Chapter 5

Friction

Prepared by: Engr. Lucia V. Ortega 8/28/20 Statics of Rigid Bodies

Statics of Rigid Bodies Chapter 5: Friction

Chapter Objectives

 To introduce the concept of dry friction and show how to analyze the equilibrium of rigid bodies subjected to
this force.
 To present specific applications of frictional force analysis on wedges, screws, belts and bearings
 To investigate the concept of rolling resistance.

Introduction

Friction forces are tangential forces generated between contacting surfaces. Whenever a tendency exists for one
contacting surface to slide along another surface, the friction forces developed are always in a direction to oppose
this tendency.

Friction forces are present throughout nature and exist in all machines no matter how accurately constructed or
carefully lubricated. A machine or process in which friction is small enough to be neglected is said to be ideal. When
friction must be taken into account, the machine or process is termed real. In all real cases where there is sliding
motion between parts, the friction forces result in a loss of energy which is dissipated in the form of heat. Wear is
another effect of friction.

FRICTIONAL PHENOMENA

Types of Friction

a) Dry Friction – occurs when the unlubricated surfaces of two solids are in contact under a condition of sliding or
a tendency to slide. A friction force tangent to the surfaces of contact occurs both during the interval leading
up to impending slippage and while slippage takes place. The direction of this friction force always opposes the
motion or impending motion. This type of friction is also called Coulomb friction.

b) Fluid friction – occurs when adjacent layers in a fluid (liquid or gas) are moving at different velocities. This
motion causes frictional forces between fluid elements, and these forces depend on the relative velocity
between layers. When there is no relative velocity, there is no fluid friction. Fluid friction depends not only on
the velocity gradients within the fluid but also on the viscosity of the fluid, which is a measure of its resistance
to shearing action between fluid layers. Fluid friction is treated in the study of fluid mechanics.

c) Internal Friction – occurs in all solid materials, which are subjected to cyclical loading. For highly elastic
materials, the recovery from deformation occurs with very little loss of energy due to internal friction. For
materials which have low limits of elasticity and which undergo appreciable plastic deformation during loading,
a considerable amount of internal friction may accompany this deformation. The mechanism of internal friction
is associated with the action of shear deformation, which is discussed in references on materials science.

Dry Friction

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Statics of Rigid Bodies Chapter 5: Friction

Static Friction – is a condition where the body is on the point of slipping or impending motion. The value of the
friction force can be determine by the equations of equilibrium.

𝑭𝒎𝒂𝒙 = 𝝁𝒔 𝑵 eq. 6.1

Where:
𝜇𝑠 = is the proportionality constant, called the coefficient of static friction
𝑁 = the normal force (the reaction of the supporting surface to the weight of the body)

Note: Equation 6.1 describes only the limiting or maximum value of the static friction force and not any lesser value.
Thus, the equation applies only to cases where motion is impending with the friction force is at its peak value. For
condition of static equilibrium when motion is not impending, the static friction force is
𝐹 < 𝜇𝑠 𝑁
Kinetic Friction – accompanies the ensuing motion after slippage has occurred. Kinitic friction force is usually
somewhat less than the maximum static friction force.

𝑭𝒌 = 𝝁𝒌 𝑵 eq. 6.2
Where:
𝜇𝑘 = is the coefficient of kinetic friction which is usually less than 𝜇𝑠

Note: As the velocity of the block increases, the kinetic friction decreases somewhat, and at high velocities, this
decrease may be significant. Coefficients of friction depend greatly on the exact condition of the surfaces, as well as
on the relative velocity, and are subject to considerable uncertainty.

Friction Angles

𝐹
The direction of the resultant R measured from the direction of N is specified by tan 𝛼 = . When the friction force
𝑁
reaches its limiting static value 𝐹𝑚𝑎𝑥 , the angle 𝛼 reaches a maximum value 𝜙𝑠 .
tan 𝜙𝑠 = 𝜇𝑠
When slippage is occurring, the angle 𝛼 has a value 𝜙𝑘 corresponding to the kinetic friction force. In like manner,
tan 𝜙𝑘 = 𝜇𝑘
In practice, we often see tan 𝜙 = 𝜇, in which the coefficient of friction may refer to either the statuc or the kinetic
case, depending on the particukar problem. The angle 𝜙𝑠 is called the angle of static friction, and the angle 𝜙𝑘 is
called the angle of kinetic friction.

Note:
 If motion is impending, R must be one element of a right circular cone
of vertex angle 2𝜙𝑠 . If motion is not impending, R is within the cone.
This cone of vertex angle 2𝜙𝑠 is calangle led the cone of static friction
and represents the locus of possible direction of the reaction R at
impending motion.

 If motion occurs, the angle of kinetic friction applies, and the reaction
must lie on the surface of a slightly different cone of vertex angle 2𝜙𝑘 .
This cone is the cone of kinetic friction.

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.1

A 400 𝑙𝑏 block is resting on a rough horizontal surface for which the coefficient of friction is 0.40. Determine the
force P required to cause motion to impede if applied to the block (a) horizontally or (b) downward at 30 with
the horizontal. (c) What minimum force is required to start motion?

Solution: c) Minimum force P required to start motion

a) P is applied horizontally to the block Note: for minimum value of P, P must be
inclined upward at 𝜃 = 𝜙 with the
horizontal.

