Chapter: Friction: Dr. Mhia Md. Zaglul Shahadat Department of Mechanical Engineering RUET, Rajshahi

Edition
Eighth
Vector Mechanics for Engineers: Statics
Chapter : Friction
Dr. Mhia Md. Zaglul Shahadat

Department of Mechanical Engineering
RUET, Rajshahi
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. Dept. of ME,8 RUET
-1
Edition
Eighth
Contents
Introduction Square-Threaded Screws

Laws of Dry Friction. Coefficients Sample Problem
of Friction.
Journal Bearings. Axle Friction.
Angles of Friction
Thrust Bearings. Disk Friction.
Problems Involving Dry Friction
Wheel Friction. Rolling Resistance.
Sample Problem
Sample Problem
Sample Problem
Belt Friction.
Wedges
Sample Problem
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Edition
Eighth
Introduction
• In preceding chapters, it was assumed that surfaces in contact were
either frictionless (surfaces could move freely with respect to each
other).
• Actually, no perfectly frictionless surface exists. For two surfaces i

n contact, tangential forces, called friction forces, will develop if on
e 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 fri
ction. Fluid friction applies to lubricated mechanisms. The present
discussion is limited to dry friction between nonlubricated surfaces.
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Edition
Eighth
The Laws of Dry Friction. Coefficients of Friction
• Block of weight W placed on horizontal surfac
e. Forces acting on block are its weight and re
action of surface N.
• Small horizontal force P applied to block. For

block to remain stationary, in equilibrium, a ho
rizontal component F of the surface reaction is
required. F is a static-friction force.
• As P increases, the static-friction force F increa

ses as well until it reaches a maximum value Fm
.
F m   sN
• Further increase in P causes the block to begin

to move as F drops to a smaller kinetic-friction
force Fk.
Fk k N
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Edition
Eighth
• Maximum static-friction force:
Fm  s N
• Kinetic-friction force:
Fk kN
k 0.75
s
• Maximum static-friction force and kinetic-

friction force are:
- proportional to normal force
- dependent on type and condition of co
ntact surfaces
- independent of contact area
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Edition
Eighth
• Four situations can occur when a rigid body is in contact with
a horizontal surface:
• No friction, • No motion, • Motion impending, • Motion,

(Px = 0) (Px < Fm) (Px = Fm) (Px > Fm)
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Edition
Eighth
Angles of Friction
• It is sometimes convenient to replace normal force
N and friction force F by their resultant R:
• No friction • No motion • Motion impending • Motion

Fm sN Fk kN
s  
tan k  
tan
N N N N
s s
tan k k
tan
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Edition
Eighth
Angles of Friction
• Consider block of weight W resting on board with variab
le inclination angle q.
• No friction • No motion • Motion impending • Motion
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Edition
Eighth
Problems Involving Dry Friction
• All applied forces known • All applied forces known • Coefficient of static fricti
on is known
• Coefficient of static friction • Motion is impending
is known • Motion is impending
• Determine value of coefficien
• Determine whether body wi t of static friction. • Determine magnitude or
ll remain at rest or slide direction of one of the ap
plied forces
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Edition
Eighth
Sample Problem
SOLUTION:
• Determine values of friction force an
d normal reaction force from plane re
quired to maintain equilibrium.
• Calculate maximum friction force an

d compare with friction force require
d for equilibrium. If it is greater, bloc
k will not slide.
• If maximum friction force is less tha

A 100 lb force acts as shown on a 300 lb n friction force required for equilibri
block placed on an inclined plane. The c um, block will slide. Calculate kineti
oefficients of friction between the block c-friction force.
and plane are s = 0.25 and k = 0.20. D
etermine whether the block is in equilibri
um and find the value of the friction forc
e.
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. Dept. of ME,
8 - RUET
10
Edition
Eighth
Sample Problem
SOLUTION:
• Determine values of friction force and normal rea
ction force from plane required to maintain equili
brium.

