
F
t
= 0: (60 N) cos 15 (9 9.81 N) sin 20 F = 0
F = 27.759 N = F
eq
.
and F = m
k
N = (0.25) (67.436 N)
F = 16.86 N J
(9 9.81) N
60 N

PROBLEM 8.5
Knowing that 25 , = determine the range of values of P for which
equilibrium is maintained.

SOLUTION
FBD block:

Block is in equilibrium:

or

Impending motion up: ; Impending motion down:
s s
F N F N = =
Therefore,

F
n
= 0: N (9 9.81 N) cos 20 + P sin 25 = 0
N = 82.965 N P sin 25
F
t
= 0: F (9 9.81 N) sin 20 + P cos 25 = 0
F = 30.197 N P cos 25
30.197N P cos 25 = (0.3) (82.965 N P sin 25)
P
up
= 53.32 N P
down
= 6.808 N
6.81 N P
eq
. 53.32 N J
(9 9.81) N

PROBLEM 8.6
Knowing that the coefficient of friction between the 27-kg block and the
incline is 0.25,
s
= determine (a) the smallest value of P for which
motion of the block up the incline is impending, (b) the corresponding
value of .

SOLUTION
FBD block (impending motion up)

( )
1 1
tan tan 0.25 14.04
s s

= = =

(a) Note: For minimum P, so
s
= P R
Then ( ) sin 30
s
P W = +

(b) Have
s
= 14.04 =
= (27 9.81 N) sin 44.04 = 184.127 N
P
min
= 184.13 N J
(27 9.81) N
(27 9.81) N
(27 9.81) N

PROBLEM 8.7
Considering only values of less than 90 , determine the smallest value
of for which motion of the block to the right is impending when
(a) 30 kg, m = (b) 40 kg. m =

SOLUTION

FBD block (impending motion to
the right)

( )
1 1
tan tan 0.25 14.036
s s

= = =

( ) sin sin
s s
P W

=

( ) sin sin
s s
W
W mg
P
= =
(a)
( )
( )
2
1
30 kg 9.81m/s
30 kg: sin sin14.036
120 N
s
m

= =

36.499 =
36.499 14.036 = + or 50.5 =
(b)
( )
( )
2
1
40 kg 9.81m/s
40 kg: sin sin14.036
120 N
s
m

= =

52.474 =
52.474 14.036 = + or 66.5 =

PROBLEM 8.8
Knowing that the coefficient of friction between the 13.5-kg block and the
incline is 0.25
s
= , determine (a) the smallest value of P required to
maintain the block in equilibrium, (b) the corresponding value of .

SOLUTION

FBD block (impending motion
downward)

( )
1 1
tan tan 0.25 14.036
s s

= = =

(a) Note: For minimum P, P R
So ( ) 90 30 14.036 45.964 = = + =
and
(b) 46.0 =

P = (13.5 9.81 N) sin a = (13.5 9.81 N) sin (45.964) = 95.208 N
P = 95.21 N J
(13.5 9.81) N
(13.5 9.81) N
(13.5 9.81) N

PROBLEM 8.9
A 6-kg block is at rest as shown. Determine the positive range of values
of for which the block is in equilibrium if (a) is less than 90,
(b) is between 90 and 180.

SOLUTION
FBD block (impending motion)
(a) 0 90 :

(b) 90 180 :

( )
1 1
tan tan 0.4 21.801
s s

= = =

( )
58.86 N 40 N
sin sin
s s

=

( )
1
58.86 N
sin sin 21.801
40 N
s

=
33.127 , 146.873 =
54.9 and 168.674 = =
(a) Equilibrium for 0 54.9
(b) and for 168.7 180.0

PROBLEM 8.10
Knowing that 110 N, P = determine the range of values of for which
equilibrium of the 8-kg block is maintained.

SOLUTION
FBD block (impending motion
down)

Impending motion up:

( )
1 1
tan tan 0.45 24.228
s s

= = =

110 N
sin 90 f
s
b g
=
8 9 81 . N
sin + q f
s
b g
q + f
s
= sin
1

8 9 81
90 24 228
-
L
N
M
O
Q
P
.
sin .
N
110 N
b g = 40.59
q = 16.36
110 N
sin 90 + f
s
b g
=
8 9 81 . N
sin q f
s
b g
q f
s
= sin
1

8 9 81
90 24 228
+
L
N
M
O
Q
P
.
sin .
N
110 N
b g = 40.59
q = 64.82
Equilibrium for 16.36 q 64.82 J
8 kg
(8 9.81)N
110 N
110 N
8 9.81 N
8 9.81 N
110 N
8 9.81 N
110 N

PROBLEM 8.11
The coefficients of friction are 0.40
s
= and 0.30
k
= between all
surfaces of contact. Determine the force P for which motion of the 27-kg
block is impending if cable AB (a) is attached as shown, (b) is removed.

SOLUTION
FBDs
Top block:

Bottom block:

FBD blocks:

(a) Note: With the cable, motion must impend at both contact surfaces.
(b) Without the cable, both blocks will stay together and motion will
impend only at the floor.

F
y
= 0: N
1
(18 9.81) N = 0 N
1
= 176.58 N
Impending slip: F
1
= m
s
N
1
= 0.4 (176.58 N) = 70.632 N
F
x
= 0: T F
1
= 0 T 70.632 N = 0 T = 70.632 N
F
y
= 0: N
2
(18 9.81 N) (27 9.81 N) = 0 N
2
= 441.45 N
Impending slip: F
2
= m
s
N
2
= 0.4 (441.45 N) = 176.58 N
F
x
= 0: P + 70.632 N + 70.632 N + 176.58 N = 0
P = 317.8 N J
F
y
= 0: N (18 9.81 N) (27 9.81 N) = 0 N = 441.45 N
Impending slip: F = m
s
N = 0.4 (441.45 N) = 176.58 N
F
x
= 0: 176.58 N P = 0
P = 176.6 N J
18 kg
27 kg
(18 9.81) N
(18 9.81) N
70.632 N
70.632 N (27 9.81 N)
(18 9.81 N)
(27 9.81 N)

PROBLEM 8.12
The coefficients of friction are 0.40
s
= and 0.30
k
= between all
surfaces of contact. Determine the force P for which motion of the 27-kg
block is impending if cable AB (a) is attached as shown, (b) is removed.