∑ 𝐹𝑣 = 0 ↑ + 𝑁−𝑊 =0
𝑁 − 400 = 0 𝑵 = 𝟒𝟎𝟎 𝒍𝒃
𝐹𝑓 = 𝜇𝑁 𝐹𝑓 = 0.40(400) 𝜃 = 𝜙 = tan−1 𝜇
𝑭𝒇 = 𝟏𝟔𝟎 𝒍𝒃 𝜃 = 𝜙 = tan−1 (0.40)
∑ 𝐹ℎ = 0 → + 𝑃 − 𝐹𝑓 = 0 𝜃 = 𝜙 = 21.801°
𝑃 − 160 = 0 𝑷 = 𝟏𝟔𝟎 𝒍𝒃 Answer ∑ 𝐹𝑣 = 0 ↑ +
b) P is applied downward at 30 with the horizontal 𝑁 − 𝑊 + 𝑃 sin 21.801° = 0
𝑁 − 400 + 𝑃 sin 21.801° = 0
𝑵 = 𝟒𝟎𝟎 − 𝑷 𝐬𝐢𝐧 𝟐𝟏. 𝟖𝟎𝟏°
𝐹𝑓 = 𝜇𝑁
𝑭𝒇 = 𝟎. 𝟒𝟎(𝟒𝟎𝟎 − 𝑷 𝐬𝐢𝐧 𝟐𝟏. 𝟖𝟎𝟏° )
∑ 𝐹ℎ = 0 → +
𝑃 cos 21.801° − 𝐹𝑓 = 0
∑ 𝐹𝑣 = 0 ↑ +
𝑃 cos 21.801° − 0.40(400 − 𝑃 sin 21.801° ) = 0
𝑁 − 𝑊 − 𝑃 sin 30° = 0 0.40(400)
𝑁 − 400 − 𝑃 sin 30° = 0 𝑃=
cos 21.801° +0.40(sin 21.801° )
𝑵 = 𝟒𝟎𝟎 + 𝑷 𝐬𝐢𝐧 𝟑𝟎° 𝑷 = 𝟏𝟒𝟖. 𝟓𝟔 𝒍𝒃 Answer
𝐹𝑓 = 𝜇𝑁
𝑭𝒇 = 𝟎. 𝟒𝟎(𝟒𝟎𝟎 + 𝑷 𝐬𝐢𝐧 𝟑𝟎°)
∑ 𝐹ℎ = 0 → +
𝑃 cos 30° − 𝐹𝑓 = 0
𝑃 cos 30° − 0.40(400 + 𝑃 sin 30°) = 0
0.40(400)
𝑃=
cos 30°−0.40(sin 30°)
𝑷 = 𝟐𝟒𝟎. 𝟐𝟑𝟏 𝒍𝒃 Answer

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.2

The 500 𝑙𝑏 block shown in the figure is in contact with a 45 incline. The coefficient of static friction is 0.25.
Compute the value of the horizontal force P necessary to (a) just start the block up the incline or (b) just prevent
motion down the incline. (c) If 𝑃 = 400 𝑙𝑏, what is the amount and direction of the friction force?

Solution:

a) P necessary to start the block up the incline c) 𝑷 = 𝟒𝟎𝟎 𝒍𝒃,

∑ 𝐹𝑣 = 0 ↑ + Since P is less than the minimum value just to
𝑁 cos 45° − 𝑊 − 𝐹𝑓 sin 45° = 0 start the block up the incline, assume 𝐹𝑓 is
𝑁 cos 45° − 500 − 0.25𝑁 sin 45° = 0 directed upward.
𝑵 = 𝟗𝟒𝟐. 𝟖𝟎𝟗 𝒍𝒃 ∑ 𝐹ℎ = 0 → +
𝐹𝑓 = 𝜇𝑁 𝑃 − 𝑁 sin 45° + 𝐹𝑓 sin 45° = 0
𝐹𝑓 = 0.25(942.809) 400 − 𝑁 sin 45° + 𝐹𝑓 sin 45° = 0
𝑭𝒇 = 𝟐𝟑𝟓. 𝟕𝟎𝟐 𝒍𝒃 𝑁 sin 45° − 𝐹𝑓 sin 45° = 400 eq. 1
∑ 𝐹ℎ = 0 → + ∑ 𝐹𝑣 = 0 ↑ +
𝑃 − 𝑁 sin 45° − 𝐹𝑓 cos 45° = 0 𝑁 cos 45° − 𝑊 + 𝐹𝑓 cos 45° = 0
𝑃 − 942.809 sin 45° − 235.702 cos 45° = 0 𝐹𝑓 cos 45° − 500 + 𝐹𝑓 cos 45° = 0
𝑷 = 𝟖𝟑𝟑. 𝟑𝟑𝟑 𝒍𝒃 Answer 𝑁 cos 45° + 𝐹𝑓 cos 45° = 500 eq. 2
b) P just to prevent motion down the incline Solving for 𝑵 and 𝑭𝒇
∑ 𝐹𝑣 = 0 ↑ + 𝑵 = 𝟔𝟑𝟔. 𝟑𝟗𝟔 𝒍𝒃
𝑁 cos 45° − 𝑊 + 𝐹𝑓 cos 45° = 0 𝑭𝒇 = 𝟕𝟎. 𝟕𝟏𝟏 𝒍𝒃
𝑁 cos 45° − 500 + 0.25𝑁 cos 45° = 0 Since the result is positive, the assumption is
𝑵 = 𝟓𝟔𝟓. 𝟔𝟖𝟓 𝒍𝒃 correct. Check the value of 𝝁
𝐹𝑓 = 𝜇𝑁
𝐹𝑓 = 𝜇𝑁
𝐹𝑓 = 0.25(565.865)
70.711 = 𝜇(636.396)
𝑭𝒇 = 𝟏𝟒𝟏. 𝟒𝟐𝟏 𝒍𝒃 𝝁 = 𝟎. 𝟏𝟏𝟏
∑ 𝐹ℎ = 0 → + The coefficient of friction necessary to maintain
𝑃 − 𝑁 sin 45° − 𝐹𝑓 sin 45° = 0 equilibrium is less than 0.25
𝑃 − 565.685 sin 45° + 141.421 sin 45° = 0
𝑷 = 𝟑𝟎𝟎 𝒍𝒃 Answer

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.3

What weight W is necessary to start the system of blocks shown in the figure moving to the right? The coefficient of friction is
0.10 and the pulleys are assumed frictionless.