Fx0 3
: 100
lb
-
5

300

lbF
0

F
80
lb

Fy0: N
-
4
5

300
lb0

N240
lb
• Calculate maximum friction force and compare wit

h friction force required for equilibrium. If it is gre
ater, block will not slide.

F
m
sN
F
0
.
25
m 

24
lb
48
lb
The block will slide down the plane.
8 - RUET
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Edition
Eighth
Sample Problem
• If maximum friction force is less than friction forc
e required for equilibrium, block will slide. Calcul
ate kinetic-friction force.
F Fk
actualkN
0 240
.20 
lb
F 
48
lb
actual
8 - RUET
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Edition
Eighth
Sample Problem
SOLUTION:
• When W is placed at minimum x, the bra
cket is about to slip and friction forces in
upper and lower collars are at maximum
value.
• Apply conditions for static equilibrium t
o find minimum x.
The moveable bracket shown may be p

laced at any height on the 3-in. diamete
r pipe. If the coefficient of friction bet
ween the pipe and bracket is 0.25, deter
mine the minimum distance x at which
the load can be supported. Neglect the
weight of the bracket.
8 - RUET
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Edition
Eighth
Sample Problem
SOLUTION:
• When W is placed at minimum x, the bracket is about to sli
p and friction forces in upper and lower collars are at maxi
mum value.
FA   s N A  0.25N A
F
B
sNB0
.25
N
B
• Apply conditions for static equilibrium to find minimum x.

x
F 0: NB
N 
A 0 N
B NA

Fy0 A
: F FBW0
0
.25
NA0.25
NBW0
0
.5NAW N
A
NB
2
W

MB:N
0 A6 
in.FA3 
in.W 
x 1.5 
in.
0
6NA3
0.25
N 
A W
x 1.
5 0
6
2W0.
75
2WWx1.
5 0
x
12in
8 - RUET
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Edition
Eighth
Wedges
• Wedges - simple machi • Block as free-body • Wedge as free-body

nes used to raise heavy Fx  0 : Fx 0:
loads.
 N1  s N2  0 sN2 N3s cos
6sin6
• Force required to lift bl Fy  0 : P0
ock is significantly less
than block weight. W  s N1  N2  0 Fy 0:
or N2 N3cos
6s sin60
• Friction prevents wedge
 
from sliding out. 
R
1R
2W
0 or
 
• Want to find minimum 
PR
2R
30
force P to raise block.
8 - RUET
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Edition
Eighth
Square-Threaded Screws
• Square-threaded screws frequently used in jacks, presses, etc.
Analysis similar to block on inclined plane. Recall friction for
ce does not depend on area of contact.
• Thread of base has been “unwrapped” and shown as straight li

ne. Slope is 2pr horizontally and lead L vertically.
• Moment of force Q is equal to moment of force P. QPa

r
• Impending motion u • s q,Self-locking, solve • s q,Non-locking, solve

pwards. Solve for Q for Q to lower load. for Q to hold load.
.
8 - RUET
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Edition
Eighth
Sample Problem
SOLUTION
• Calculate lead angle and pitch angle.
• Using block and plane analogy with impe
nding motion up the plane, calculate the c
lamping force with a force triangle.
A clamp is used to hold two pieces of
wood together as shown. The clamp • With impending motion down the plane,
has a double square thread of mean di calculate the force and torque required to
ameter equal to 10 mm with a pitch of loosen the clamp.
2 mm. The coefficient of friction bet
ween threads is s = 0.30.
If a maximum torque of 40 N*m is ap
plied in tightening the clamp, determi
ne (a) the force exerted on the pieces
of wood, and (b) the torque required t
o loosen the clamp.
8 - RUET
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Edition
Eighth
Sample Problem
SOLUTION
• Calculate lead angle and pitch angle. For the double t
hreaded screw, the lead L is equal to twice the pitch.
2mm 
tanqL2  0.1273 q3 7.
2pr 10 pmm
tans  s 0.30  s 16 .7
• Using block and plane analogy with impending motio

n up the plane, calculate clamping force with force tri
angle.
40 Nm
Q r 40 N m Q   8kN
5mm
tan  qs
Q
W tan
W 
8kN
24

