Lect05: Friction
Dr. Wan Mohd Sabki Wan Omar
Structure & Construction Eng.
Email: wansabki@[Link]/
[Link]@[Link]
Phone: 013-9335477
Engineering Mechanics: Statics
Course Outcomes
Able to introduce the concept of dry friction
and analyze the equilibrium of rigid bodies
subjected to this force.
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Outline
Characteristics of Dry Friction
Problems Involving Dry Friction
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5.1 Characteristics of Dry
Friction
Friction
or retards slipping of the body relative to a
second body or surface which it is in contact
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
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5.1 Characteristics of Dry
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, also known as dry
friction, occurs between contacting
surfaces of bodies in the absence of a
lubricating fluid
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5.1 Characteristics of Dry
Friction
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
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
FBD of the block
The floor exerts a distribution of
the normal force ∆Nn and frictional
force ∆Fn along the contact
surface
For equilibrium, the normal forces
act upward to balance the block’s
weight W, and the frictional forces
act to the left to prevent force P
from moving the block to the right
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
Examining the contacting surfaces between
the floor and the block, it can seen that
many microscopic irregularities exist between
the two surfaces
Reactive forces ∆Rn developed at each of the
protuberances
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
These forces act at all points of contact
and each reactive force consist of both
a frictional component ∆Fn and a
normal component ∆Nn
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
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
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
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
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
Example
P is applied at a height h from the
surface
Moment equilibrium about point O is
satisfied if W x = Ph or x = Ph/W
The block is on the verge on tipping
if N acts at the right corner of the
block, x = a/2
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
Impending Motion
In cases where h is small or 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 before it
can tip
As P is slowly increased, F correspondingly
increase until it attains a certain maximum value
F, called the limiting static frictional force
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
When this value is reached, any further increase
in P will cause deformations and fractures at the
points of surface contact and consequently, the
block will begin to move
Limiting static frictional
force Fs is directly
proportional to the
resultant normal force N
Fs = µsN
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
Constant of proportionality µs is known as the
coefficient of static friction
When the block is on the verge of sliding, the
normal force N and the frictional force Fs
combine to form a resultant Rs
Angle Φs that Rs makes with N is called the angle
of static friction
5.1 Characteristics of Dry
Friction
Theory of Dry Friction
Typical Values of µs
Contact Materials Coefficient of Static
Friction µs
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
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
Tabular Values of µs
Coefficient usually < 1 but for aluminum on
aluminum, coefficient > 1
For coefficient > 1, frictional force > normal
force
µs is dimensionless and depends on the
characteristic of the contacting surfaces
When a more accurate calculation of Fs is
needed, coefficient of friction is determined by
experiments for the two materials involved
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
Motion
If the magnitude of P acting on the block is
increased so that it is greater than Fs, the
frictional force at the
contacting surfaces drops
slightly to a smaller value Fs,
called kinetic frictional force
The block will not be held in
equilibrium (P > Fs) but slide
with increasing speed
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
The drop made in the frictional force magnitude,
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, causing the blocks
to lift and ride on top of these peaks
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
Once the block begins to slide, high local
temperatures at these points of contact cause
momentary adhesion (welding) of these points
Continued shearing of these welds is the
dominant mechanism causing friction
Since resultant forces ∆Rn are aligned more in
the vertical direction than before, they contribute
smaller frictional components ∆Fn than when the
irregularities are meshed
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
Resultant frictional force Fk is directly
proportional to the magnitude of the
resultant normal force N
Fk = µkN
Constant of proportionality µk is called
the coefficient of kinetic friction
µk are typically 25% smaller than µs
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
Resultant Rk has a line of action defined by
Φk, angle of kinetic friction
Φs ≥ Φk
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
The graph summarizes the effects regarding
friction and shows the variation of frictional
force F versus applied load P
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5.1 Characteristics of Dry
Friction
Theory of Dry Friction
Frictional force is categorized into three ways
- F is a static-frictional force if equilibrium is
maintained
- F is a limiting static-frictional force Fs when
it reaches the maximum value needed to
maintain equilibrium
- F is a kinetic-frictional force Fk when sliding
occurs at the contact surface
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5.1 Characteristics of Dry
Friction
Characteristics of Dry Friction
The frictional force acts tangent to the contacting
surfaces in a direction opposed to the relative
motion or tendency for motion of one surface
against another
The maximum static frictional force Fs that can
be developed is independent of the area of
contact, provided the normal pressure is not very
low or great enough to severely deform or crush
the contacting surfaces of the bodies
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5.1 Characteristics of Dry
Friction
Characteristics of Dry Friction
The maximum static frictional force is generally
greater than the kinetic frictional force
However, if one of the bodies is moving with a