Solution:
𝐹2 = 𝜇𝑁2 𝐹2 = 0.10(346.41)
a) Consider FBD of the 𝟔𝟎𝟎 𝒍𝒃 block
𝐹2 = 34.641 𝑙𝑏
∑ 𝐹𝑣 = 0 ↑ + 𝑁1 − 600 = 0
∑ 𝐹𝑥 = 0 → +
𝑁1 = 600 𝑙𝑏
𝑇2 − 𝑇1 − 𝐹2 − 400 sin 30° = 0
𝐹1 = 𝜇𝑁1 𝐹1 = 0.10(600)
𝑇2 − 60 − 34.641 − 400 sin 30° = 0
𝐹1 = 60 𝑙𝑏
𝑇2 = 294.641 𝑙𝑏
∑ 𝐹ℎ = 0 → + 𝑇1 − 𝐹1 = 0
c) Consider FBD of the weight W
𝑇1 = 60 𝑙𝑏
∑ 𝐹𝑣 = 0 ↑ +
b) Consider FBD of the 𝟒𝟎𝟎 𝒍𝒃 block
𝑇2 − 𝑊 = 0
∑ 𝐹𝑦 = 0 ↑ + 𝑁2 − 400 cos 30° = 0
𝑾 = 𝟐𝟗𝟒. 𝟔𝟒𝟏 𝒍𝒃 Answer
𝑁2 = 346.41 𝑙𝑏

Example 5.4

In the figure, a solid strut attached to each block with frictionless pins connects two blocks. If the coefficient of friction under
each block is 0.25 and B weighs 270 𝑙𝑏, find the minimum weight of A to prevent motion.

olution: b) Consider FBD of block A

a) Consider FBD of block B ∑ 𝐹ℎ = 0 → +
∑ 𝐹𝑣 = 0 ↑ + 𝐹2 − 𝑃 cos 30°
𝑁1 cos 60° + 𝑃 sin 30° + 𝐹1 cos 30° − 270 = 0 𝐹2 − 201.889 cos 30°
𝑁1 cos 60° + 𝑃 sin 30° + 0.25𝑁1 cos 30° − 270 = 0 𝐹2 = 174.841 𝑙𝑏
𝑵𝟏 (𝐜𝐨𝐬 𝟔𝟎° + 𝟎. 𝟐𝟓 𝐜𝐨𝐬 𝟑𝟎°) + 𝑷 𝐬𝐢𝐧 𝟑𝟎° = 𝟐𝟕𝟎 (1) 𝐹2 = 𝜇𝑁2
𝐹2 174.841
∑ 𝐹ℎ = 0 → + 𝑁2 = =
𝜇 0.25
𝑃 cos 30° + 𝐹1 sin 30° − 𝑁1 sin 60° = 0
𝑁2 = 699.364 𝑙𝑏
𝑃 cos 30° + 0.25𝑁1 sin 30° − 𝑁1 sin 60° = 0 ∑ 𝐹𝑣 = 0 ↑ +
𝑵𝟏 (𝐬𝐢𝐧 𝟔𝟎° − 𝟎. 𝟐𝟓 𝐬𝐢𝐧 𝟑𝟎°) − 𝑷 𝐜𝐨𝐬 𝟑𝟎° = 𝟎 (2)
𝑁2 − 𝑊 − 𝑃 sin 30° = 0
Solving eq. 1 and 2 simultaneously 699.364 − 𝑊 − 201.889 sin 30° = 0
𝑵𝟏 = 𝟐𝟑𝟓. 𝟗𝟒𝟒 𝒍𝒃 𝑷 = 𝟐𝟎𝟏. 𝟖𝟖𝟗 𝒍𝒃 𝑾 = 𝟓𝟗𝟖. 𝟒𝟐 𝒍𝒃 Answer

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.5

A force of 400 lb is applied to the pulley shown in the figure. The pulley is prevented from rotating by a force P
applied at the end of the brake lever. If the coefficient of friction at the brake surface is 0.20, determine the value
of P.

Solution:

a) Consider FBD of the pulley

Take summation of moment at the center
∑ 𝑀𝑜 = 0 ↷ +
400(10) − 𝐹𝑓 (20) = 0
𝐹𝑓 = 200 𝑙𝑏
𝐹𝑓 = 𝜇𝑁 200 = 0.10𝑁
𝑁 = 1000 𝑙𝑏
b) Consider FBD of the brake lever
Take summation of moment at the hinge
∑ 𝑀𝑜 = 0 ↷ +
1000(16) − 200(8) − 𝑃(48) = 0
𝑷 = 𝟑𝟎𝟎 𝒍𝒃 Answer

Example 5.6

A horizontal arm having a bushing 2 in. long is slipped over a 2 in. diameter vertical rod, as shown in the figure.
The coefficient of friction between the bushing and the rod is 0.20. Compute the minimum length L at which a
weight W can be placed to prevent the arm from slipping down the rod. Neglect the weight of the arm.