W17
.
97kN
8 - RUET
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Edition
Eighth
Sample Problem
• With impending motion down the plane, calculate
the force and torque required to loosen the clamp.

tan
s 

Q
W


Qq

17
.
97
kN 
tan
9.
4

Q2
.
975
kN
Q
r

Torque
2
.
975

kN
5 
mm


2. 
9753
10
N 
5 
3
10

m 

. 
Torq
14
87
Nm
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 8 - 19

Edition
Eighth
Journal Bearings. Axle Friction
• Journal bearings provide lateral support to rotating s
hafts. Thrust bearings provide axial support
• Frictional resistance of fully lubricated bearings depe
nds on clearances, speed and lubricant viscosity. Par
tially lubricated axles and bearings can be assumed t
o be in direct contact along a straight line.
• Forces acting on bearing are weight W of wheels and
shaft, couple M to maintain motion, and reaction R o
f the bearing.
• Reaction is vertical and equal in magnitude to W.
• Reaction line of action does not pass through shaft c
enter 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 “climb
s” in bearing.
8 - RUET
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Edition
Eighth
Journal Bearings. Axle Friction
• Angle between R and no • May treat bearing • For graphical solution,

rmal to bearing surface i reaction as force- R must be tangent to c
s the angle of kinetic fri couple system. ircle of friction.
ction jk. rf rsink
MRr sink rk
k
Rr
8 - RUET
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Edition
Eighth
Thrust Bearings. Disk Friction
Consider rotating hollow shaft:
P
Mr Fr k Nr k  A
A
rP  A
 k
pR 2
2 R1
2

2p R2
kP
M 2
q

p R22 R12 0 R
  r drd
1
R3
R 3
2
3
kP 2 1
2
R2 R12
For full circle of radius R,

M2PR
3k
8 - RUET
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Edition
Eighth
Wheel Friction. Rolling Resistance
• Point of wheel in contact • Moment M due to frictional r • Deformations of wheel and

with ground has no relati esistance of axle bearing req ground cause resultant of gr
ve motion with respect to uires couple produced by eq ound reaction to be applied a
ground. ual and opposite P and F. t B. P is required to balance
moment of W about B.
Ideally, no friction. Without friction at rim, whee
l would slide. Pr = Wb
b = coef of rolling resistance
8 - RUET
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Edition
Eighth
Sample Problem
SOLUTION:
A pulley of diameter 4 in. can rot
ate about a fixed shaft of diamete • With the load on the left and force
r 2 in. The coefficient of static fr P on the right, impending motion
iction between the pulley and sha is clockwise to raise load. Sum m
ft is 0.20. oments about displaced contact po
int B to find P.
Determine:
• the smallest vertical force P • Impending motion is counter-cloc
required to start raising a 50 kwise as load is held stationary wi
0 lb load, th smallest force P. Sum moment
s about C to find P.
• the smallest vertical force P
required to hold the load, an • With the load on the left and force
d P acting horizontally to the right,
impending motion is clockwise to
• the smallest horizontal force raise load. Utilize a force triangle
P required to start raising th to find P.
e same load.
8 - RUET
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Edition
Eighth
Sample Problem
SOLUTION:
• With the load on the left and force P on the right, impe
nding motion is clockwise to raise load. Sum moment
s about displaced contact point B to find P.
j

The perpendicular distance from center O of pulley t
o line of action of R is
r f  r sin s  r s 
r
f 1 
in.
0.20  0.2 in
Summing moments about B,


M
0
:
B
2
.

20

in.
50
lb
1
.
80
in
P
0

P611
lb
8 - RUET
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Edition
Eighth
Sample Problem
• Impending motion is counter-clockwise as load is held

stationary with smallest force P. Sum moments about
C to find P.
The perpendicular distance from center O of pulley to

line of action of R is again 0.20 in. Summing moment
s about C,


M
0
:
C
1
.

