DRY FRICTION (Appendix B)

Objectives: 1. Understand the characteristics of dry friction. 2. Draw a FBD including friction. 3. Solve problems involving friction, including: a) determining the forces on a wedge. b) determining the tensions in a belt.

CHARACTERISTICS OF DRY FRICTION

Friction is defined as a force of resistance acting on a body which prevents or retards slipping of the body relative to a second body or surface with which it is in contact. Frictional forces act tangent (parallel) to the contacting surface in a direction opposing the relative motion or tendency for motion. For the body shown in the figure to be in equilibrium, the following must be true: F = P, N = W, and W x = P h.
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CHARACTERISTICS OF FRICTION, contd

To study the characteristics of the friction force F, imagine we gradually increase the magnitude of the force P. Assume tipping does not occur (i.e., h is small or a is large). Typically, experiments show that the friction force F varies with P, as shown in the figure on the right above.
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CHARACTERISTICS OF FRICTION, contd

Coefficient of static friction, s

The maximum friction force is attained just before the block begins to move (a situation that is called impending motion). The value of this force is found using Fs = s N The value of s depends on the materials in contact.

Coefficient of kinetic friction, k

Once the block begins to move, the frictional force typically drops and is given by Fk = k N The value of k is less than s .

DETERMING s EXPERIMENTALLY
A block with weight W is placed on an inclined plane. The plane is slowly tilted until the block just begins to slip.

The inclination, s, is noted. Analysis of the block just before it begins to move (using Fs = s N) gives : + Fy = N W cos s = 0 + FX = S N W sin s = 0 Using these two equations, we get s = (W sin s ) / (W cos s ) = tan s
This simple experiment allows us to find the S between two materials in contact.
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PROCEDURE FOR ANALYSIS

Steps for solving equilibrium problems involving dry friction: 1. Draw the necessary free body diagrams. Make sure that you show the friction force in the correct direction (it always opposes the motion or impending motion). 2. Determine the number of unknowns. Do not assume F = S N unless the impending motion condition is given. 3. Apply the equations of equilibrium and appropriate frictional equations to solve for the unknowns.
Note: The equation F = S N relates only the magnitude of 2 perpendicular vectors. Consequently, when it is used in the solution, F and N must be shown with their correct sense on the FBD.

TYPES OF EQUILIBRIUM PROBLEMS Problems involving dry friction fall into one of 3 categories:
1. Static Equilibrium (not moving)
# of unknowns = # of EofE Solve for friction force F to maintain equilibrium, and then check that F s N

2. Motion impending or occurring at all points

# of unknowns = { # of EofE + # of frictional equations } F = s N or F = k N

3. Motion impending at some points - but type of motion (slipping or

tipping), or location of impending motion is not specified # of unknowns < { # of EofE + # of frictional equations or conditional equations for tipping } satisfy EofE, and solve by determining where motion will occur first
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ANALYSIS OF A WEDGE
W
A wedge is a simple machine in which a small force P is used to lift a large weight W. To determine the force required to push the wedge in or out, it is necessary to draw FBDs of the wedge and the object on top of it. It is easier to start with a FBD of the wedge since you know the direction of its motion. Note that: a) the friction forces are always in the direction opposite to the motion, or impending motion, of the wedge; b) the friction forces are along the contacting surfaces; and, c) the normal forces are perpendicular to the contacting surfaces.
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WEDGE ANALYSIS, contd

Next, a FBD of the object on top of the wedge is drawn. Note that: a) at the contacting surfaces between the wedge and the object, the forces are equal in magnitude and opposite in direction to those on the wedge; b) all other forces acting on the object should be shown. To determine the unknowns, we apply EofE, Fx = 0 and Fy = 0, to the wedge and the object as well as the impending motion frictional equation, F = S N. Start by analyzing the FBD in which the number of unknowns are less than or equal to the number of equations. 9

WEDGE ANALYSIS, contd

If the object is to be lowered, then the wedge needs to be pulled out. If the value of the force P needed to remove the wedge is positive (acting to the left in the case shown), then the wedge is self-locking, i.e., the wedge will remain in place (holding up the block) even when there is no applied force P.

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WEDGE, Example Problem

Given: The load weighs 100 lb. S between surfaces AC and BD is 0.3. Smooth rollers are placed between wedges A and B. Assume the rollers and the wedges have negligible weights. Find: The force P needed to lift the load.

Plan: 1. Draw a FBD of wedge A. Why do A first? 2. Draw a FBD of wedge B. 3. Apply the EofE to wedge B. Why do B first? 4. Apply the EofE to wedge A.
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BELT FRICTION ANALYSIS

Consider a flat belt passing over a fixed curved surface with the total angle of contact equal to radians.
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BELT FRICTION ANALYSIS, contd

If the belt slips or is just about to slip,

Fx= 0 Fy= 0

Tcos(d/2) + dN (T + dT) cos (d/2) = 0 dN - (T + dT) sin (d/2) - Tsin(d/2) = 0 cos(d/2) 1 sin(d/2) d/2 dN - Td = 0
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Fx= 0 Fy= 0

dN dT = 0 dN - 2Tsin(d/2) = 0

BELT FRICTION ANALYSIS, contd

dN dT = 0 dN - Td = 0 Eliminating dN gives: dT/T = d Integrating: dT/T = d gives: ln(T2/T1) = T2 = T1 e

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BELT FRICTION ANALYSIS, contd (Summary)

Consider a flat belt passing over a fixed curved surface with the total angle of contact equal to radians. If the belt slips or is just about to slip, then T2 must be larger than T1 and the friction forces. Hence, T2 must be greater than T1. Detailed analysis shows that: T2 = T1 e where is the coefficient of static friction between the belt and the surface.

Be sure to use radians when using this formula!!

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BELTS, Example Problem

Given: Block A weighs 50 lb and Block B weighs 30 lb. Find: The smallest weight of cylinder D which will cause the loss of static equilibrium.

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EXAMPLE, contd

Plan: 1. Consider 2 cases: a) both blocks slide together b) block B slides over block A 2. For each case, draw a FBD of the block(s). 3. For each case, apply EofE to find the force needed to cause sliding. 4. Choose the smaller P value from the 2 cases. 5. Use belt friction theory to find the weight of cylinder D.
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EXAMPLE, contd

Case a): both blocks slide together + FY = N 80 = 0 N = 80 lb + FX = 0.4 (80) P = 0 P = 32 lb

B A

30 lb 50 lb

F=0.4 N N

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EXAMPLE, contd
P B

30 lb

Case b): block B slides over block A + Fy = N cos 20 + 0.6 N sin 20 30 = 0

N = 26.20 lb

0.6 N 20 N

+ Fx = P + 0.6 ( 26.2 ) cos 20 26.2 sin 20 = 0 P = 5.812 lb Case b has the lowest P and will occur first. Next, using the frictional force analysis of belt, (T2 = WD ; T1 = P)

WD

= P e = 5.812 e 0.5 ( 0.5 ) = 12.7 lb

A Block D weighing 12.7 lb will cause block B to slide over block A.

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BELTS, Example Problem

Given: The coefficient of friction between the 50 kg block and the incline is 0.15, and the coefficient of friction between the cord and the cylindrical support is 0.25.

Determine: the range (max and min) of cylinder mass m for which the cylinder is in equilibrium (no slip occurs). Note: The pulley P is frictionless and weightless.

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