Solution: b) Consider FBD of horizontal arm and bushing

∑ 𝐹𝑣 = 0 ↑ +
a) Consider FBD of the vertical rod 𝑊
When the weight W is applied, the point of contact 2𝐹𝑓 − 𝑊 = 0 𝐹𝑓 =
2
𝑊
between the rod and the bushing is as shown in the 𝐹𝑓 = 0.20𝑁 = 0.20𝑁
2
FBD. The rod will slide upward so the force of 𝑁 = 2.5𝑊
friction will be directed downward. The normal ∑ 𝑀𝐶𝐿 = 0 ↷ +
reaction will be a couple equal to the moment of 𝑊(𝐿) − 𝑁(2) = 0
the load W about the centerline of the rod. 𝑊(𝐿) − 2.5𝑊(2) = 0
𝐹𝑓 = 𝜇𝑁 𝐹𝑓 = 0.20𝑁 𝑳 = 𝟓 𝒊𝒏. Answer

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.7

A plank 10 𝑓𝑡 long is placed in a horizontal position with its ends resting on two inclined planes, as shown in the
figure. The angle of friction is 20. Determine how close the load P can be placed to each end before slipping
impends.

Solution:

a) When P is close to A, end A will go down and end

B will go up
∑ 𝐹ℎ = 0 → + 𝑅𝐴 sin 25° − 𝑅𝐵 sin 50° = 0
sin 50°
𝑅𝐴 = 𝑅𝐵
sin 25°
∑ 𝐹𝑣 = 0 ↑ +
𝑅𝐴 cos 25° + 𝑅𝐵 cos 50° − 𝑃 = 0
sin 50°
𝑅 cos 25° + 𝑅𝐵 cos 50° − 𝑃 = 0
sin 25° 𝐵
sin 50°
𝑅𝐵 ( cos 25° + cos 50°) = 𝑃
sin 25°
𝑃
𝑅𝐵 = sin 50°
cos 50°+
tan 25°
∑ 𝑀𝐴 = 0 ↷ +
𝑃(𝑥) − 𝑅𝐵 (10) cos 50° = 0
𝑃
𝑃(𝑥) − ( sin 50° ) (10) cos 50° = 0
cos 50°+
tan 25°
𝒙 = 𝟐. 𝟖𝟏𝟐 𝒇𝒕 Answer
b) When P is close to B, end B will go down and end
A will go up
∑ 𝐹ℎ = 0 → + 𝑅𝐴 sin 65° − 𝑅𝐵 sin 10° = 0
sin 65°
𝑅𝐵 = 𝑅𝐴
sin 10°
∑ 𝐹𝑣 = 0 ↑ +
𝑅𝐴 cos 65° + 𝑅𝐵 cos 10° − 𝑃 = 0
sin 65°
𝑅𝐴 cos 65° + 𝑅 cos 10° − 𝑃 = 0
sin 10° 𝐴
sin 65°
𝑅𝐴 (cos 65° + )=𝑃
tan 10°
𝑃
𝑅𝐴 = sin 65°
cos 65°+
tan 10°
∑ 𝑀𝐵 = 0 ↷ +
𝑅𝐴 (10) cos 65° − 𝑃(𝑥) = 0
𝑃
( sin 65° ) (10) cos 65° − 𝑃(𝑥) = 0
cos 65°+
tan 10°
𝒙 = 𝟎. 𝟕𝟔 𝒇𝒕 Answer

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Statics of Rigid Bodies Chapter 5: Friction

APPLICATIONS OF FRICTION IN MACHINES

Wedges

A wedge is one of the simplest and most useful machines. A wedge is used to produce small adjustments in the
position of a body or to apply large forces. Wedges largely depend on friction to function. When sliding of a wedge
is impending, the resultant force on each sliding surface of the wedge will be inclined from the normal to the surface
by an amount equal to the friction angle. The component of the resultant along the surface is the friction force,
which is always in the direction to oppose the motion of the wedge relative to the mating surfaces.

Example 5.8

In the figure, determine the minimum weight of block B that will keep it at rest while a force P starts block A up
the inclined surface of B. The weight of A is 100 𝑙𝑏 and the angle of friction for all surfaces in contact is 15.

Solution: b) Consider FBD of block B

By force triangle
a) Consider FBD of block A 𝑊 𝑅𝐴 𝑊 141.421
By force triangle = =
sin 30° sin 15° sin 30° sin 15°
100 𝑾 = 𝟐𝟕𝟑. 𝟐𝟎𝟓 𝒍𝒃 Answer
tan 45° = 𝑃 = 100 𝑙𝑏
𝑃
100
sin 45° = 𝑅𝐴 = 141.421 𝑙𝑏
𝑅𝐴

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.9
In the figure, determine the value of P just sufficient to start the 10  wedge under the 400 𝑙𝑏 block. The angle of
friction is 20 for all contact surfaces.

Solution:

a) Consider FBD of the 𝟒𝟎𝟎 𝒍𝒃 block b) Consider FBD of the wedge

By force triangle By force triangle

400 𝑅1 𝑅2 𝑃 𝑅2 𝑅3
= = = =
sin 70° sin 30° sin 80° sin 50° sin 70° sin 60°

𝑅1 = 212.836 𝑙𝑏 𝑅3 = 377.124 𝑙𝑏
𝑅2 = 419.204 𝑙𝑏 𝑷 = 𝟑𝟑𝟑. 𝟓𝟖𝟔 𝒍𝒃 Answer

Example 5.10
Determine the force P required to start the wedge shown in the figure. The angle of friction for all surfaces in
contact is 15.

Solution: b) Consider FBD of the wedge

a) Consider FBD of the block
∑ 𝐹𝑣 = 0 ↑ +
𝑅1 cos 15° − 𝑅2 sin 15° − 2000 = 0 eq. 1
∑ 𝐹ℎ = 0 → +
−𝑅1 sin 15° + 𝑅2 cos 15° − 500 = 0 eq. 2
𝑃 𝑅2 𝑅3
Solving eqns. 1 and 2 simultaneously = =
sin 45° sin 60° sin 75°
𝑅1 = 2380.14 𝑙𝑏 𝑅3 = 1288.675 𝑙𝑏
𝑅2 = 1155.39 𝑙𝑏 𝑷 = 𝟗𝟒𝟑. 𝟑𝟕𝟔 𝒍𝒃 Answer

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.11

To adjust the vertical position of a column supporting a 2000 𝑙𝑏 load, two 5 wedges are used as shown in the
figure. Determine the force P necessary to start the wedges if the angle of friction at all surfaces is 25. Neglect
friction at the rollers.