very low velocity over the surface of another, Fk
becomes approximately equal to Fs
When slipping at the surface of contact is about
to occur, the maximum static frictional force is
proportional to the normal force
When slipping is occurring, the kinetic frictional
force is proportional to the normal force
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5.2 Problems Involving Dry
Friction
Types of Friction Problems
In all cases, geometry and dimensions are
assumed to be known
Three types of mechanics problem involving
dry friction
- Equilibrium
- Impending motion at all points
- Impending motion at some points
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5.2 Problems Involving Dry
Friction
Types of Friction Problems
Equilibrium
Total number of unknowns = Total number of
available equilibrium equations
Frictional forces must satisfy F ≤ µsN; 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
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5.2 Problems Involving Dry
Friction
Types of Friction Problems
If the bars are uniform and have known weights
of 100N each, FBD are shown below
There are 6 unknown force components
which can be determined
strictly from the 6
equilibrium equations
(three for each member)
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5.2 Problems Involving Dry
Friction
Types of Friction Problems
Impending Motion at All Points
Total number of unknowns = Total number of
available equilibrium equations and available
frictional equations
If the motion is impending at the points of
contact, Fs = µsN
If the body is slipping, Fk = µkN
Consider angle θ of the 100N
bar for no slippage
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5.2 Problems Involving Dry
Friction
Types of Friction Problems
FBD of the 100N bar
5 unknowns and 3 equilibrium equations
and 2 static frictional
equations which apply
at both points of contact
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5.2 Problems Involving Dry
Friction
Types of Friction Problems
Impending Motion at Some Points
Total number of unknowns < total number of
available equilibrium equations and the
frictional equations or conditional equations
for tipping
As a result, several possibilities for motion or
impending motion will exist
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5.2 Problems Involving Dry
Friction
Types of Friction Problems
Example
Consider 2-member frame to determine force
P needed to cause movement
Each member has a weight of 100N
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5.2 Problems Involving Dry
Friction
Types of Friction Problems
7 unknowns
For unique solution, we must satisfy 6
equilibrium equations (three for each
member) and only one of the two possible
static frictional equations
As P increases, it will either cause slipping
at A and no slipping at C or slipping at C
and no slipping at A
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5.2 Problems Involving Dry
Friction
Types of Friction Problems
Actual situation can be determined by
choosing the case for which P is
smaller
If in both cases, same value of P is
obtained, slipping occur simultaneously
at both points and the 7 unknowns will
satisfy 8 equations
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5.2 Problems Involving Dry
Friction
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
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5.2 Problems Involving Dry
Friction
Procedures for Analysis
FBD
Draw the necessary FBD and unless it is stated
that impeding motion or slipping occurs, always
show the frictional forces as unknown
Determine the number of unknowns and
compare with the number of available equations
If there are more unknowns that the equations
of equilibrium, apply frictional equations at points
of contact
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5.2 Problems Involving Dry
Friction
Procedures for Analysis
FBD
If the equation F = µN is used, show F acting in
the proper direction on the FBD
Equations of Equilibrium and Friction
Apply the equilibrium equations and the
necessary frictional equations and solve for
unknowns
If the problem is 3D, apply the equations using
Cartesian coordinates
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5.2 Problems Involving Dry
Friction
Example 5.1
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 µ = 0.3.
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5.2 Problems Involving Dry
Friction
Solution
Resultant normal force NC act a distance x from
the crate’s center line in order to counteract the
tipping effect caused by P
3 unknowns to be
determined by 3
equations of equilibrium
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5.2 Problems Involving Dry
Friction
Solution
Solving
5.2 Problems Involving Dry
Friction
Solution
Since x is negative, the resultant force acts
(slightly) to the left of the crate’s center line
No tipping will occur since x ≤ 0.4m
Maximum frictional force which can be
developed at the surface of contact
Fmax = µsNC = 0.3(236N) = 70.8N
Since F = 69.3N < 70.8N, the crate will not
slip thou it is close to doing so
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5.2 Problems Involving Dry
Friction
Example 5.2
It is observed that when the bed of the dump truck
is raised to an angle of θ = 25° the vending
machines begin to slide off the bed. Determine the
static of coefficient of friction between them and the
surface of the truck
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5.2 Problems Involving Dry
Friction
Solution
Idealized model of a
vending machine lying
on the bed of the truck
Dimensions measured
and center of gravity
located
Assume machine weighs
W
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5.2 Problems Involving Dry
Friction
Solution
Dimension x used to
locate position of the
resultant normal force
N
4 unknowns
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5.2 Problems Involving Dry
Friction
Solution
Slipping occurs at θ = 25°
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5.2 Problems Involving Dry
Friction
Solution
Angle θ = 25°is referred as the angle of repose
By comparison, θ = Φs
θ is independent of the weight of the vending
machine so knowing θ provides a method for
finding coefficient of static friction
θ = 25°, x = 0.233m
Since 0.233m < 0.5mthe vending machine will
slip before it can tip as observed
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5.2 Problems Involving Dry
Friction
Example 5.3
The uniform rob having a weight of W and
length l is supported at its ends against the
surfaces A and B. If the rob is
on the verge of slipping when
θ = 30°, determine the coefficient
of static friction µs at A and B.