SOLUTION
FBDs
Top block:

Bottom block:

FBD blocks:

(a) With the cable, motion must impend at both surfaces.

(b) Without the cable, both blocks stay together and motion will impend
at the floor surface only.

F
y
= 0: N
1
(18 9.81 N) = 0 N
1
= 176.58 N
Impending slip: F
1
= m
s
N
1
= 0.4 (176.58 N) = 70.632 N
F
y
= 0: N
2
(18 9.81 N) = 0 N
2
= 441.45 N
Impending slip: F
2
= mN
2
= 0.4 (441.45 N) = 176.58 N
F
x
= 0: 70.632 N + 176.58 N P = 0 P = 247.212 N
P = 247.2 N J
F
y
= 0: N (18 9.81 N) (27 9.81 N) = 0 N = 441.45 N
Impending slip: F = m
s
N = 0.4 (441.45 N) = 176.58 N
F
x
= 0: P + (18 9.81 N) = 0 P = 176.58 N
P = 176.6 N J
18 kg
27 kg
(18 9.81 N)
(18 9.81 N)
70.632 N
(27 9.81 N)
(18 9.81 N)
(27 9.81 N)

PROBLEM 8.13
The 8-kg block A is attached to link AC and rests on the 12-kg block B.
Knowing that the coefficient of static friction is 0.20 between all surfaces
of contact and neglecting the mass of the link, determine the value of
for which motion of block B is impending.

SOLUTION
FBDs:

Motion must impend at both contact surfaces
Block A:

1 1
0: 0
y A A
F N W N W = = =
Block B:

2 1
0: 0
y B
F N N W = =

2 1 B A B
N N W W W = + = +
Impending motion:
1 1 s s A
F N W = =
( )
2 2 1 s s B
F N N W = = +
Block B:

1 2
0: 50 N 0
x
F F F = =
or ( ) ( )
1 1 1
50 N 0.2 2 117.72 N
s B
N N W N = + + = +
( )
1 1
66.14 N 0.2 66.14 N 13.228 N N F = = =
Block A:

0: 13.228 N cos 0
x AC
F F = =

or
cos 13.228 N
AC
F =
(1)

0: 66.14 N 78.48 N sin 0
y AC
F F = + =
or sin 78.48 N 66.14 N
AC
F = (2)
Then,
Eq. (2)
Eq. (1)

78.48 N 66.14 N
tan
13.228 N

=
43.0 =

PROBLEM 8.14
The 8-kg block A and the 16-kg block B are at rest on an incline as
shown. Knowing that the coefficient of static friction is 0.25 between all
surfaces of contact, determine the value of for which motion is
impending.

SOLUTION
FBDs:

Block A:

1 1
0: 0
y A A
F N W N W = = =
Impending motion:
1 1 s s A
F N W = =

1 1
0: 0
x s A
F F T T F W = = = =
Block B:

( )
2 1 1
0: cos sin 0
y B
F N N W F
= + =

2
3 cos sin
A s A
N W W = +
( ) 3cos 0.25sin
A
W = +
Impending motion: ( )
2 2
0.25 3cos 0.25sin
s A
F N W = = +

( )
2 1 1
0: cos sin 0
x B
F T F F N W
= + + =
( ) 0.25 0.25 3cos 0.25sin 0.25cos 3sin 0
A
W + + =

or 47sin 16cos 4 0 =
Solving numerically 23.4 =

PROBLEM 8.15
A 48-kg cabinet is mounted on casters which can be locked to prevent
their rotation. The coefficient of static friction between the floor and each
caster is 0.30. Knowing that 640 mm, h = determine the magnitude of
the force P required for impending motion of the cabinet to the right (a) if
all casters are locked, (b) if the casters at B are locked and the casters at A
are free to rotate, (c) if the casters at A are locked and the casters at B are
free to rotate.

SOLUTION
FBD cabinet:

( )
2
48 kg 9.81 m/s W =
470.88 N =
0.3
s
=

Note: For tipping, 0
A A
N F = =
( ) ( )
tip tip
0: 0.24 m 0.64 m 0 0.375
B
M W P P W = = =
(a) All casters locked: Impending slip: ,
A s A B s B
F N F N = =

0: 0
y A B A B
F N N W N N W = + = + =
So
A B s
F F W + =

0: 0
x A B A B s
F P F F P F F W = = = + =

( )
0.3 470.88 N or P = 141.3 N P =

( )
tip
0.3 OK P W P = <
(b) Casters at A free, so 0
A
F =
Impending slip:
B s B
F N =

0: 0
x B
F P F = =

B s B B
s
P
P F N N
= = =

( ) ( ) ( ) 0: 0.64 m 0.24 m 0.48 m 0
A B
M P W N = + =
8 3 6 0 0.25
0.3
P
P W P W + = =
( )
tip
0.25 OK P W P = <

( )
0.25 470.88 N P = 117.7 N P =

PROBLEM 8.15 CONTINUED
(c) Casters at B free, so 0
B
F =
Impending slip:
A s A
F N =

0: 0
x A A s A
F P F P F N = = = =

0.3
A
s
P P
N
= =

( ) ( ) ( ) 0: 0.24 m 0.64 m 0.48 m 0
B A
M W P N = =
3 8 6 0 0.10714 50.45 N
0.3
P
W P P W = = =
( )
tip
OK P P <
50.5 N P =

PROBLEM 8.16
A 48-kg cabinet is mounted on casters which can be locked to prevent
their rotation. The coefficient of static friction between the floor and
each caster is 0.30. Assuming that the casters at A and B are locked,
determine (a) the force P required for impending motion of the cabinet
to the right, (b) the largest allowable height h if the cabinet in not to tip
over.