Solution: 2309.401 sin 30° + 2206.756 sin 25° − 𝑃 = 0

𝑷 = 𝟐𝟎𝟖𝟕. 𝟑𝟏𝟔 𝒍𝒃 Answer
a) Consider FBD of the column
c) Consider FBD of the lower wedge
∑ 𝐹𝑣 = 0 ↑ + 𝑅1 cos 25° − 2000 = 0
∑ 𝐹𝑣 = 0 ↑ +
𝑅1 = 2206.756 𝑙𝑏
𝑅3 cos 25° − 𝑅2 cos 30° = 0
b) Consider FBD of the upper wedge
𝑅3 cos 25° − 2309.401 cos 30° = 0
∑ 𝐹𝑣 = 0 ↑ +
𝑅3 = 2206.756 𝑙𝑏
𝑅2 cos 30° − 𝑅1 cos 25° = 0
∑ 𝐹ℎ = 0 → +
𝑅2 cos 30° − 2206.756 cos 25° = 0
𝑃 − 𝑅2 sin 30° − 𝑅3 sin 25° = 0
𝑅2 = 2309.401 𝑙𝑏
𝑃 − 2309.401 sin 30° − 2206.756 sin 25° = 0
∑ 𝐹ℎ = 0 → +
𝑷 = 𝟐𝟎𝟖𝟕. 𝟑𝟏𝟔 𝒍𝒃 Answer
𝑅2 sin 30° + 𝑅1 sin 25° − 𝑃 = 0

Screws

Screws are used for fastening and for transmitting power or motion. In each case, the friction developed in the
threads largely determines the action of the screw. For transmitting power or motion, the square thread is more
efficient than the V-thread, and the analysis here is confined to the square thread.

Force analysis
𝑀 = [𝑟 sin(𝛼 + 𝜙)] ∑ 𝑅
Equilibrium of forces in the axial direction further requires that
𝑊 = ∑ 𝑅 cos(𝛼 + 𝜙) = [cos(𝛼 + 𝜙)] ∑ 𝑅
Combining the expression for M and W gives

𝑴 = 𝑾𝒓 𝐭𝐚𝐧(𝜶 + 𝝓) eq. 6.3

To determine the helix angle 𝛼, unwrap the thread of the screw for one complete turn and note that 𝛼 =
tan−1 (𝐿⁄2𝜋𝑟 ).

We may use the unwrapped thread of the screw as an alternative model to simulate the action of the entire screw.
The equivalent force required to push the movable thread up the fixed incline is 𝑃 = 𝑀 ⁄𝑟 , and the triangle force
vectors gives eq. 6.3 immediately.

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Statics of Rigid Bodies Chapter 5: Friction

Conditions for Unwinding

If the moment M is removed, the friction force changes direction so that 𝜙 is measured to the other side of the
normal to the thread. The screw will remain in place and be self-locking provided that 𝛼 < 𝜙, and will be on the
verge of unwinding if 𝛼 = 𝜙

To lower the load by unwinding the screw, we must reverse the direction of M as long as 𝛼 < 𝜙. An equivalent force
𝑃 = 𝑀⁄𝑟 must be applied to the thread to pull it down the incline. From the triangle of vectors we therefore obtain
the moment required to lower the screw, which is

𝑴 = 𝑾𝒓 𝐭𝐚𝐧(𝜶 + 𝝓) eq. 6.3a

If 𝛼 > 𝜙, the screw will unwind by itself, and that the moment required to prevent unwinding is

𝑴 = 𝑾𝒓 𝐭𝐚𝐧(𝜶 − 𝝓) eq. 6.3b

Example 5.12

The 40 mm diameter screw has a double square thread with a pitch of 12 mm and a lead of 24 mm. The screw
and its mating threads in the fixed block are graphite-lubricated and have a friction coefficient of 0.15. If a torque
𝑀 = 60 𝑁 ∙ 𝑚 is applied to the right-hand portion of the shaft, determine (a) the force P required to advance the
shaft to the right and (b) the force P which would allow the shaft to move to the left at a constant speed.

Solution:
24
a) Helix angle: 𝛼 = tan−1 = 10.812°
40𝜋
b) Friction angle:
𝜙 = tan−1 𝜇 = tan−1 0.15 = 8.531°
c) 𝛼 > 𝜙, screw is not self-locking
d) 𝛼 + 𝜙 = 19.343° , 𝛼 − 𝜙 = 2.281°
e) 𝑀 = 𝑃𝑟 tan(𝛼 − 𝜙) : 60 = 𝑃(0.02) tan 2.281°
𝑷 = 𝟕𝟓, 𝟑𝟏𝟔. 𝟑𝟏𝟕 𝑵 = 𝟕𝟓. 𝟑𝟏𝟔 𝒌𝑵 Answer
f) 𝑀 = 𝑃𝑟 tan(𝛼 + 𝜙) : 60 = 𝑃(0.02) tan 19.343°
𝑷 = 𝟖, 𝟓𝟒𝟔. 𝟎𝟗 𝑵 = 𝟖. 𝟓𝟓 𝒌𝑵 Answer

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.13

The device shown is used for coarse adjustment of the height of an experimental apparatus without a change in
its horizontal position. Because of the slip-joint at A, turning the screw does not rotate the cylindrical leg above
3
A. The mean diameter of the thread is 𝑖𝑛. and the coefficient of friction is 0.15. For a conservative design, which
8
neglects friction at slip-joint, what should be the minimum number N of the threads per inch to ensure that the
single-threaded screw does not turn by itself under the weight of the apparatus?