Neglect the thickness of the rob
for calculation.
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5.2 Problems Involving Dry
Friction
Solution
5 unknowns
3 equilibrium equations and
2 frictional equations
applied at A and B
Frictional forces must be
drawn with their correct
sense so that they oppose
the tendency for motion of
the rod
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5.2 Problems Involving Dry
Friction
Solution
Frictional equations
Equilibrium equations
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5.2 Problems Involving Dry
Friction
Solution
Solving
By division
Solving for the smallest root
5.2 Problems Involving Dry
Friction
Example 5.4
The concrete pipes are stacked in the yard.
Determine the minimum coefficient of static
friction at each point of
contact so that the pile
does not collapse.
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5.2 Problems Involving Dry
Friction
Solution
Coefficient of static friction between
the pipes A and B, and between the
pipe and the ground, at C are different
since the contacting surfaces are
different
Assume each pipe has an outer
radius r and weight W
6 unknown, 6 equilibrium equations
When collapse is about to occur,
normal force at D = 0
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5.2 Problems Involving Dry
Friction
Solution
For the top pipe,
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5.2 Problems Involving Dry
Friction
Solution
For the bottom pipe, using FA = F and NA = N,
Solving,
5.2 Problems Involving Dry
Friction
Solution
Between the pipes,
For smallest required coefficient of static
friction,
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5.2 Problems Involving Dry
Friction
Solution
A greater coefficient of static friction is
required between the pipes than that
required at the ground
It is likely that the slipping would occur
between the pipes at the bottom
If the top pipes falls downwards, the bottom
two pipes would roll away
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5.2 Problems Involving Dry
Friction
Example 5.5
Beam AB is subjected to a uniform load of 200N/m
and is supported at B by post BC. If the coefficients
of static friction at B and C are µB 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 post.
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5.2 Problems Involving Dry
Friction
Solution
FBD of beam AB and the post
Apply ∑MA = 0, NB = 400N
4 unknowns
3 equilibrium equations and 1 frictional equation
applied at either B or C
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5.2 Problems Involving Dry
Friction
Solution
Post slips only at B
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5.2 Problems Involving Dry
Friction
Solution
Solving
Post slips only at C
Solving
Choose second case as it requires a smaller value
of P
5.2 Problems Involving Dry
Friction
Example 5.6
Determine the normal force P that must be exerted
on the rack to begin pushing the 100kg pipe up the
20° incline. The coefficients of
static friction at points of
contact are (µs)A = 0.15
and (µs)B = 0.4.
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5.2 Problems Involving Dry
Friction
Solution
The rack must exert a force P on the pipe due to
force equilibrium in the x direction
4 unknowns
3 equilibrium equations and 1 frictional equation
which apply at either A or B
If slipping begins to occur at B, the pipe will roll
up the incline
If the slipping occurs at A, the pipe will begin to
slide up the incline
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5.2 Problems Involving Dry
Friction
Solution
FBD of the rack
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5.2 Problems Involving Dry
Friction
Solution
Pipe rolls up incline
5.2 Problems Involving Dry
Friction
Solution
Inequality does not apply and slipping occurs at A
Pipe slides up incline
Solving
Check: no slipping occur at B
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Lecture Summary
Dry Friction
Frictional forces exist at the rough surfaces of
contact
They act on a body so as to oppose the motion
or tendency of the motion of the body
A static friction force approaches a maximum
value of Fs = µsN
µs is the coefficient of kinetic friction
Solution of the problem requires first drawing of
the FBD
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Lecture Summary
Dry Friction
If the unknowns cannot be determined strictly
from the equations of equilibrium, and the
possibility of slipping can occur, then the friction
equation should be applied at the appropriate
points of contact in order to complete the
solution
It may be possible for slender objects to tip over
and this situation should also be investigated
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Lecture Review
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Lecture Review
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