The laws of Dry Friction

As soon as the block has been set in motion, the magnitude of F drops from
Fm to a lower value Fk. This is because there is less interpenetration between
the irregularities of the surfaces in contact when these surfaces move with
respect to each other. From then on, the block keeps sliding with increasing
velocity while the friction force, denoted by Fk and called the kinetic-friction
force, remains approximately constant.
 The laws of Dry Friction

The coefficients of friction us and uk do not depend upon the area of the surfaces in contact.
Both coefficients, however, depend strongly on the nature of the surfaces in contact.
The laws of Dry Friction
Angles of Friction

Angle of static friction

Angle of kinetic friction

 Angles of Friction

The value of the angle of inclination corresponding to impending motion is called the
angle of repose. The angle of repose is equal to the angle of static friction.
Problems Involving Dry Friction
Different Considerations
Problems Involving Dry Friction
 Problem
❑ Problem:
A 100-lb force acts as shown on a 300-lb block placed on an inclined plane. The coefficients of
friction between the block and the plane are us = 0.25 and uk = 0.20. Determine whether the block
is in equilibrium, and find the value of the friction force.
 Problem
❑ Problem:
A support block is acted upon by two forces as shown. Knowing that the coefficients of friction
between the block and the incline are us = 0.35 and uk = 0.25, determine the force P required (a) to
start the block moving up the incline, (b) to keep it moving up, (c) to prevent it from sliding down.
 Problem
❑ Problem:
The 20-lb block A and the 30-lb block B are supported by an incline that is held in the position
shown. Knowing that the coefficient of static friction is 0.15 between all surfaces of contact,
determine the value of θ for which motion is impending.
 Problem
❑ Problem:
The coefficients of friction are μs = 0.40 and μk = 0.30 between all surfaces of contact. Determine
the smallest force P required to start the 30-kg block moving if cable AB (a) is attached as shown,
(b) is removed.
 Problem
❑ Problem:
A 120-lb cabinet is mounted on casters that 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 both A and B are locked,
determine (a) the force P required to move the cabinet to the right, (b)
the largest allowable value of h if the cabinet is not to tip over.

Casters
 Problem
❑ Problem:
A 120-lb cabinet is mounted on casters that can be locked to prevent
their rotation. The coefficient of static friction between the floor and each
caster is 0.30. If h=32in., determine the magnitude of the force P required
to move 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.
 Problem

Exercise:
8.2, 8.4, 8.5, 8.9, 8.12

Assignment:
8.11, 8.15
Square-Threaded Screws
(Block-and-incline analysis of a screw)
 Square-Threaded Screws
(Block-and-incline analysis of a screw)
The free-body diagram of the block should include the load W, the reaction R of the base thread, and a
horizontal force Q having the same effect as the force P exerted on the handle. The force Q should have
the same moment as P about the axis of the screw and its magnitude should thus be Q = Pa/r. The force Q,
and thus the force P required to raise the load W, can be obtained from the free body diagram shown in Fig.
The friction angle is taken equal to fs since the load will presumably be raised through a succession of short
strokes. In mechanisms providing for the continuous rotation of a screw, it may be desirable to distinguish
between the force required to start motion (using φs) and that required to maintain motion (using φk).
 Problem
❑ Problem:
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
ms 5 0.30. If a maximum couple of 40 N ? m is applied in tightening the clamp, determine (a) the force
exerted on the pieces of wood, (b) the couple required to loosen the clamp.
 Wedges
Wedges are simple machines used to raise large stone blocks and
other heavy loads. These loads can be raised by applying to the
wedge a force usually considerably smaller than the weight of the
load. In addition, because of the friction between the surfaces in
contact, a properly shaped wedge will remain in place after being
forced under the load. Wedges can thus be used advantageously
to make small adjustments in the position of heavy pieces of
machinery.
 Wedges

We can reduce the total number of unknowns involved in the two free-body diagrams to four if we
express the friction forces in terms of the normal forces. Then, since block A and wedge C are in
equilibrium, we obtain four equations that we can solve to obtain the magnitude of P. Note that, in
the example considered here, it is more convenient to replace each pair of normal and friction forces
by their resultant. Each free body is then subjected to only three forces, and we can solve the
problem by drawing the corresponding force triangles
 Problem
❑ Problem:
Two 8° wedges of negligible weight are used to move and position the 800-kg block. Knowing that
the coefficient of static friction is 0.30 at all surfaces of contact, determine the smallest force P
that should be applied as shown to one of the wedges
 Problem
❑ Problem:
The position of the machine block B is adjusted by moving the wedge A. Knowing that the
coefficient of static friction is 0.35 between all surfaces of contact, determine the force P required
to (a) raise block B, (b) lower block B.
 Problem
Exercise:
8.52, 8.53, 8.5, 8.58, 8.69, 8.70
Assignment:
8.70
&
Determine the horizontal force P required to start the 400 kg wedge
moving to the left. The angle of friction is 20° at all surfaces of contact.
Belt Friction
 Belt Friction