Solution:

a) Friction angle: 𝜙 = tan−1 𝜇 = tan−1 0.15 = 8.531°

𝐿
b) tan 𝛼 = ; critical when 𝜶 = 𝝓
2𝜋
3⁄8
𝐿 = 2𝜋𝑟 tan 𝜙 = 2𝜋 ( ) tan 8.531°
2
𝐿 = 0.1767 in. per revolution
𝟏 𝟏
c) 𝑵= = = 𝟓. 𝟔𝟔 𝐭𝐡𝐫𝐞𝐚𝐝𝐬 𝐩𝐞𝐫 𝐢𝐧𝐜𝐡 Answer
𝑳 𝟎.𝟏𝟕𝟔𝟕

Example 5.14

The bar clamp is being used to clamp two boards together while the glue between them cures. What torque 𝑀
must be applied to the handle of the screw in order to produce an 80 𝑙𝑏 compression between the boards? The
3
𝑖𝑛. diameter single-thread screw has 12 square threads per inch, and the effective coefficient of friction is 0.2.
8
Neglect any friction in the pivot contact at C. What torque 𝑀 is required in to loosen the clamp?

Solution:
𝐿 1⁄12
a) Helix angle: 𝛼 = tan−1 = tan−1 [ ] = 4.046°
𝜋𝑑 𝜋(3⁄8)
−1 −1 (0.20)
b) Friction angle: 𝜙 = tan 𝜇𝑠 = tan = 11.31°
3⁄8
c) Tighten: 𝑀 = 𝑃𝑟 tan(𝛼 + 𝜙) = 80 ( ) tan(4.046° + 11.31°)
2
𝑀 = 4.119 𝑙𝑏 ∙ 𝑖𝑛
3⁄8
d) Loosen: 𝑀 = 𝑃𝑟 tan(𝜙 − 𝛼 ) = 80 ( ) tan(11.31° − 4.046°)
2
𝑀 = 1.912 𝑙𝑏 ∙ 𝑖𝑛
Note: < 𝜙 , so screw is self-locking (a good feature for the clamp!)

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Statics of Rigid Bodies Chapter 5: Friction

Journal Bearings

A journal bearing is one which gives lateral support to a shaft in contrast to axial or thrust support. For dry bearings
and for many partially lubricated bearings we may apply the principles of dry friction. These principles provide a
satisfactory approxiimations for design purposes.

In the figure, taking summation of moments about A equal to

zero gives
𝑴 = 𝑳𝒓𝒇 = 𝑳𝒓 𝐬𝐢𝐧 𝝓 eq. 6.4
Where:
M = torque required to maintain rotation
L = radial load
R = reaction at the contact point A
𝑟𝑓 = friction circle radius
𝜙 = friction angle

For a small coefficient of friction, the angle  is small, and the sine and tangent may be interchanged with only small
error. Since 𝜇 = tan 𝜙, a good approximation to the torque is

𝑴 = 𝝁𝑳𝒓 eq. 6.4a

This relation gives the amount of torque or moment which must be applied to the shaft to overcome friction for a
dry or partially lubricated journal bearing.

Thrust Bearings: Disk Friction

𝑀 = ∫ 𝜇𝑝𝑟 𝑑𝐴
Where:
𝑀 = maximum torque the clutch can transmit which is equal to the torque M required to slip one disk against each
other.
𝑝 = normal pressure at any location between the plates
𝜇 = friction coefficient
𝑑𝐴 = 𝑟 𝑑𝑟 𝑑𝜃 (area of the element)

Assumptions:  is constant, 𝑃 = 𝜋𝑅2 𝑝 (pressure is constant over the entire surface)

𝝁𝑷 𝟐𝝅 𝑹 𝟐 𝟐
𝑴= ∫ ∫𝟎 𝒓 𝒅𝒓 𝒅𝜽 = 𝝁𝑷𝑹 eq. 6.5
𝝅𝑹𝟐 𝟎 𝟑

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Statics of Rigid Bodies Chapter 5: Friction

If the disks are rings, the limits of the integration are the inside and outside radii 𝑅𝑖 and 𝑅𝑜 , respectively, and the
frictional torque becomes
𝟐 𝑹𝒐 𝟑 −𝑹𝒊 𝟑
𝑴 = 𝝁𝑷 eq. 6.5a
𝟑 𝑹𝒐 𝟐 −𝑹𝒊 𝟐

After the initial wearing-in period is over, the surfaces retain their new relative shape and further wear is therefore
constant over the surface. This wear depends on both the circumferential distance traveled and the pressure p. Since
the distance is proportional to r, the expression 𝑟𝑝 = 𝐾 may be written, where K is a constant. The value of K is
determined from the equilibrium for the axial forces, which gives
2𝜋 𝑅
𝑃 = ∫ 𝑝 𝑑𝐴 = 𝐾 ∫0 ∫0 𝑑𝑟 𝑑𝜃 = 2𝜋𝐾𝑅
𝑃
With 𝑝𝑟 = 𝐾 = , the expression for M can be written as
2𝜋𝑅
𝜇𝑃 2𝜋 𝑅
𝑀 = ∫ 𝜇𝑝𝑟 𝑑𝐴 = ∫ ∫0 𝑟𝑑𝑟 𝑑𝜃
2𝜋𝑅 0

which becomes
1
𝑀 = 𝜇𝑃𝑅 eq. 6.6
2

1⁄2 3
The frictional moment for worn-in plates is, therefore, only , or as much as for new surfaces. If the friction disks
2⁄3 4
are rings of inside radius 𝑅𝑖 and outside 𝑅𝑜 , substitutions of these limits gives for the frictional torque for worn-in
surfaces.
1
𝑀 = 𝜇𝑃(𝑅𝑜 + 𝑅𝑖 ) eq. 6.6a
2

Example 5.15

A torque 𝑀 = 1510 𝑁 ∙ 𝑚 must be applied to the 50 𝑚𝑚 diameter shaft of the hoisting drum to raise the 500 𝑘𝑔
load at constant speed. The drum and shaft together have a mass of 100 𝑘𝑔. Calculate the coefficient of friction
𝜇 for the bearing.

