• Friction

Introduction
• In preceding chapters, it was assumed that surfaces in contact were either
frictionless (surfaces could move freely with respect to each other) or
rough (tangential forces prevent relative motion between surfaces).

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

contact, tangential forces, called friction forces, will develop if one
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.

• There are two types of friction: dry or Coulomb friction and fluid friction.
Fluid friction applies to lubricated mechanisms. The present discussion is
limited to dry friction between nonlubricated surfaces.
The Laws of Dry Friction. Coefficients of 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
The Laws of Dry Friction. Coefficients of Friction

• Maximum static-friction force:

Fm   s N

• Kinetic-friction force:
Fk   k N
 k  0.75 s

• Maximum static-friction force and kinetic-

friction force are:
- proportional to normal force
- dependent on type and condition of contact
surfaces
- independent of contact area
The Laws of Dry Friction. Coefficients of Friction
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 > Fk)
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  s N Fk k N
tan s   tan k  
N N N N
 tan s   s  tan k  k
Angles of Friction
Consider now block of weight W resting on plane with variable inclination angle q

No friction No motion Motion impending Motion

Angles of Friction
Sample Problem 8.1
A 100 lb force acts as shown on a 300 lb block placed on an inclined plane. The coefficients
of friction between the block and plane are s = 0,25 and k = 0,20. Determine whether the
block is in equilibrium and find the value of the friction force.
Sample Problem 8.1
SOLUTION:
Determine values of normal reaction and
friction force required to maintain equilibrium

 Fx  0 : 100 - 53 300  F  0

F  80 lb

 Fy  0 : N - 54 300  0

N  240 lb
Calculate maximum friction force Fm and compare with
friction force required to maintain equilibrium F
• If Fm > F, block will not slide
• If Fm < F, block will slide

Fm  s N Fm  0,25  240  60 lb

The block will slide down the plane.

Sample Problem 8.1

Since block will slide, calculate kinetic-friction force

Factual  Fk  k N
 0,20  240  48lb
Sample Problem 8.3
The moveable bracket shown may be placed at any height on the 3 in. diameter pipe. If the
coefficient of friction between the pipe and bracket is 0,25, determine the minimum distance
x at which the load can be supported. Neglect the weight of the bracket.
Sample Problem 8.3
SOLUTION:
• When W is placed at minimum x, the bracket is about to slip and
friction forces in upper and lower collars are at maximum value.

FA   s N A  0.25 N A
FB   s N B  0.25 N B
• Apply conditions for static equilibrium to find minimum x.

 Fx  0 : N B  N A  0 NB  N A
 Fy  0 : FA  FB  W  0
0.25 N A  0.25 N B  W  0
0.5 N A  W N A  N B  2W
MB  0: 6 N A  3FA  W x  1,5  0
6 N A  30,25 N A   W x  1,5  0
62W   0,752W   W x  1,5  0
x  12 in.
Problem 8.1, Ed. 8
Wedges

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

machines used to raise
heavy loads.
 Fx  0 :  Fx  0 :
 N1   s N 2  0   s N 2  N 3  s cos 6  sin 6
• Force required to lift  Fy  0 : P0
block is significantly
less than block weight.  W   s N1  N 2  0 F y  0:
or  N 2  N 3 cos 6   s sin 6  0
• Friction prevents wedge
  
from sliding out. R1  R2  W  0 or
  
• Want to find minimum P  R2  R3  0
force P to raise block.
Sample Problem 8.4
Sample Problem 8.4
Sample Problem 8.4
Problem 8.50, Ed. 8
Problem 8.50, Ed. 8
Square-Threaded Screws

• Square-threaded screws are frequently

used in jacks, presses, etc.
• Analysis is similar to block on inclined
plane
• Friction force does not depend on area of
contact
• Moment of force P is equal to M

M  Pa
Square-Threaded Screws

M  Pa

Thread of base has been “unwrapped” and shown

as straight line. Slope is 2pr horizontally and lead
L vertically
Square-Threaded Screws

s  q s  q s  q
Self-locking, solve for Q to Self-locking, solve for Q Non-locking, solve for
lift load to lower load Q to hold load

Q  W tan(q  s ) Q  W tan(s  q ) Q  W tan(q  s )