SOLUTION
FBD cabinet:

( )
2
48 kg 9.81 m/s W =
470.88 N =

(a)
0: 0;
y A B A B
F N N W N N W = + = + =
Impending slip: ,
A s A B s B
F N F N = =
So
A B s
F F W + =

0: 0
x A B A B s
F P F F P F F W = = = + =
( ) 0.3 470.88 N 141.26 N P = =
141.3 N = P

(b) For tipping, 0
A A
N F = =

( ) 0: 0.24 m 0
B
M hP W = =
( ) ( )
max
1 0.24 m
0.24 m 0.24 m
0.3
s
W
h
P
= = =

max
0.800 m h =

PROBLEM 8.17
The cylinder shown is of weight W and radius r, and the coefficient of
static friction
s
is the same at A and B. Determine the magnitude of the
largest couple M which can be applied to the cylinder if it is not to rotate.

SOLUTION
FBD cylinder:

For maximum M, motion impends at both A and B
,

A s A B s B
F N F N = =

0: 0 N
x A B A B s B
F N F F N = = = =

2
A s A s B
F N N = =

2
0: 0
y B A B s B
F N F W N N W = + = + =
or
2
1
B
s
W
N
=
+

and
2
1
s
B
s
W
F

=
+

2
2
1
s
A
W
F

=
+

( ) 0: 0
C A B
M M r F F = + =

( )
2
2
1
s s
s
W
M r
= +
+

max
2
1
1
s
s
s
M Wr

+
=
+

PROBLEM 8.18
The cylinder shown is of weight W and radius r. Express in terms of W
and r the magnitude of the largest couple M which can be applied to the
cylinder if it is not to rotate assuming that the coefficient of static friction
is (a) zero at A and 0.36 at B, (b) 0.30 at A and 0.36 at B.

SOLUTION
FBD cylinder:

For maximum M, motion impends at both A and B
;
A A A B B B
F N F N = =

0: 0
x A B A B B B
F N F N F N = = = =

A A A A B B
F N N = =

( ) 0: 0 1
y B A B A B
F N F W N W = + = + =
or
1
1
B
A B
N W

=
+

and
1
B
B B B
A B
F N W

= =
+

1
A B
A A B B
A B
F N W

= =
+

( )
1
0: 0
1
A
C A B B
A B
M M r F F M Wr

+
= + = =
+

(a) For 0 and 0.36
A B
= =
0.360 M Wr =
(b) For 0.30 and 0.36
A B
= =
0.422 M Wr =

PROBLEM 8.19
The hydraulic cylinder shown exerts a force of 3 kN directed to the right
on point B and to the left on point E. Determine the magnitude of the
couple M required to rotate the drum clockwise at a constant speed.

SOLUTION
FBDs

Drum:

Rotating drum slip at both sides; constant speed equilibrium
1 1 1 2 2 2
0.3 ; 0.3
k k
F N N F N N = = = =
AB:

DE:

Drum:

M
A
= 0: (150 mm) (3000 N) + (150 mm) (F
1
) (450 mm) N
1
= 0
F
1

450
150
mm
0.3
mm -
F
H
G
I
K
J
= (150 mm) (3000 N) or F
1
= 333.33 N
M
D
= 0: (150 mm) F
2
+ (450 mm) N
2
(150 mm) (3000 N) = 0
F
2
150 mm+
450 mm
0.3
F
H
G
I
K
J
= (150 mm) (3000 N) or F
2
= 272.727 N
M
C = 0: r ( F1 + F2) M = 0
M = (250 mm) (333.33 + 272.727) N
M = 151.5 N.m J
150 mm
300 mm
150 mm
250 mm
150 mm
150 mm
300 mm

150 mm
300 mm
250 mm
150 mm
3000 N
3000 N
300 mm
150 mm
150 mm

PROBLEM 8.20
A couple M of magnitude 100 N
.
m is applied to the drum as shown.
Determine the smallest force which must be exerted by the hydraulic
cylinder on joints B and E if the drum is not to rotate.

SOLUTION
FBDs

DE:

Drum:

For minimum T, slip impends at both sides, so
1 1 1 2 2 2
0.4 0.4
s s
F N N F N N = = = =
AB:
DE:
Drum:

M
A
= 0: (150 mm) T + (150 mm) F
1
(450 mm) N
1
= 0
F
1

450
150
mm
0.4
mm -
F
H
G
I
K
J
= (150 mm) T or F
1
=
T
6 5 .
M
D
= 0: (150 mm) F
2
+ (450 mm) N
2
(150 mm) T = 0
F
2
150 mm+
450 mm
0.4
F
H
G
I
K
J
= (150 mm) T or F
2
=
T
8 5 .
M
C
= 0:
250
1000
m
F
H
G
I
K
J
(F
1
+ F
2
) 100 N.m = 0
T
1
6 5
1
8 5 . .
+
F
H
G
I
K
J
= 84 N.m
T = 1473.3 N J
150 mm
250 mm
150 mm
300 mm
150 mm
300 mm
150 mm
300 mm
150 mm
150 mm
300 mm
150 mm

100 N.m
250 m.m
150 mm

PROBLEM 8.21
A 5.85-m ladder AB leans against a wall as shown. Assuming that the
coefficient of static friction
s
is the same at A and B, determine the
smallest value of
s
for which equilibrium is maintained.

SOLUTION
FBD ladder:

2.25 m a =
5.4 m b =

Motion impends at both A and B.
A s A B s B
F N F N = =

0: 0 or
x A B B A s A
F F N N F N = = = =
Then
2
B s B s A
F N N = =

( )
2
0: 0 or 1
y A B A s
F N W F N W = + = + =

0: 0
2
O B A
a
M bN W aN = + =
or
( )
2
1
2 2
A s A A s
a a
aN b N W N = = +

2
2
1 0
s s
b
a
+ =
2
1 2.4 2.6
s
b b
a a
| |
= + =
|
\ .

The positive root is physically possible. Therefore, 0.200
s
=

2.25 m
5.4 m
5.4 m

PROBLEM 8.22
A 5.85-m ladder AB leans against a wall as shown. Assuming that the
coefficient of static friction
s
is the same at A and B, determine the
smallest value of
s
for which equilibrium is maintained.

