P1-TH-C5 Ma Sat Giua Cac Vat Ran - English - Compatibility Mode PDF

5
Chương
Cơ học kỹ thuật: TĨNH HỌC
Cơ học kỹ thuật Engineering Mechanics
Engineering Mechanics: STATICS TĨNH HỌC STATICS
Friction Friction
Applied Mechanics Applied Mechanics

Lecturer: Nguyen Quang Hoang
Applied Mechanics - Department of Mechatronics - SME Applied Mechanics - Department of Mechatronics - SME
Ma sát – Friction Ma sát – Friction
1. Introduction
INTRODUCTION AND CLASSIFICATION OF FRICTION
1. Introduction
2. Classification of friction
Without friction
• We can not walk on the

ground
• Brake does not work
• Car/train/bicycle does not
work
• Ladder can not stand
• …
Applied Mechanics - Department of Mechatronics - SME 3 Applied Mechanics - Department of Mechatronics - SME 4
1. Introduction 1. Introduction
Jack Let’s observe some cases:
If pushing force P < P0, The belt does not slide The wheel can not roll
the block stays at rest even though T1  T2 if P.h small (P.h < M0)
(equilibrium)
W
Vise belt
P
Without friction
If  < 0, the block
stays at rest
• Vise, Jack does not Question: Which force hinders the motion or tendency of the
work W body?
• Belt transmission
does not work Ans: Friction
• Belt brake …. friction, force that resists the sliding or rolling of one body over
 another.
1. Introduction 2. Classification of friction

The boby stays at rest, so force system acts Q: How about direction of friction force? 1. Dry and fluid friction
on the body is in equilibrium.
2. Static and kinetic friction
W
W Frictional force acting in a tangent 3. Slipping and rolling friction
direction at the point of contact between
F F two objects, whose direction is to hinder
 N the motion or the tendency to move W W
between two objects at the point of
N
contact.
(W, P, N, F) = 0 (W, N, F) = 0

what happen if we increase pushing force P Q: How about magnitude of friction force?
(or angle )? P
The force of friction is limited in magnitude
If P > P0, the block moves to the right and will not be able to prevent motion if h
the applied force is large enough.
If  > 0, the block slides down
1. Static and kinetic sliding friction

Experiment done by Coulomb (1736–1806): W
DRY SLIDING FRICTION – COULOMB FRICTION While pushing force P less than limit value P0, the block P
stays at rest, it means Fms = P.
Maximum friction force Fmsmax = P0 when P = P0. Fms

1. Static sliding friction and kinetic sliding friction N
Varying the weight W, recording values of W, N, P0
2. Cone of friction, friction angle
k Wk Nk = Wk Fkmax = P0 F1 max F2 max Fk max
3. Examples 1
  ..   s Approximate Values of
N1 N2 Nk Coefficient of Static Friction
4. Remarks on equilibrium analysis with friction 2 for Dry Surfaces
.. s Static friction
coefficient, depend
on the pair of
Coulomb’s law of friction: surfaces in contact,
on the materials
Fms  P0  s N used.
1. Static and kinetic sliding friction 2. Angle of static friction / Cone of static friction
Consider the case the block is in equilibrium under
kinetic sliding friction W W
action of forces P and W.
How about friction force if the block is in moving? P v    
(W , P , N , Fs )  0 and Fs  F0  s N P
Fs
  
Using approximate Fk Let R  N  Fs tan   Fs / N tan  max  s R
N N 
Fk  k N k – kinetic friction coefficient Angle max is called “angle of static friction”.
The body in equilibrium, if    max

F n
Normally, k < s and No motion Motion W
If we rotate P0 one round about the normal axis n, line contains
k  k (v ) Fs
R creats a “cone of friction”. This cone has a angle of 2max. P0
Fk
Fs
F=P
45o
The body in equilibrium, if R stay in max N R