80

in.
50
lb
2
.
20
in
P0

P409
lb
8 - RUET
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Edition
Eighth
Sample Problem
• With the load on the left and force P acting horizo
ntally 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 co

ncurrent. Line of action of R must pass through in
tersection of W and P and be tangent to circle of fr
iction which has radius rf = 0.20 in.
q
sin
OE

0
.20
in.
0
.0707
OD 2 2
in.
q4 
.1
q
From the force triangle,

P
W



cot
45 
500
lb
co
40
.
9

P577
lb
8 - RUET
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Edition
Eighth
Belt Friction
• Relate T1 and T2 when belt is about to slide to right.
qq
• Draw free-body diagram for element of belt
 F  0: T  T cos

 
Tcos  

N0
qq
x s
2 2

 Fy  0 :  N  
T  T sin T sin 
0
2 2
• Combine to eliminate N, divide through by q,
 q
T  
T 

sin
2 q
q

cos
s
T
 2  2
 2 q
• In the limit as q goes to zero,
dT
sT0
dq
• Separate variables and integrate from q
0q

to
ln
T2  
 or
T2  es
s
T1 T1
8 - RUET
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Edition
Eighth
Sample Problem
SOLUTION:
• Since angle of contact is smaller, slip
page will occur on pulley B first. Det
ermine belt tensions based on pulley
B.
• Taking pulley A as a free-body, sum mo
ments about pulley center to determine t
A flat belt connects pulley A to pulley B. orque.
The coefficients of friction are s = 0.25 a
nd k = 0.20 between both pulleys and the
belt.
Knowing that the maximum allowable te
nsion in the belt is 600 lb, determine the l
argest torque which can be exerted by the
belt on pulley A.
8 - RUET
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Edition
Eighth
Sample Problem
SOLUTION:
• Since angle of contact is smaller, slippage will o
ccur on pulley B first. Determine belt tensions b
ased on pulley B.
T2
es
600
lb 0
e.25p3
2 
1.688
T
1 T
1
600
lb
T
1 355
.4
lb
1.688
• Taking pulley A as free-body, sum moments about
pulley center to determine torque.


M
0
:
AM
A



8 
in.
35
.
4 

lb
6lb
0

M
A163
.
1 
lb
ft
8 - RUET
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Chapter: Friction: Dr. Mhia Md. Zaglul Shahadat Department of Mechanical Engineering RUET, Rajshahi

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Chapter: Friction: Dr. Mhia Md. Zaglul Shahadat Department of Mechanical Engineering RUET, Rajshahi

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Edition

Dr. Mhia Md. Zaglul Shahadat

Introduction Square-Threaded Screws

• Actually, no perfectly frictionless surface exists. For two surfaces i

• The distinction between frictionless and rough is, therefore, a matter

• Small horizontal force P applied to block. For

• As P increases, the static-friction force F increa

• Further increase in P causes the block to begin

• Maximum static-friction force and kinetic-

• No friction, • No motion, • Motion impending, • Motion,

• No friction • No motion • Motion impending • Motion

• No friction • No motion • Motion impending • Motion

• Calculate maximum friction force an

• If maximum friction force is less tha

The block will slide down the plane.

The moveable bracket shown may be p

• Apply conditions for static equilibrium to find minimum x.

• Wedges - simple machi • Block as free-body • Wedge as free-body

• Thread of base has been “unwrapped” and shown as straight li

• Moment of force Q is equal to moment of force P. QPa

• Impending motion u • s q,Self-locking, solve • s q,Non-locking, solve

• Using block and plane analogy with impending motio

© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 8 - 19

• Angle between R and no • May treat bearing • For graphical solution,

For full circle of radius R,

• Point of wheel in contact • Moment M due to frictional r • Deformations of wheel and

• Impending motion is counter-clockwise as load is held

The perpendicular distance from center O of pulley to

Since W, P, and R are not parallel, they must be co

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