Solution:
a) 𝑟𝑓 = 𝑟 sin 𝜙 = 0.025 sin 𝜙
b) ∑ 𝑀𝐴 = 0
1510 − 981(0.025 sin 𝜙) − 500(9.81)(0.3 +
0.025 sin 𝜙) = 0
sin 𝜙 = 0.2616 ; 𝜙 = 15.17°
c) 𝜇 = tan−1 𝜙 = tan−1 15.17° = 𝟎. 𝟐𝟕𝟏 Answer
d) Using 𝑟𝑓 = 𝑟𝜙 ; 𝜙 = 15.0°
e) 𝜇 = tan−1 𝜙 = tan−1 15.0° = 𝟎. 𝟐𝟔𝟖 Answer

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.16

The two flywheels are mounted on a common shaft which is supported by a journal bearing between them. Each
flywheel has a mass of 40 kg, and the diameter of the shaft is 40 mm. If a 3 𝑁 ∙ 𝑚 couple 𝑀 on the shaft is required
to maintain rotation of the flywheels and shaft at a constant low speed, compute (a) the coefficient of friction in
the bearing and (b) the radius 𝑟𝑓 of the friction circle.

Solution:
𝑀 3
a) 𝑀 = 𝑅𝑟 sin 𝜙 ; sin 𝜙 = =
𝑅𝑟 2(40)(9.81)(0.040⁄2)
𝜙 = 11.019°
b) 𝜇 = tan 𝜙 = tan 11.019° = 0.1947
0.040
c) 𝑟𝑓 = 𝑟 sin 𝜙 = sin 11.019° = 0.00382 𝑚
2
or 𝒓𝒇 = 𝟑. 𝟖𝟐 𝒎𝒎 Answer

Example 5.17

Determine the tension T in the cable to raise the 800 𝑘𝑔 load if the coefficient of friction for the 30 𝑚𝑚 bearing
is 0.25. Also, find the tension 𝑇𝑜 in the stationary section of the cable. The mass of the cable and pullet is small
and may be neglected.

Solution:

a) 𝜙 = tan−1 0.25 = 14.036°

b) 𝑟𝑓 = 𝑟 sin 𝜙 = 15 sin 14.036° = 3.638 𝑚𝑚
c) ∑ 𝐹𝑣 = 0 ↑ + : 𝑇 + 𝑇𝑜 − 800(9.81) = 0 (1)
d) ∑ 𝑀𝐴 = 0 ↷ +
𝑇(150 − 3.638) − 𝑇𝑜 (150 + 3.638) = 0 (2)
e) Solving eqns. 1 & 2
𝑻 = 𝟒𝟎𝟏𝟗. 𝟏𝟕 𝑵 𝑻𝒐 = 𝟑𝟖𝟐𝟖. 𝟖𝟑 𝑵

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.18

The weight of the drum 𝐷 and its cable is 100 𝑙𝑏, and the coefficient of friction 𝜇 for the bearing is 0.20. Determine
the force P required to raise the 80 𝑙𝑏 cylinder if the bearing friction is (a) neglected and (b) included in the
analysis. The weight of the shaft is negligible.

Solution:

a) FBD of shaft and attached drum, with force P replaced by a force-couple system at G.
𝑟𝑓 = 0 ∑ 𝑀𝐺 = 0 80(10) − 16𝑃 = 0 𝑃 = 50 𝑙𝑏
b) 𝜙 = tan−1 0.20 = 11.31°
c) 𝑟𝑓 = 𝑟 sin 𝜙 = 1 sin 11.31° = 0.1961 𝑚𝑚
d) ∑ 𝑀𝐵 = 0 80(10 + 0.1961) + 100(0.1961) + 𝑃(0.1961) − 16𝑃 = 0
𝑷 = 𝟓𝟐. 𝟕𝟐 𝒍𝒃 Answer
(This solution assumes that a single force R as shown above can represent the bearing reaction.)

Example 5.19

The front wheels of an experimental rear-drive vehicle have a radius of 300 𝑚𝑚 and are designed with disk-type
brakes consisting of a ring A with outside and inside radii of 150 𝑚𝑚 and 75 𝑚𝑚, respectively. The ring, which
does not turn with the wheel, is forced against the wheel disk with a force P. If the pressure between the ring and
the wheel disk is uniform over the mating surfaces, compute the friction force F between each front tire and the
horizontal road for an axial force 𝑃 = 1 𝑘𝑁 when the vehicle is powered at constant speed with the wheels
turning. The coefficient of friction between the disk and ring is 0.35.

Solution:

a) For constant pressure, eq. 6.5a gives

2 𝑅𝑜 3 −𝑅𝑖 3
𝑀 = 𝜇𝑃
3 𝑅𝑜 2 −𝑅𝑖 2
2 (150)3 −(75)3
𝑀 = (0.35)(1) (150)2
3 −(75)2
𝑀 = 40.8 𝑁 ∙ 𝑚
b) For wheel,
∑ 𝑀𝑜 = 0 𝐹(0.3) − 40.8 = 0
𝑭 = 𝟏𝟑𝟔. 𝟏 𝑵 Answer

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.20

The pulley system shown is used to hoist the 200 kg block. The diameter of the bearing for the upper pulley is 20
mm, and that of the bearing for the lower pulley is 12 mm. For a coefficient of friction 𝜇 = 0.25 for both bearings,
calculate the tensions, 𝑇1 and 𝑇2 in the three cables if the block is being raised slowly.