SOLUTION
FBD ladder:

2.25 m a =
5.85 m l =
5
13
a
l
=
12
13
b
l
=

Motion impends at both A and B, so
and
A s A B s B
F N F N = =

or
2.5
13
B
N W =
Then
2.5
13
B s B s
W
F N = =

5 12
0: 0
13 13
x A B B
F F F N = + =

( ) ( )
2 2
12.5 30
0
13 13
s A s
N W W + =

( )
( )
2
30 12.5
13
s
A
s
W
N

12 5
0: 0
13 13
y A B B
F N W F N = + + =

( )
2
30 12.5
30 12.5
13
s
s
s
W
W
| |
+ + =
|
\ .

or
2
5.6333 1 0
s s
+ =
2.8167 2.6332
s
=
or 0.1835 and 5.45
s s
= =
The larger value is very unlikely unless the surface is treated with
some non-skid material.
In any event, the smallest value for equilibrium is 0.1835
s
=

M
A
= 0: lN
B

a
W
2
= 0 or N
B
=
a
l
W
2
=
2 25 . m
11.7 m
W
5.4 m
2.25 m
5.4 m

PROBLEM 8.23
End A of a slender, uniform rod of weight W and length L bears on a
horizontal surface as shown, while end B is supported by a cord BC of
length L. Knowing that the coefficient of static friction is 0.40, determine
(a) the value of for which motion is impending, (b) the corresponding
value of the tension in the cord.

SOLUTION
FBD rod:

(a) Geometry: cos cos tan
2 2
L L
BE DE
| |
= =
|
\ .

cos
sin
2 tan
s
L
EF L DF

= =
So
1 cos
cos tan sin
2 2 tan
s
L
L

| |
+ =
|
\ .

or
1 1 1
tan 2tan 2.5
tan 0.4
s s

+ = = = = (1)
Also, sin sin L L L + =
or sin sin 1 + = (2)
Solving Eqs. (1) and (2) numerically
1 1
4.62 66.85 = =

2 2
48.20 14.75 = =
Therefore, 4.62 and 48.2 = =
(b) Now
1 1
tan tan 0.4 21.801
s s

= = =
and
( ) sin sin 90
s s
T W

=
+

or
( )
sin
sin 90
s
s
T W

=
+

For 4.62 0.526 T W = =
48.2 0.374 T W = =

PROBLEM 8.24
A slender rod of length L is lodged between peg C and the vertical wall
and supports a load P at end A. Knowing that the coefficient of static
friction between the peg and the rod is 0.25 and neglecting friction at the
roller, determine the range of values of the ratio L/a for which

SOLUTION
FBD rod:

0: sin30 0
sin30
B
a
M N L P = =

2
sin 30
4
L L P
N P
a a
= =
Impending motion at : down
4 up
s
s
C F N
N
F
F N
=
`
=

)

0: cos30 sin30 0
y
F F N P = + =

3 1
16 2 4 2
L P L P
P
a a
+ =
1 3
1
8 32
L
a
(
=
(
(

32
4 3
L
a
=

or 5.583 and 14.110
L L
a a
= =
For equilibrium: 5.58 14.11
L
a

PROBLEM 8.30
A pipe of diameter 75 mm is gripped by the stillson wrench shown. Portions
AB and DE of the wrench are rigidly attached to each other, and portion
CF is connected by a pin at D. If the wrench is to grip the pipe and be
self-locking, determine the required minimum coefficients of friction at A
and C.

SOLUTION
FBD ABD:

Pipe:

FBD DF:

Impending motion:
A A A
F N =
Then
or 0.13768
A
=
0.1377
A
=

0: 0
x A x x A
F F D D F = = =

0: 0
y C A
F N N = =

C A
N N =

Impending motion:
C C C
F N =
Then
But
So

M
D
= 0: (19 mm) N
A
(138 mm) F
A
= 0
19 138 m
A
= 0
M
F
= 0: (688 mm) F
C
(19 mm) N
C
(625 mm) D
x
= 0
688 m
C
19 = 625
F
N
A
C
N
C
= N
A
and
F
N
A
A
= m
A
= 0.13768
688 m
C
= 19 + 625 (0.13768)
m
C
= 0.1527 J
75 mm
63 mm
625 mm
19 mm
138 mm
19 mm
625 mm
688 mm

PROBLEM 8.31
Solve Problem 8.30 assuming that the diameter of the pipe is 38 mm.

SOLUTION
FBD ABD:

FBD Pipe:

FBD DF:

Impending motion:
A A A
F N =

Then

0: 0
x A x
F F D = =

so that
0.1881
x A A
D F N = =

0: 0
y C A
F N N = =

C A
N N =

Impending motion:
C C C
F N =

But
A C
N N =
(from pipe FBD) so
1
A
C
N
N
=

and
0.1985
C
=
M
D
= 0: (19 mm) N
A
(101 mm) F
A
= 0
19mm (101mm) m
A
= 0 m
A
= 0.1881 J
M
F
= 0: (688 mm) F
C
(19 mm) N
C
(625 mm) D
x
= 0
688 m
C
19 = 625 (0.1881)
N
N
A
C
38 mm
63 mm
625 mm
19 mm

101 mm
19 mm
625 mm 625 mm
688 mm

PROBLEM 8.32
The 25-kg plate ABCD is attached at A and D to collars which can slide
on the vertical rod. Knowing that the coefficient of static friction is 0.40
between both collars and the rod, determine whether the plate is in
equilibrium in the position shown when the magnitude of the vertical
force applied at E is (a) 0, P = (b) 80 N. P =

SOLUTION
FBD plate:

( ) 25 kg 9.81 N/kg W =
245.25 N =

(a) 0; P = assume equilibrium:

( ) ( )
10
0: 0.7 m 1 m 0
7
A D D
W
M N W N = = =

10
0: 0
7
x D A A D
W
F N N N N = = = =
( ) ( )
max max

A s A D s D
F N F N = =
So ( ) ( )
max
20
1.143
7
s
A D s A D
W
F F N N W
+ = + = =

0: 0
y A D
F F F W = + =
( )
max
OK.
A D A D
F F W F F + = < +
Plate is in equilibrium
(b) 80 N; P = assume equilibrium:

( ) ( ) ( ) 0: 1.75 m 0.7 m 1 m 0
A D
M P N W = + =
or
1.75
0.7
D
W P
N

=

1.75
0: 0
0.7
x D A D A
W P
F N N N N

= = = =
( ) ( )
max max

A s A B s B
F N F N = =
So ( )
max
2 3.5
0.4 120.29 N
0.7
A B
W P
F F

+ = =

0: 0
y A D
F F F W P = + + =
165.25 N
A D
F F W P + = =
( ) ( )
equil max
A D A D
F F F F + > +
Impossible, so plate slides downward

PROBLEM 8.33
In Problem 8.32, determine the range of values of the magnitude P of the
vertical force applied at E for which the plate will move downward.