Subida/aperto do Descida/desaperto do Descida do parafuso não
parafuso autoblocante parafuso autoblocante autoblocante
Square-Threaded Screws

• Moment of force Q is equal to moment of force P

Qr  Pa  M

• Condição para um parafuso autoblocante

s  q
Sample Problem 8.5
A clamp is used to hold two pieces of wood together as shown. The clamp has a double
square thread of mean diameter equal to 10 mm with a pitch of 2 mm. The coefficient of
friction between threads is s = 0.30.
If a maximum torque of 40 N*m is applied in tightening the clamp, determine (a) the force
exerted on the pieces of wood, and (b) the torque required to loosen the clamp.
Sample Problem 8.5
SOLUTION
• Calculate lead angle and pitch angle. For the double
threaded screw, the lead L is equal to twice the pitch.

L 22 mm 
tan q    0.1273 q  7.3
2p r 10p mm
tan  s   s  0.30  s  16.7

• Using block and plane analogy with impending motion up

the plane, calculate force Q and clamping force W with
force triangle

40 N  m
Q r  40 N  m Q  8 kN
5 mm
Q 8 kN
tan q   s   W
W tan 24
W  17.97 kN
Sample Problem 8.5

• With impending motion down the plane, calculate the

force and torque required to loosen the clamp.

tans  q  
Q
W
 Q  17,97 tan 9,4  2,98kN

M  Qr
  
 M  2,98  103 5  103  14,9 N  m
Problem 8.70, Ed. 8
Problem 8.70, Ed. 8
Problem 8.71, Ed. 8
Problem 8.71, Ed. 8
Thrust Bearings. Disk Friction
Thrust Bearings. Disk Friction
dA = (r dθ)(dr) dN = p dA

dM = r dF

When R2 = R and R1 = 0:
Problem 8.90, Ed. 8
Problem 8.90, Ed. 8
Problem 8.91, Ed. 8
Problem 8.91, Ed. 8
Problem 8-112, Hibbeler, Ed. 11
*8–112. The plate clutch consists of a flat plate A that slides over the rotating shaft S. The
shaft is fixed to the driving plate gear B. If the gear C, which is in mesh with B, is subjected
to a torque of M = 0.8 N·m, determine the smallest force P, that must be applied via the
control arm, to stop the rotation. The coefficient of static friction between the plates A and
D is μs = 0.4. Assume the bearing pressure between A and D to be uniform.
Wheel Friction. Rolling Resistance

• Point of wheel in • Deformations of wheel and ground cause

contact with ground resultant of ground reaction to be applied at
has no relative motion A. P is required to balance moment of W
with respect to about A.
ground.
Pr = Wa
Ideally, no friction. a = coefficient of rolling resistance
Problem 8.96, Ed. 8
Problem 8.96, Ed. 8
Problem 8.98, Ed. 8
Problem 8.98, Ed. 8
Belt Friction
Belt Friction

Integrating this equation between all the points of contact that

the belt makes with the drum, and noting that T = T1 at θ = 0
and T = T2 at θ = β, yields

T2, T1 = belt tensions; T1 opposes the direction of motion (or impending motion) of the belt measured
relative to the surface, while T2 acts in the direction of the relative belt motion (or impending
motion); because of friction, T2 > T1
μ = coefficient of static or kinetic friction between the belt and the surface of contact
β = angle of belt to surface contact, measured in radians
Sample Problem 8.8
A flat belt connects pulley A to pulley B. The coefficients of friction are s = 0.25
and k = 0.20 between both pulleys and the belt. Knowing that the maximum
allowable tension in the belt is 600 lb, determine the largest torque which can be
exerted by the belt on pulley A.
Sample Problem 8.8
SOLUTION:
• Since angle of contact is smaller, slippage will
occur on pulley B first. Determine belt tensions
based on pulley B.

 e s   e 0.252p 3  1.688
T2 600 lb
T1 T1
600 lb
T1   355.4 lb
1.688

• Sum moments about pulley center to determine

torque.

T   M A  8  355.4  600  163.1lb  ft

M A  163.1lb  ft
Problem 8.104, Ed. 8
Problem 8.104, Ed. 8
Problem 8.112, Ed. 8
Problem 8.112, Ed. 8