Mechanics of Machines

BNJ 20303
Chapter 3, Friction (Part I)
By,
Rohani Rahmad
University Tun Hussein Onn Malaysia (UTHM),
Faculty of Engineering Technology,
Department of Mechanical Engineering Tecnology
CHAPTERS 3 : FRICTION (PART I)
Todays Objectives:
Students will be able to:
1. understand the characteristics of dry friction
2. solve problems involving dry friction

Learning topics:

Introduction
Application
dry friction
angles of friction

2
INTRODUCTION

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.

FRICTION

THEORY APPLICATION

TYPE OF FRICTION
WEDGES

DRY FLUID JOURNAL & THRUST BEARING

ANGLE OF FRICTION
SCREW & NUT

STATIC FRICTION
CLUTCH

KINETIC FRICTION
3
APPLICATIONS

In designing a brake system for a

bicycle, car, or any other vehicle, it is
important to understand the frictional
forces involved.

For an applied force on the brake

pads, how can we determine the
magnitude and direction of the
resulting friction force?

4
Chapter Objectives

Introduce the concept of dry friction

To present specific applications of frictional force
analysis on wedges, screws, belts, bearings &
disks/clutch
To investigate the concept of rolling resistance
Characteristics of Dry Friction

Friction
Force that resists the movement of two contacting
surfaces that slide relative to one another
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
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 occurs
between contacting surfaces
of bodies in the absence of a
lubricating fluid
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
Characteristics of Dry Friction

Theory of Dry Friction

Normal force Nn and frictional force
Fn act along the contact surface

For equilibrium, normal forces act upward to balance

the blocks weight W, frictional forces act to the left to
prevent force P from moving the block to the right
Characteristics of Dry Friction

Theory of Dry Friction

Many microscopic irregularities exist between the two
surfaces of floor and the block

Reactive forces Rn developed at each of the

protuberances
Each reactive force consist
of both a frictional component
Fn and normal component Nn
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
Characteristics of Dry Friction

Theory of Dry Friction

Equilibrium
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
Characteristics of Dry Friction
Theory of Dry Friction
Impending Motion
As P is slowly increased, F correspondingly increase
until it attains a certain maximum value F, called the
limiting static frictional force
Limiting static frictional force Fs is directly proportional
to the resultant normal force N

Fs = sN
Characteristics of Dry Friction

Theory of Dry Friction: Impending Motion

Constant of proportionality s is known as the coefficient
of static friction
Angle fs that Rs makes with N is called the angle of static
1 Fs 1 s N
friction :
fs tan tan tan s
1

N N
This concludes that;
Friction force is independent of shape and area of the contacting surface.
The friction force directly proportional to normal force between surfaces of
contact.
The friction force depends on the nature of the surfaces of contact (). Some
of the values of between various surfaces.
Characteristics of Dry Friction

Theory of Dry Friction

Typical Values of s
Contact Materials Coefficient of Static Friction s

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

Characteristics of Dry Friction

Material Surfaces

Wood on wood 0.45 Steel on steel 0.74

Leather on metal 0.3 0.5 Glass on glass 0.4

Cast iron on cast iron 0.16 Ice on ice 0.10

Metal on wood 0.2 0.6 Teflon on Teflon 0.04

Glass on glass 0.4 Tire on concrete 1.00

Mild steel on cast iron 0.24 Tire on wet road 0.60

Tire on snow 0.30
Characteristics of Dry Friction

Theory of Dry Friction

Motion
When P is greater than Fk, the frictional force is
slightly smaller value than Fk, called kinetic frictional
force
The block will not be held in equilibrium (P > Fk) but
slide with increasing speed
Characteristics of Dry Friction

Theory of Dry Friction

Motion
The drop 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
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 = kN
Constant of proportionality k is coefficient of kinetic
friction
k are typically 25% smaller than s
Resultant Rk has a line of action defined by fk, angle
of kinetic friction
Fk 1 k N
fk tan 1 tan tan k
1

N N
THEORY OF DRY FRICTION

Block of weight W placed on horizontal

surface. Forces acting on block are its weight
and reaction of surface N.