Belt Friction

Applicable for flat belts passing over fixed cylindrical drums, to problems involving ropes wrapped
around a post or capstan and problems involving belt drives.
 V-Belt

Self-Study for V-Belt

 Problem
❑ Problem:
A flat belt connects pulley A, which drives a machine tool, to pulley B, which is attached to the
shaft of an electric motor. The coefficients of friction are μs = 0.25 and μk = 0.20 between both
pulleys and the belt. Knowing that the maximum allowable tension in the belt is 600 lb, determine
the largest torque that the belt can exert on pulley A.
 Problem
❑ Problem:
A band brake is used to control the speed of a flywheel as shown. The coefficients of friction are
µs = 0.30 and µk = 0.25. Determine the magnitude of the couple being applied to the flywheel,
knowing that P = 45 N and that the flywheel is rotating counterclockwise at a constant speed.
 Wheel Friction: Rolling Resistance
The wheel is one of the most important inventions of our civilization. Its use
makes it possible to move heavy loads with relatively little effort. Because the
point of the wheel in contact with the ground at any given instant has no relative
motion with respect to the ground, the wheel eliminates the large friction forces
which would arise if the load were in direct contact with the ground. However,
some resistance to the wheel’s motion exists.

This resistance has two distinct causes. It is due (1) to a combined effect of axle
friction and friction at the rim and (2) to the fact that the wheel and the ground
deform, with the result that contact between wheel and ground takes place over a
certain area, rather than at a single point.
 Journal Bearing: Axle Friction
Consider two wheels, each of weight W, rigidly mounted on an axle supported symmetrically by two
journal bearings. If the wheels rotate, we find that to keep them rotating at constant speed, it is
necessary to apply to each of them a couple M.

The magnitude of the couple M required to overcome the frictional resistance of one of the bearings:

Radius of the “circle of friction of the axle and bearing”,

[Independent of the loading conditions of the axle]
Wheel Friction: Rolling Resistance
Under the load W, both the wheel and the ground deform slightly, causing
the contact between wheel and ground to take place over a certain area.
Experimental evidence shows that the resultant of the forces exerted by the
ground on the wheel over this area is a force R applied at a point B, which
is not located directly under the center O of the wheel, but slightly in front
of it (Fig. 8.13c). To balance the moment of W about B and to keep the
wheel rolling at constant speed, it is necessary to apply a horizontal force P
at the center of the wheel. Taking Moment about B, we obtain:
 Problem
❑ Problem:
A pulley of diameter 4 in. can rotate about a fixed shaft of diameter 2 in. The coefficient of static
friction between the pulley and shaft is 0.20. Determine (a) the smallest vertical force P required to
start raising a 500-lb load, (b) the smallest vertical force P required to hold the load, (c) the
smallest horizontal force P required to start raising the same load.

(a) (b) (c)

 Problem

Exercise:
8.75, 8.78, 8.105, 8.107, 8.108, 8.113

Assignment:
8.130, 8.106
 Thrust Bearings: Disk Friction
Two types of thrust bearings are used to provide axial support to rotating shafts and axles:
(1) end bearings and (2) collar bearings. In the case of collar bearings, friction forces
develop between the two ring-shaped areas which are in contact. In the case of end
bearings, friction takes place over full circular areas, or over ring-shaped areas when the
end of the shaft is hollow. Friction between circular areas, called disk friction, also occurs
in other mechanisms, such as disk clutches.
 Thrust Bearings: Disk Friction

To obtain a formula which is valid in the most general case of disk friction, let us consider
a rotating hollow shaft. A couple M keeps the shaft rotating at constant speed while a force
P maintains it in contact with a fixed bearing. Contact between the shaft and the bearing
takes place over a ring-shaped area of inner radius R1 and outer radius R2. Assuming that
the pressure between the two surfaces in contact is uniform, we find that the magnitude of
the normal force
Thrust Bearings: Disk Friction
 Thrust Bearings: Disk Friction

The largest couple which can be

transmitted by a disk clutch without
causing slippage is given by a similar
formula, where uk will be replaced by the
coefficient of static friction us
 Problem
❑ Problem:
Assuming that the pressure between the surfaces of contact is uniform, show
that the magnitude M of the couple required to over come frictional
resistance for the conical bearing shown is,
Problem (Continued)