P “cone of friction”.
P0
3. Examples 3. Examples
Example 1. Block with weight G resting on a rough inclined plane (angle of Case 2. If force F is small enough, the block has tendency downwards.
slope , coefficient of static friction μ0) is subjected to an external force F. The static friction force H then is oriented upwards.
Specify the range of F such that the block stays at rest. From the equilibrium conditions
Solution
We don’t know the motion tendency of the block, we need to consider two
cases: 1) the block has tendency upward, 2) the block has tendency
downward.
0  tan 0
Case 1. If force F is large enough, the block has tendency upward. The
static friction force H then is oriented downwards.
From the equilibrium conditions
Summarizing the results (a) and (b) yields the following admissible
range for the force F:
0  tan 0
The block stays at rest provided that F is in the range between [Fmin and Fmax]
3. Examples 3. Examples
Example 2. Block with weight G resting on a rough inclined plane (angle of
slope , coefficient of static friction μs) is subjected to an horizontal force S. Example 3.
W
Specify the maximum value of S to maintain the block staying at rest. S The ladder is a uniform rod of length L of
weight P, one end resting on a horizontal B
Solution. Assume that with Smax the block has tendency upwoard, the friction is
platform and one end on a vertical wall.
directed downwards: 
Determine the maximum angle of the ladder
 S  F cos   N sin   0 F  s N  N tan  max with respect to the vertical wall so that 
 W  F sin   N cos   0 the ladder can stand, if the wall is smooth
and the coefficient of static sliding friction
S  N tan  cos   N sin   0  S  N (tan  cos   sin  )
between the ladder and the ground is . P
W
W  N tan  sin   N cos   0 N  W
cos   tan  sin 
tan  cos   sin  sin(   ) S 
S W W  W tan(   )
cos   tan  sin  cos(   )
A
Notes thats 0  ,   90  F N
What happens if cos(   )  0    90  
S becomes very large, but the block can not move up. Self locking.
3. Examples 4. Remarks on equilibrium analysis with friction

Consider the ladder in the verge state (is ready to slide The problem of equilibrium in the presence of friction is B  0.4
B
down), then the angle  = max. NB complicated :
B
• Coulomb's law is written in the form of an inequality. We Fms  s N
Fkx : N B  FA  0 can use the equal sign in the critical case (in verge state,
     ready to move).
(P , N A , FA , N B )  0 Fky : N A  P  0 • The direction of the friction force is sometimes unknown. It P
is necessary to assume a sliding tendency at the point of A 

mA (Fk ) : 21 Pl sin   N Bl cos   0 NA contact. A  0.3
P • The problem can have friction at one contact point or at
in the verge state, we have several contact points.
 B
• Sliding at points may or may not occur simultaneously.
FA   N A • The equilibrium condition must not only satisfy the
FA A
equilibrium equations, but also satisfy the conditions for the Q
Solving 4 equations gives law of friction.
• Solve the problem with different assumptions, check P P
N A  P, N B  21 P tan  , FA  N B  21 P tan 
whether the result is satisfied with that assumptions. A C
tan   2    max  tan (2  )  arctan(2  ).
1
A  0.3 C  0.5
4. Remarks on equilibrium analysis with friction 4. Remarks on equilibrium analysis with friction
If sliding occurs simultaneously at all B  0.4 Sliding tendency at some point (but not simultaneous)
B
contact points == > Consider the
Fms  s N B By By
critical case
Bx Bx
Q
For instance, consider the case of a ladder: P
A  Q
- Sliding tendency occurs simultaneously at two contacst point A P P
A  0.3 100 100
and B, FB A C
N N C
- Directions of sliding tendency are known  direction of friction A
FB  0.4N B A  0.3 C  0.5 FC
forces are known. FA
NA
- For the verge state, we use the equility (F = s N). NB NC
Write 3 Eqs of equilibrium and 2 Eqs of friction law to find 5 - We do not know Sliding tendency at 1 or 2 points (not simultaneous).
unkowns: min, NA, FA, NB, FB ? 100 N - We do not know direction of Sliding tendency.
  We need to make assumptions for each case of consideration,
FA FA  0.3N A solving for each case, check the obtained answers if they satisfy
NA the assumptions.
1. Rolling friction
Observe the “experiment”: W
While
P  P0  s N & Ph  m 0 P
ROLLING FRICTION
R
The wheel stays at rest (no sliding, no rolling). h
1. Rolling friction Force at the contact point?