SOLUTION
FBD plate:

( )
( )
2
25 kg 9.81 m/s W =
245.25 N =

( ) ( ) ( ) 0: 0.7 m 1 m 1.75 m 0
A D
M N W P = + =

1.75
0.7
D
W P
N

=

1.75
0: 0 so that
0.7
x D A A D
W P
F N N N N

= = = =
Note: N
A
and N
D
will be > 0 if
4
7
P W < and < 0 if
4
.
7
P W >
Impending motion downward: F
A
and F
B
are both > 0, so
0.4 4
1.75
0.7 7
A s A
F N W P W P = = =

4
7
D S D
F N W P = =

0: 0
y A D
F F F W P = + + =

4
2 0
7
W P W P + =
For
4
;
7
P W < 35.04 N
7
W
P = =
For
4
;
7
P W >
5
175.2 N
7
W
P = =
Downward motion for 35.0 N 175.2 N P < <
Alternative Solution
We first observe that for smaller values of the magnitude of P that (Case 1)
the inner left-hand and right-hand surfaces of collars A and D, respectively,
will contact the rod, whereas for larger values of the magnitude of P that
(Case 2) the inner right-hand and left-hand surfaces of collars A and D,
respectively, will contact the rod.
First note: ( )( )
2
25 kg 9.81 m/s W =
245.25 N =

Case 1

Case 2


( )
( ) ( )
0: 0.7 m (1 m) 245.25 N 1.75 m 0
D A
M N P = + =
or
10 7
245.25 N
7 4
A
N P
| |
=
|
\ .

0: 0
x A D
F N N = + =

or
D A
N N =

0: 245.25 N 0
y A D
F F F P = + + =

or
( )
245.25 N
A D
F F P + =
Now ( ) ( )
max max

A s A D s D
F N F N = =
so that ( ) ( ) ( )
max max
A D s A D
F F N N + = +

( )
10 7
2 0.4 245.25
7 4
P
(
| |
=
|
(
\ .

For motion: ( ) ( )
max max
A D A D
F F F F + > +
Substituting
8 7
245.25 245.25
7 4
P P
| |
>
|
\ .

or 35.0 N P >
From Case 1:
D A
N N =

( )
245.25 N
A D
F F P + =
( ) ( )
max max
2
A D s A
F F N + =

( )
( ) ( )
0: 0.7 m (1 m) 245.25 N 1.75 m 0
D A
M N P = + =

or
10 7
245.25 N
7 4
A
N P
| |
=
|
\ .

For motion: ( ) ( )
max max
A D A D
F F F F + > +
Substituting:
( )
10 7
245.25 2 0.4 245.25
7 4
P P
(
| |
>
|
(
\ .

or 175.2 N P <
Therefore, have downward motion for 35.0 N 175.2 N P < <

PROBLEM 8.34
A collar B of weight W is attached to the spring AB and can move along
the rod shown. The constant of the spring is 1.5 kN/m and the spring is
unstretched when 0. = Knowing that the coefficient of static friction
between the collar and the rod is 0.40, determine the range of values of W
for which equilibrium is maintained when (a)
o
20 , = (b)
o
30 . =

SOLUTION
FBD collar:
Impending motion down:


Stretch of spring
cos
a
x AB a a
= =
( )( )
1
1.5 kN/m 0.5 m 1
cos cos
s
a
F kx k a

| | | |
= = =
| |
\ . \ .

( )
1
0.75 kN 1
cos
| |
=
|
\ .

0: cos 0
x s
F N F = =
( )( ) cos 0.75 kN 1 cos
s
N F = =
Impending slip: ( )( )( ) 0.4 0.75 kN 1 cos
s
F N = =
( )( ) 0.3 kN 1 cos =
+ down, up
0: sin 0
y s
F F F W = =
( )( ) ( )( ) 0.75 kN tan sin 0.3 kN 1 cos 0 W =
or
( ) ( ) ( ) | | 0.3 kN 2.5 tan sin 1 cos W =
(a) 20 : = ( )
up
0.00163 kN impossible W =
( )
down
0.03455 kN OK W =
Equilibrium if 0 34.6 N W
(b) 30 : = ( )
up
0.01782 kN OK W =
( )
down
0.0982 kN OK W =
Equilibrium if 17.82 N 98.2 N W

PROBLEM 8.35
A collar B of weight W is attached to the spring AB and can move along
the rod shown. The constant of the spring is 1.5 kN/m and the spring is
unstretched when 0. = Knowing that the coefficient of static friction
between the collar and the rod is 0.40, determine the range of values of W
for which equilibrium is maintained when (a)
o
20 , = (b)
o
30 . =

SOLUTION
FBD collar:

Stretch of spring
cos
a
x AB a a
= =
( ) ( )
1
1.5 kN/m 0.5 m 1
cos cos
s
a
F k a

| | | |
= =
| |
\ . \ .

( ) ( ) ( )
1
0.75 kN 1 750 N sec 1
cos

| |
= =
|
\ .

