The force resisting the motion when a body rolls on a surface is called the rolling resistance or rolling friction.

The rolling resistance can be expressed as Fr = c W where Fr = rolling friction (N, lbf) c = rolling resistance coefficient - dimensionless (coefficient of rolling friction - CRF) W = m g = normal force or weight of body (N, lbf) m = mass of body (kg, lb) g = accelaration of gravity (9.81 m/s2, 32.174 ft/s2) The rolling resistance can alternatively be expressed as Fr = c l W / r where cl = rolling resistance coefficient with dimension length (coefficient of rolling friction) (mm, in) r = radius of wheel (mm, in) (2) (1)

Rolling Friction Coefficients

Some typical rolling coefficients:

Rolling Resistance Coefficient c cl (mm) steel wheels on steel rails low resistance tubeless tires tram rails truck tire on asphalt ordinary car tires on concrete car tires on tar or asphalt car tire on solid sand car tire on loose sand

0.0002 - 0.001

0.5

0.0015 - 0.0025

0.005 0.006 - 0.01

0.01 - 0.015

0.03

0.04 - 0.08 0.2 - 0.4 Rolling Coefficients Cars

Rolling coefficients for a pneumatic tyres on dry roads can be calculated as c = 0.005 + 1/p (0.01 + 0.0095(v/100)2) where c = rolling coefficient p = tyre pressure (bar) v = velocity (km/h)

Example - Normal car on asphalt

The rolling resistance of a normal car 1500 kg on asphalt with rolling friction (rolling coefficient from the table above) can be estimated like

Fr = 0.03 (1500 kg) (9.81 m/s2) = 441 N