k Wk Nk=Wk m0 = mlmax
2. Example    
(W , N , P , Fms , ml )  0 1
2
W ..
P m1 max m 2 max mk max

  ..   ks dimensionless rolling
N1 N2 Nk resistance coefficient
h ml N
ks Static rolling friction coefficient with ks
dimension length (m, cm, mm, ..),
C rr 
Fms R
depending on contact surface, materials.
1. Rolling friction 2. Examples

Static rolling friction law: The rolling frictional moment W Example 1: On a horizontal plane, a uniform wheel P
appear when the body has a tendency of relative rolling, with center O and radius R, the weight P is acted
P
has a direction opposite to the direction of the rolling upon by the torque M and the force Q as shown in the M
Q
tendency, and has a value bounded above. h ml N figure. Knowing the coefficient of static sliding friction
is , the coefficient of static rolling friction k.
R
ml £ kN Fms
Determine the value of the torque M and the force Q
so that the wheel can stay in equilibrium.
P
W W
Why does the rolling moment appear?:
P Q M
- Actually there is a contact area not a N
contact point; N N
h ml ml
- When applying a force P, force R
distribution (pressure) on contact
area is not symmetric any more. Fms
Fms I
symmetric asymmetric
2. Examples P
In case Q and M are small enough, the wheel stays at rest.
We have    
(P,Q, N , Fms , M , ml ) º 0 Q M
N
Equations of equilibrium
ml
å Fkx = Q - Fms = 0 R
å Fky = N - P = 0

å mI (Fk ) = -M + ml - QR = 0 Fms I
 Fms = Q, N = P, ml = M + QR
Based on static friction law, we have Fms £ mN  Q £ mP,

conditions for equilibrium of the wheel:
ml £ kN  M + QR £ kP
Q £ mP & M £ kP - QR
1. Wedge
A wedge is one of simplest and most useful machines which is often used to transform an
applied force into much larger forces, directed at approximately right angles to the applied force.
Also, wedges can be used to give small displacements or adjustments to heavy loads.
FRICTION IN SIMPLE MACHINES Other requirement of a wedge is “self-locking”.
Parameters of a wedge are wedge angle and static friction coefficient (related to contact body).
1. Wedge W
2. Frictional Force in Square Threaded Screws

3. Flat Belts P

Impending motion
1. Wedge 2. Frictional Force in Square Threaded Screws

Neglecting the weight, the free-body diagram of the wedge at impending sliding is shown
Frictional Force in Square Threaded Screws M
 - be the angle between the contact force R

and the normal n to the contact surface. Screw press
In verge case  =s, with s = atan(μs) – friction
angle. h
  
(P, R, R)  0 1
   RP W
R  N F 2 sin(s   ) r
R  P if 2 sin(s   )  1, it means (s   ) small
In the absence of P, the wedge becomes a two-force body. Therefore, the

contact forces R must be collinear, as indicated in the free-body diagram in
Fig, where now  = β.
Equilibrium can exist only if  ≤ s, we conclude that the wedge will stay in Vise
place provided that β ≤ s.
2. Frictional Force in Square Threaded Screws 2. Frictional Force in Square Threaded Screws
M Upward screw motion
Requirements to a screw press (or a jack): W M
Provided M is great enough, the screw (and hence the block)
1. Small applied torque M creats large press force W
can either be brought to the verge of upward impending motion
2. Screw keeps pressing the object when the torque is
or motion can be occurring.
removes, M = 0, (self locking) h
The block A is still at rest
   