0: cos 0
y s
F F W N = + =
or
( )
( ) 750 N 1 cos W N = +
Impending slip:
s
F N = (F must be , + but N may be positive or negative)

0: sin 0
x s
F F F = =
or ( )( ) sin 750 N tan sin
s
F F = =
(a) 20 : = ( )( ) 750 N tan 20 sin 20 16.4626 N F = =
Impending motion:
16.4626 N
41.156 N
0.4
s
F
N
= = =
(Note: for 41.156 N, N < motion will occur, equilibrium for
41.156) N >
But ( )( ) 750 N 1 cos 20 45.231 N W N N = + = +
So equilibrium for 4.07 N and 86.4 N W W
(b) 30 : = ( )( ) 750 N tan30 sin30 58.013 N F = =
Impending motion:
58.013
145.032 N
0.4
s
F
N
= = =
( )( ) 750 N 1 cos30 145.03 N W N N = + =
( ) 44.55 N impossible , 245.51 N =
Equilibrium for 246 N W

PROBLEM 8.36
The slender rod AB of length l = 750 mm is attached to a collar at B and
rests on a small wheel located at a horizontal distance a = 100 mm from the
vertical rod on which the collar slides. Knowing that the coefficient of
static friction between the collar and the vertical rod is 0.25 and
neglecting the radius of the wheel, determine the range of values of P for
which equilibrium is maintained when = 110 N Q
and
o
30 . =

SOLUTION
FBD rod + collar:

Note: d
Neglect weights of rod and collar.

0: cos30 0
x
F N C = =

( )
206.25 N cos30 178.613 N N = =

or
Impending motion down: Direction of F is now upward, but still have
44.653 N
s
F N = =

or

=
a
sinq
=
100 mm
sin 30
= 200 mm, so AC = 550 mm
M
B
= 0: (750 mm) (sin 30) (110 N) (200 mm) C = 0
C = 206.25 N
F = m
s
N = 0.25 (178.613 N)
= 44.653 N
F
y
= 0: 110 N + (206.25 N) sin 30 P 44.653 N = 0
P = 6.875 N 44.653 N = 51.528 N
F
y
= 0: 110 N + (206.25 N) sin 30 P + 44.653 N = 0
P = 6.875 N + 44.653 N = 37.778 N
\ Equilibrium for 51.53 N P 37.78 N J

110 N
550 mm
200 mm

PROBLEM 8.37
The 4.5-kg block A and the 3-kg block B are connected by a slender rod
of negligible mass. The coefficient of static friction is 0.40 between all
surfaces of contact. Knowing that for the position shown the rod is
horizontal, determine the range of values of P for which equilibrium is
maintained.

SOLUTION
FBDs: Note:
1 1
tan tan 0.4 21.801
s s

= = =
(a) Block A impending slip

( ) tan 45
AB A s
F W =
( )
( )
( )
2
4.5 kg 9.81 m/s tan 23.199 =
18.9193 N =
(b) Block A impending slip

( ) ctn 45
AB A s
F W =
( )
( )
( )
2
4.5 kg 9.81 m/s ctn 23.199 =
103.005 N =
Block B:

( )
( )
2
3 kg 9.81 m/s
B
W =
29.43 N =
From Block B:

0: cos30 sin30 0
y B AB
F N W F
= =

Case (a)
( ) ( )
29.43 N cos30 18.9193 N sin30 34.947 N N = + =
Impending motion: ( ) 0.4 34.947 N 13.979 N
s
F N = = =

0: cos30 sin30 13.979 N 0
x AB B
F F W P
= =
( ) ( ) 18.9193 N cos 30 29.43 N sin 30 13.979 N P =
12.31 N =
Case (b) ( ) ( ) 29.43 N cos30 103.005 N sin30 76.9896 N N = + =
Impending motion: ( ) 0.4 76.9896 N 30.7958 N F = =

( ) ( ) 0: 103.005 N cos30 29.43 N sin30 30.7958 N 0
x
F P
= + =
105.3 N P =
For equilibrium 12.31 N 105.3 N P

PROBLEM 8.38
Bar AB is attached to collars which can slide on the inclined rods shown.
A force P is applied at point D located at a distance a from end A.
Knowing that the coefficient of static friction
s
between each collar and
the rod upon which it slides is 0.30 and neglecting the weights of the bar
and of the collars, determine the smallest value of the ratio a/L for which

SOLUTION
FBD bar + collars:

Impending motion
1 1
tan tan 0.3 16.6992
s s

= = =
Neglect weights: 3-force FBD and 90 ACB = (
So
( )
( ) sin 45
cos 45
s
s
a
AC l
= =
+

( ) ( ) sin 45 16.6992 cos 45 16.6992
a
l
= +
0.225
a
l
=

PROBLEM 8.39
The 6-kg slender rod AB is pinned at A and rests on the 18-kg cylinder C.
Knowing that the diameter of the cylinder is 250 mm and that the
coefficient of static friction is 0.35 between all surfaces of contact,
determine the largest magnitude of the force P for which equilibrium is
maintained.

SOLUTION
FBD rod:

( ) ( )
1
0: 0.4 m 0.25 m 0
A r
M N W = =
1
0.625 36.7875 N
r
N W = =
FBD cylinder:

Cylinder:

2 1 2 1
0: 0 or 0.625 3 3.625 5.8
y C r r r
F N N W N W W W N = = = + = =

( ) ( )
1 2 2 1
0: 0.165 m 0.085 m 0 or 1.941
D
M F F F F = = =
Since
1 2
,
s s
= motion will impend first at top of the cylinder
So ( )
1 1
0.35 36.7875 N 12.8756 N
s
F N = = =
and ( )
2
1.941 12.8756 N 24.992 N F = =
| |
2 2
Check 25 N 74.7 N OK
S
F N = < =

1 2
0: 0
x
F P F F = =
or
12.8756 N 24.992 N P = +

or 37.9 N P =

PROBLEM 8.40
Two rods are connected by a collar at B. A couple
A
M of magnitude
18 N m is applied to rod AB. Knowing that 0.30
s
= between the
collar and rod AB, determine the largest couple
C
M for which
equilibrium will be maintained.

SOLUTION
FBD AB:

Impending motion:
(Note: For max, M
C
, need F in direction shown; see FBD BC.)
FBD BC+ collar:

M
A
= 0: 200 100
2 2
mm mm b g b g + (N) M
A
= 0
N =
18 1000 N. m mm m)
223.607 mm
b g ( /
= 80.498 N
F = m
s
N = 0.3 (80.498 N) = 24.15 N
M
C
= 0: M
C
(425 mm)
1
5
N (200 mm)
2
5
N (325 mm)
2
5
F = 0
or M
C
=
425
5
mm b g
(80.498 N) +
400
5
mm b g
(80.498 N) +
650
5
mm b g
(24.15N) = 36719.98 N.mm
(M
C
)
max
= 36.72 N.m J
200 mm
100 mm
325 mm
18 N.m
200 mm
100 mm
200 mm
325 mm
100 mm

PROBLEM 8.41
In Problem 8.40, determine the smallest couple
C
M for which
equilibrium will be maintained.