Small horizontal force P applied to block. For

block to remain stationary, in equilibrium, a
horizontal component F of the surface reaction
is required. F is a static-friction force.

As P increases, the static-friction force F

increases as well until it reaches a maximum
value Fm.
Fm s N

Further increase in P causes the block to begin

to move as F drops to a smaller kinetic-friction
force Fk.
Fk k N 20
THEORY OF DRY FRICTION (Cont.d)

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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ANGLE OF FRICTION

Consider block of weight W resting on board with

variable inclination angle a.
The value of a when slip is impending is called the angle
of static friction fs , and its value when the surfaces are
sliding relative to each other is called the angle of kinetic
friction fk.

we can express the angles of static and kinetic friction in

terms of the coefficients of friction.
tan fs = s , tan fk = k

22
ANGLE OF FRICTION

In some situations it is more convenient to express the

reaction in terms of its magnitude R and angle of friction f
between the reaction and the normal to surface.

23
PROBLEM INVOLVING DRY FRICTION

All applied forces known All applied forces known Coefficient of static
friction is known
Coefficient of static friction Motion is impending
is known Motion is impending
Determine value of coefficient
Determine whether body of static friction. Determine magnitude or
will remain at rest or slide direction of one of the
applied forces

24
 The Limiting Angle of Friction
RN
R
RN

P
f
A F RN
B
W=mg W=mg

In the case where the surface of contact between A and B is without any fluid or
lubricant (dry friction), body A of weight W is at rest on horizontal plane B as shown
above.
Let P the force applied on block A.
There will be no relative motion until magnitude of acting opposite to the direction
of motion.
In the limiting case, when motion is just about to start, body A will be in equilibrium
under action of three forces and i.e the reaction of B on A. The inclination
F F F RN
tan f
RN W mg RN .(1)
Where is the limiting angle of friction.
If , tanf body A will start to move over the surface of B.
If , tanf body A will not move over the surface B.
 The Limiting Angle of Friction
R
RN

f
F RN
A

a
a W=mg

For an inclined plane as shown above, weight of body A can be resolved into
components:
W sin a mg sin a and W cos a mg cos a
The body A will begin to slide down the plane only when:

mg sin a RN mg cos a
tana but from (1)

tanf thus
tana tanf
a f .(2)
The Inclined Plane
Some of the various forces acting on a body on an inclined plane
are examined;
a) Motion Up the Plane b) Motion Down the Plane

(i)Neglecting friction
(ii)Considering Friction

Let = limiting angle of friction for the contact surface

= Angle of inclination of plane to the horizontal
= Inclination of applied force to the vertical (W)
po = Force required to move the body up the plane (neglecting friction)
P = Force acting on the body parallel to the plane with uniform velocity
R = Resultant reaction force
RN = Normal reaction force
W = Weight of the body
= Coefficient of friction
 a) Motion Up the Plane
(i) Neglecting friction

RN
P0

Direction of P0
motion

A W
a

a
W=mg a RN
a

The body is in equilibrium under the force triangle in Figure above. Applying sine
rule from Figure above;
P0 W

sin a sin a
(ii) Considering Friction

RN P

R
f
Direction of
P
motion A W

F RN a f

W=mg a a f
a R

The friction force is acting in the direction opposite the direction of motion of body
as shown in Figure left. The resultant force is inclined at angle with normal
reaction . From triangle of forces in Figure right, applying sine rule thus

P W

sin a f sin a f
 b) Motion Down The Plane
. For the Figure below, a case is taken, where, so that additional force (when
considering friction) or (when neglecting friction) has to be applied to initiate the
down-sliding of the body with uniform velocity. The force polygon for motion down
the plane without friction is shown in below.
RN
P0
Po

A a
Direction of W
motion
RN a
a
W=mg
a

If neglecting friction force, applying sine rule; P0 sin a

180 f a
sin a
R
RN
W
P
P
f
F RN
R
A
Direction of f a
motion W

W=mg a
a

From Figure 4.6(b), by considering friction force, the sine rule is;
Note: For the case a f the
P ca sin f a direction of P is such that it lowers the

ab sin180 f a
body down the plane at uniform speed
W since W P