Square-threaded screws are frequently used in jacks, presses, and (W , S , N , F )  0 S  M /r
W
other mechanisms. Their analysis is similar to the analysis of a block r
sliding along an inclined plane.
W Eqs of equilibrium  S  R sin(   )  0 r
 R cos(   )  W  0
W
W
Friction condition for equilibrium:
A F
    atan(s ) S max  W tan(   ) S
 R
p p = screw lead 
tan    M  Wr tan(   ) N
2 r  is the lead angle.
2. Frictional Force in Square Threaded Screws 2. Frictional Force in Square Threaded Screws
Downward screw motion W So to keep the screw at rest with given force W, the moment need W M
M
Provided M is small enough, the screw (and hence the block) can to satisfy:
either be brought to the verge of downward impending motion or Wr tan(   )  M  Wr tan(   )
motion can be occurring. (by changing the direction of friction F). M min  M  M max
The block A is still at rest r – radius of screw
     – lead angle, tan = p/2r
(W , S , N , F )  0 S  M /r  – friction angle, tan = s
r p – lead of the screw r
Eqs of equilibrium S  R sin(   )  0 Self-locking screw

W If the moment M (or its effect S) is removed, the screw will W
R cos(   )  W  0 remain self-locking, i.e. it will support the load W by friction
A
forces alone: provided    .
S min  W tan(   ) S’
To show this, consider the necessary limiting case when  = .
 Here vertical equilibrium is maintained since R is vertical and 
R 
R thus balances W.
 Wr tan(   )  M  =  = atan(s).
Self locking,
verge case θ = 
3. Frictional Forces on Flat Belts 3. Frictional Forces on Flat Belts

Consider a belt segment in verge state (ready to
slide). Position and size of segment are defined 1
d
1
2
d
2
by (, d).
Forces on this segment: d

   
(T ,T  dT , dN , dF )  0 dF  dN
d
Equations of equilibrium (tangent and normal direction)
(T  dT ) cos(d / 2)  T cos(d / 2)  dN  0

Problem: givens angle , static friction 
dN  (T  dT ) sin(d / 2)  T sin(d / 2)  0
coefficient , force T1, determine T2 : 
1) So that the belt can not slide on the
surface (for belt transmission). Using approximate
2) To pull the belt slide on the surface.
cos(d / 2)  1, sin(d / 2)  d / 2 dT  dN  0
dT sin(d / 2)  0
dN  Td  0

Solving Eqs. of equilibrium gives Example 1. The cylindrical roller shown in Fig. a is subjected
dT  to a moment Md. A rough belt (coefficient of static friction μ0)
dN  dT , dN  Td   d is wrapped around the roller and connected to a lever.
T
Determine the minimum value of F such that the roller stays
Taking integration with at rest (strap brake). Neglect the weights of all bodies.
T = T1 at θ = 0 and T = T2 at θ = β
T2 dT  T2
T1 T
   d
0
 ln
T1
 
Solving for T2
 is the coefficient of static. The free-body diagram of the system is given in Fig. 9.9b. The
T2  T1e  , T2  T1 β is the angle of belt to surface contact, (radian). equilibrium of moments for both lever and roller yields
To keep the belt on the surface (no T2  Te 

1
sliding), then
T1e    T2  T1e 
In other case, if T1 > T2, do the same
we obtain T1  T2e 

Example 2. The maximum tension that can be developed in the cord shown in Fig. is 500N. If
the pulley at A is free to rotate and the coefficient of static friction at the fixed drums B and C is
μs = 0.25, determine the largest mass of the cylinder that can be lifted by the cord. Assume
that the force T applied at the end of the cord is directed vertically downward, as shown.
Obviously, S2 > S1 is valid for equilibrium due to the
orientation of Md. Introducing the angle of wrap α = π, the 1 2
condition for limiting friction follows
D
B C
45o 45o
A
T rotate freely
W = mg
Note: convert the angle from degree to radian.
1 = 2 =  - /4 = 3/4
3. Frictional Forces on Flat Belts