SOLUTION
FBD AB:

FBD BC + collar:

Impending motion:
24.15 N =
(Note: For min. M
C
, need F in direction shown; see FBD BC.)

M
A
= 0: N 200 100
2 2
mm mm b g b g +
F
H
I
K
M
A
= 0
N =
18 1000 N. m mm m)
223.607 mm
b g ( /
= 80.498 N
F = m
s
N = 0.3 (80.498 N)
M
C
= 0: M
C
(425 mm)
1
5
N (200 mm)
2
5
N
+ (325 mm)
2
5
F = 0
M
C
=
1
5
425 80 498 650 24 15 mm+400mm N mm N b gb g b gb g . . -
= 22679.7 N.mm
(M
C
)
min
= 22.68 N.m J
200 mm
150 mm
325 mm
[ ]
200 mm
18 N.m
100 mm
200 mm
100 mm
325 mm

PROBLEM 8.42
Blocks A, B, and C having the masses shown are at rest on an incline.
Denoting by
s
the coefficient of static friction between all surfaces of
contact, determine the smallest value of
s
for which equilibrium is
maintained.

SOLUTION

FBD A:

FBD B + C:

For impending motion, C will start down and A will start up. Since, the
normal force between B and C is larger than that between A and B, the
corresponding friction force can be larger as well. Thus we assume that
motion impends between A and B.

3
0: cos30 0;
2
y AB A AB A
F N W N W
= = =
Impending motion:
3
2
AB s AB A s
F N W = =

0: sin30 0
x AB A
F T F W
= =
or
( )
3 1
2
A
s
W
T = +

( ) 0: cos30 0
y CD AB B C
F N N W W
= + =
or ( )
3
2
CD A B C
N W W W = + +
3
2
CD s CD A B C s
F N W W W = = + +

( ) 0: sin30 0
x AB CD B C
F T F F W W
= + + + =
( )
3
2
2 2
B C
s A B C
W W
T W W W
+
= + +
Equating Ts: ( ) 3 3
s A B C B C A
W W W W W W + + = +
( ) ( )
1.5 kg 4 kg 2 kg
3 3 6 kg 1.5 kg 4 kg 3
B C A
s
A B C
m m m
m m m
+ +
= =
+ + + +

0.1757
s
= W

FBD B:


0: cos30 0
y BC AB B
F N N W
= =
or ( )
3
2
BC A B
N W W = +
( ) ( )
max
3
0.1757
2
BC s BC A B
F N W W = = +
( ) ( )
( )
2
0.1522 0.1522 3.5 kg 9.81 m/s
A B
m m g = + =
5.224 N =

0: sin30 0
x AB BC B
F F F W
= + =
or ( )
1 3
0.1757
2 2 2
B
BC AB B A
W
F F W W = + = +
( ) 0.1522 0.5
A B
m m g = +
( ) ( ) ( )
2
0.1522 2 kg 0.5 1.5 kg 9.81 m/s = +

4.37 N =
max
OK
BC BC
F F <

PROBLEM 8.43
A slender steel rod of length 225 mm is placed inside a pipe as shown.
Knowing that the coefficient of static friction between the rod and the
pipe is 0.20, determine the largest value of for which the rod will not
fall into the pipe.

SOLUTION
FBD rod:

or
( )
2
1.5cos
B
N W =
2
1.5 cos
B s B s
F N W = =

( )
2
0.3cos W =

0: sin cos 0
x A B B
F N N F = + =
or
( )
( )
2
1.5cos sin 0.2cos
A
N W =
Impending motion:
A s A
F N =

( )
( )
2
0.3cos sin 0.2cos W =

0: cos sin 0
y A B B
F F N F W = + + =
or
( )
3 2
1 1.5cos 0.3cos sin
A
F W =
Equating F
A
s
( )
2 3 2
0.3cos sin 0.2cos 1 1.5cos 0.3cos sin =
2 3
0.6cos sin 1.44cos 1 + =
Solving numerically 35.8 = W

M
A
= 0:
75
112 5
mm
cos
mm
q
q N W
B
- . cos b g = 0
75 mm

75 mm
112.5 mm
[ ]

PROBLEM 8.44
In Problem 8.43, determine the smallest value of for which the rod
will not fall out of the pipe.

SOLUTION
FBD rod:

or
2
1.5 cos
B
N W =
Impending motion:
( )
2
0.2 1.5 cos
B s B
F N W = =

2
0.3 cos W =

0: sin cos 0
x A B B
F N N F = =
or ( )
2
cos 1.5sin 0.3cos
A
N W = +
Impending motion:
A s A
F N =
( )
2
cos 0.3sin 0.06cos W = +

0: cos sin 0
y B B A
F N F W F = =
or ( )
2
cos 1.5cos 0.3sin 1
A
F W

=

Equating F
A
s:
( )
2
cos 1.44cos 0.6sin 1 =
Solving numerically 20.5 = W

M
A
= 0:
75
112 5
mm
cos
mm
q
q N W
B
- . cos b g = 0
75 mm
75 mm
112.5 mm
[ ]

PROBLEM 8.45
Two slender rods of negligible weight are pin-connected at C and
attached to blocks A and B, each of weight W. Knowing that
o
70 =
and that the coefficient of static friction between the blocks and the
horizontal surface is 0.30, determine the largest value of P for which

SOLUTION
FBD pin C:

FBD block A:

FBD block B:

sin10 0.173648
AB
F P P = =
cos10 0.98481
BC
F P P = =

0: sin30 0
y A AB
F N W F = =
or 0.173648 sin30 0.086824
A
N W P W P = + = +

0: cos30 0
x A AB
F F F = =
or 0.173648 cos30 0.150384
A
F P P = =
For impending motion at A:
A s A
F N =
Then
0.150384
: 0.086824
0.3
A
A
s
F
N W P P
= + =
or 2.413 P W =

0: cos30 0
y B BC
F N W F = =
0.98481 cos30 0.85287
B
N W P W P = + = +

0: sin30 0
x BC B
F F F = =
0.98481 sin30 0.4924
B
F P P = =
For impending motion at B:
B s B
F N =
Then
0.4924
: 0.85287
0.3
B
B
s
F P
N W P
= + =
or 1.268 P W =
Thus, maximum P for equilibrium
max
1.268 P W = W

PROBLEM 8.46
A 180 N weight is hung from a lever which rests against a 10 wedge at A
and is supported by a frictionless hinge at C. Knowing that the coefficient
of static friction is 0.25 at both surfaces of the wedge and that for the
position shown the spring is stretched 100 mm, determine (a) the magnitude
of the force P for which motion of the wedge is impending, (b) the
components of the corresponding reaction at C.