Consider the verge case: (belt is ready to slide) Impending Impending
motion motion
Drum B 135o
135o
s  D T2‘
T2  T1e : 500 N  T1e 0.25[(3/4) ] B T1 C
277.4 N T1‘
T2
500 N 500 N (b)
T1    277.4 N
Problems
(c)
exp{0.25[(3 / 4) ]} 1.80 500 N W=mg
Drum C
s 
T2  T1e : 277.4 N  We 0.25[(3/4) ]
T1 T2‘
W  153.9 N
Maximum mass can be lifted 45o 45o
A
W 153.9 N Free
m   15.7 kg
g 9.81 m/s2 T1 = T2‘ rotation
P1. The uniform plank is initially at rest on 8–18. The tongs are used to lift the 150-kg
the fixed support at A and the stationary crate, whose center of mass is at G.
drum at B. If the drum begins rotating Determine the least coefficient of static
slowly counterclockwise, determine how far friction at the pivot blocks so that the crate
the plank will travel before it comes to rest can be lifted.
again. (Note: Because the drum rotates
slowly, the inertia of the plank may be
neglected.)
8-4. If the coefficient of static friction at A is

s = 0.4 and the collar at B is smooth so it
only exerts a horizontal force on the pipe,
P2. The man is trying to push the homogeneous determine the minimum distance so that
20-kg ladder AB up a wall by applying the the bracket can support the cylinder of any
horizontal force P. Determine the smallest value mass without slipping. Neglect the mass of
of P that would move the ladder. The coefficient the bracket.
of static friction between the ladder and both
contact surfaces is 0.3.
P1. A 500-N concrete block is to be lifted 8–13. The coefficient of static friction between
by the pair of tongs shown. Determine the the drum and brake bar is s = 0.4. If the
smallest allowable value of the coefficient moment M = 35 Nm, determine the smallest
of static friction between the block and the force P that needs to be applied to the brake
tongs at F and G. bar in order to prevent the drum from rotating.
Also determine the corresponding horizontal
and vertical components of reaction at pin O.
Neglect the weight and thickness of the brake
bar. The drum has a mass of 25 kg.
8–14. Determine the minimum coefficient

of static friction between the uniform 50-kg
spool and the wall so that the spool does
P2. Determine the smallest force P, applied to
not slip.
the plunger D, that will prevent the couple C =
250 Nꞏm from moving the cylinder. Friction may
be neglected at all surfaces, except between the
plunger and cylinder. The masses of the bodies
are negligible.
8–40. If  = 30o, determine the minimum coefficient 8–83. If the clamping force on the pipe is 900 N,
of static friction at A and B so that the roller remains determine the horizontal force that must be
selflocking, regardless of the magnitude of force P applied perpendicular to the handle in order to
applied to the belt. Neglect the weight of the roller loosen the screw. The single square-threaded
and neglect friction between the belt and the screw has a mean diameter of 25 mm and a
vertical surface. lead of 5 mm.The coefficient of static friction is
s = 0.4. Note: The screw is a two-force
member since it is contained within pinned
collars at A and B.
8–60. If  = 15o, determine the minimum 8–84. The clamp provides pressure from
coefficient of static friction between the several directions on the edges of the board. If
collars A and B and the rod required for the the square-threaded screw has a lead of 3 mm,
system to remain in equilibrium, regardless mean radius of 10 mm, and the coefficient of
of the weight of cylinder D. Links AC and static friction is s = 0.4 determine the
BC have negligible weight and are horizontal force developed on the board at A
connected together at C by a pin. and the vertical forces developed at B and C if
a torque of M = 1.5 Nm is applied to the handle
to tighten it further. The blocks at B and C are
pin connected to the board.
P1. The square-threaded screw of the C- Prob.