SOLUTION
FBD lever:

(b)

FBD wedge:

or
(a)

ff
s
= tan
1
m
s
= tan
1
0.25 = 14.036 F
s
= kx = (3600 N/m)
100mm
1000 mm/m
F
H
G
I
K
J
= 360 N
M
C
= 0: (300 mm) (360 N) (400 mm) (180 N) (525 mm) R
A
cos (f
s
10)
+ (50 mm) R
A
sin (f
s
10) = 0
or R
A
= 69.207 N
F
x
= 0: (69.207 N) sin (4.036) C
x
= 0 C
x
= 4.87 N J
F
y
= 0: (69.207 N) cos (4.036) 360 N 180 N + C
y
= 0 C
y
= 470.96 N J
F
y
= 0: R
W
cos 14.036 (69.207 N) cos 4.036 = 0
R
W
= 71.16 N
F
x
= 0: P (69.207 N) sin 4.036 (71.16 N) sin 14.036 = 0
P = 22.1 N J
50 mm
225 mm 300 mm 400 mm
180 N
3.6 KN/m
360 N
50 mm
225 mm 300 mm 400 mm
69.207 N
180 N

PROBLEM 8.47
Solve Problem 8.46 assuming that force P is directed to the left.

SOLUTION
FBD lever:

or
(b)
FBD wedge:

or
(a)

f
s
= tan
1
m
s
= tan
1
0.25 = 14.036 F
s
= kx = (3600 N/m)
100mm
1000 mm/m
F
H
G
I
K
J
= 360 N
M
C
= 0: (300 mm) (360 N) (400 mm) (180 N) (525 mm) R
A
cos 24.036
(50 mm) R
A
sin 24.036 = 0
R
A
= 72.023 N
F
x
= 0: C
x
(72.023 N) sin 24.036 = 0 C
x
= 29.34 N J
F
y
= 0: C
y
360 N 180 N + (72.023 N) cos (24.036) = 0 C
y
= 474.22 N J
F
y
= 0: R
W
cos 14.036 (72.023 N) cos 24.036 = 0
R
W
= 67.8 N
F
x
= 0: (72.023 N) sin 24.036 + (67.8 N) sin 14.036 P = 0
P = 45.8 N J
50 mm
225 mm 300 mm
400 mm
3.6 kN/m
180 N
225 mm 300 mm 400 mm
360 N
180 N
50 mm
72.023 mm

PROBLEM 8.48
Two 8 wedges of negligible mass are used to move and position a
240-kg block. Knowing that the coefficient of static friction is 0.40 at all
surfaces of contact, determine the magnitude of the force P for which
motion of the block is impending.

SOLUTION
( )
1 1 2
tan tan 0.4 21.801 240 kg 9.81 m/s 2354.4 N
s s
W

= = = = =
FBD block:

2
2354.4 N
sin 41.801 sin 46.398
R
=

2
2167.12 N R =
FBD wedge:

2167.12 N
sin51.602 sin60.199
P
=

1957 N P = 1.957 kN P = W

PROBLEM 8.49
Two 8 wedges of negligible mass are used to move and position a
240-kg block. Knowing that the coefficient of static friction is 0.40 at all
surfaces of contact, determine the magnitude of the force P for which
motion of the block is impending.

SOLUTION
( )
1 1 2
tan tan 0.4 21.801 240 kg 9.81 m/s 2354.4 N
s s
W

= = = = =
FBD block + wedge:

2
2354.4 N
sin 41.801 sin38.398
R
=

2
2526.6 N R =
FBD wedge:

2526.6 N
sin51.602 sin68.199
P
=

2132.7 N P =
2.13 kN P = W

PROBLEM 8.50
The elevation of the end of the steel beam supported by a concrete floor
is adjusted by means of the steel wedges E and F. The base plate CD has
been welded to the lower flange of the beam, and the end reaction of the
beam is known to be 150 kN. The coefficient of static friction is 0.30
between the two steel surfaces and 0.60 between the steel and the
concrete. If the horizontal motion of the beam is prevented by the force
Q, determine (a) the force P required to raise the beam, (b) the
corresponding force Q.

SOLUTION
FBD AB + CD:

FBD top wedge:

FBD bottom wedge:

1 1
tan tan 0.3 16.70 for steel on steel
s s

= = =
0: 150 kN 0 150 kN
y
F N N = = =
Impending motion: ( ) 0.3 150 kN 45 kN
s
F N = = =

0: 0
x
F F Q = =
( ) 45.0 kN b = Q

W
Assume bottom wedge doesnt move:
( ) 0: cos 10 16.70 150 kN 0
y W
F R = + =
167.9 kN
W
R =

( )
0: 45 kN 167.9 kN sin 26.70 0
x
F P = =
120.44 kN P =
( )
120.4 kN a = P W
Bottom wedge is two-force member, so 26.70 = for equilibrium, but
( )
1 1
tan tan 0.6 31.0 steel on concrete
s s

= = =
So OK.
s
<

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What are the two types of friction discussed?

What are the laws of dry friction?

VECTOR MECHANICS FOR ENGINEERS:

2004 The McGraw-Hill Companies, Inc. All rights reserved.

Apply conditions for static equilibrium to find minimum x.

Using block and plane analogy with impending

Separate variables and integrate from = = to 0

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