clamp has a mean diameter of 9 mm and a A band brake is used to control the speed of a flywheel
pitch of 1.5 mm. The coefficient of static as shown. The coefficients of friction are s = 0.30 and
friction between the threads is 0.2. If the k = 0.25. Determine the magnitude of the couple being
torque C = 1.25 N ꞏ m is used to tighten the applied to the flywheel, knowing that P = 45 N and that
clamp, determine (a) the clamping force; the flywheel is rotating counterclockwise at a constant
and (b) the torque required to loosen the speed.
clamp.
P2. The screw of the car jack has a pitch of
0.3 cm. and a mean radius of 0.525 cm.
Note that the ends of the screw are
threaded in opposite directions (right and
left-handed threads). The coefficient of
static friction between the threads is 0.08.
Calculate the torque C0 that must be
applied to the screw in order to start the
1200 N load moving (a) upward; and (b)
downward.
A. The force P applied to the brake handle enables the band Prob. 1
brake to reduce the angular speed of a rotating drum. If the The coefficient of static friction between
tensile strength of the band is 3800 N, find the maximum safe block B and the horizontal surface and
value of P and the corresponding braking torque acting on the between the rope and support C is 0.40.
drum. Assume that the drum is rotating clockwise. Knowing that mA = 12 kg, determine the
Solve the problem if the drum is rotating counterclockwise. smallest mass of block B for which
equilibrium is maintained.
Prob. 2
The coefficient of static friction s is the
B. The rope running over two fixed cylinders carries the 4-kg same between block B and the horizontal
mass at one end. Determine the force P that must be applied to surface and between the rope and support
the other end to initiate motion. The coefficient of static friction C. Knowing that mA = mB, determine the
between the rope and the cylinders is 0.15. smallest value of s for which equilibrium is
maintained.

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5

Applied Mechanics Applied Mechanics

Ma sát – Friction Ma sát – Friction

INTRODUCTION AND CLASSIFICATION OF FRICTION

• We can not walk on the

Ma sát – Friction Ma sát – Friction

1. Introduction 2. Classification of friction

1. Static and kinetic sliding friction

Maximum friction force Fmsmax = P0 when P = P0. Fms

Ma sát – Friction Ma sát – Friction

The body in equilibrium, if    max

Ma sát – Friction Ma sát – Friction

What happens if cos(   )  0    90  

3. Examples 4. Remarks on equilibrium analysis with friction

Ma sát – Friction Ma sát – Friction

1. Rolling friction Force at the contact point?

P m1 max m 2 max mk max

Ma sát – Friction Ma sát – Friction

1. Rolling friction 2. Examples

Based on static friction law, we have Fms £ mN  Q £ mP,

Ma sát – Friction Ma sát – Friction

2. Frictional Force in Square Threaded Screws

1. Wedge 2. Frictional Force in Square Threaded Screws

 - be the angle between the contact force R

R  P if 2 sin(s   )  1, it means (s   ) small

In the absence of P, the wedge becomes a two-force body. Therefore, the

Ma sát – Friction Ma sát – Friction

Eqs of equilibrium S  R sin(   )  0 Self-locking screw

Ma sát – Friction Ma sát – Friction

3. Frictional Forces on Flat Belts 3. Frictional Forces on Flat Belts

(T  dT ) cos(d / 2)  T cos(d / 2)  dN  0

3. Frictional Forces on Flat Belts 3. Frictional Forces on Flat Belts

To keep the belt on the surface (no T2  Te 

Ma sát – Friction Ma sát – Friction

3. Frictional Forces on Flat Belts 3. Frictional Forces on Flat Belts

3. Frictional Forces on Flat Belts

Ma sát – Friction Ma sát – Friction

8-4. If the coefficient of static friction at A is

8–14. Determine the minimum coefficient

Ma sát – Friction Ma sát – Friction

P1. The square-threaded screw of the C- Prob.

Ma sát – Friction Ma sát – Friction

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