Solution: f) ∑ 𝐹𝑣 = 0
𝑇1 + 𝑇2 − 𝑅2 = 0
a) 𝜙 = tan−1 0.25 = 14.036°
𝑇1 + 𝑇2 = 200(9.81)
b) 𝑑1 = 𝑟𝑜 sin 𝜙 = 10 sin 14.036° = 2.43 𝑚𝑚
g) Combine and get 2.067𝑇2 = 1962
c) 𝑑2 = 6 sin 14.036° = 1.4552 𝑚𝑚
𝑻𝟐 = 𝟗𝟒𝟗. 𝟐𝟎𝟏 𝑵 , 𝑻𝟏 = 𝟏𝟎𝟏𝟐. 𝟕𝟗𝟖 𝑵
d) ∑ 𝑀𝐴 = 0
𝑻 = 𝟏. 𝟎𝟓𝟓(𝟏𝟎𝟏𝟐. 𝟕𝟗𝟖) = 𝟏𝟎𝟔𝟖. 𝟓𝟎𝟐 𝑵
𝑇(90 − 2.43) − 𝑇1 (90 + 2.43) = 0
92.43
𝑇= 𝑇 = 1.055𝑇1
87.57 1
e) ∑ 𝑀𝐵 = 0
𝑇1 (45 − 1.455) − 𝑇2 (45 + 1.455) = 0
46.455
𝑇1 = 𝑇 = 1.067𝑇2
43.545 2

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Statics of Rigid Bodies Chapter 5: Friction

Flexible Belts
The impending slippage of flexible cables, belts, and ropes over sheaves and drums is important in the design of belt
drives of all types, band brakes, and hoisting rigs.

In the figure:
M = torque necessary to prevent rotation
R = bearing reaction
𝑇1 = tension in the slack side
𝑇2 = tension in the tight side
𝑇2 > 𝑇1

 Equilibrium in the t-direction gives  Integrating between corresponding limits yields

𝑑𝜃 𝑑𝜃 𝑇2 𝑑𝑇 𝛽
𝑇 cos + 𝜇 𝑑𝑁 = (𝑇 + 𝑑𝑇) cos ∫𝑇 = ∫0 𝜇 𝑑𝜃
2 2 1 𝑇
𝜇 𝑑𝑁 = 𝑑𝑇 𝑇2
ln = 𝜇𝛽
𝑇1
 Equilibrium in the n-direction gives that
𝑑𝜃 𝑑𝜃
 Where the ln(𝑇2 ⁄𝑇1 ) is a natural logarithm (base e).
𝑑𝑁 = (𝑇 + 𝑑𝑇) sin + 𝑇 sin Solving for 𝑇2
2 2
𝑑𝑁 = 𝑇𝑑𝜃 𝑻𝟐 = 𝑻𝟏 𝒆𝝁𝜷 eq. 6.7
 Combining the two equilibrium relations Note: 𝛽 is the total angle of contact and must be
gives expressed in radians
𝑑𝑇
= 𝜇 𝑑𝜃
𝑇

Rolling Resistance

Deformation at the point of contact between a rolling wheel and its supporting surface introduces a resistance to
rolling. This resistance is not due to tangential friction forces and therefore is an entirely different phenomenon from
that of dry friction.

Taking summation of moment about A gives

𝑎
𝑃 = 𝐿 = 𝜇𝑟 𝐿
𝑟

Where:

P = force applied at the center to produce rolling

L = axle load
𝑎
𝜇𝑟 = (coefficient of rolling resistance)
𝑟

Note: Because the dimension 𝑎 depends on many factors, which are

difficult to quantify, a comprehensive theory of rolling resistance is
not available.

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.21

What is the minimum coefficient of friction 𝜇 between the rope and the fixed
shaft, which will prevent the unbalanced cylinders from moving?

Solution:
𝑇2 100
= 𝑒 𝜇𝛽 = 𝑒 𝜋𝜇 𝜋𝜇 = ln 2
𝑇1 50

𝐥𝐧 𝟐
𝝁= = 𝟎. 𝟐𝟐𝟏 Answer
𝝅

Example 5.22

Determine the range of cylinder weights W for which the system is in equilibrium. The coefficient of friction
between the 100 𝑙𝑏 block and the incline is 0.20 and that between the cord and the cylindrical support surface is
0.30.

Solution: b) Motion impending up the plane

∑ 𝐹𝑥 = 0
a) Motion impending down the plane
𝑇1 − 100 sin 20° _0.20(93.97) = 0
∑ 𝐹𝑦 = 0
𝑇1 = 52.996 𝑙𝑏
𝑁 = 100 cos 20° = 93.97 𝑙𝑏
𝑇2 = 𝑇1 𝑒 𝜇𝛽
∑ 𝐹𝑥 = 0 11
𝑇2 − 100 sin 20° + 0.20(93.97) = 0 𝑊 = 52.996𝑒 0.3(18𝜋)
𝑇2 = 15.41 𝑙𝑏 𝑾 = 𝟗𝟒. 𝟐𝟕𝟏 𝒍𝒃
𝑇2 = 𝑇1 𝑒 𝜇𝛽 So range is:
11 𝟖. 𝟔𝟔𝟑 𝒍𝒃 ≤ 𝑽 ≤ 𝟗𝟒. 𝟐𝟕𝟏 𝒍𝒃 Answer
15.41 = 𝑊𝑒 0.3(18𝜋) 𝟏𝟏
𝑾 = 𝟖. 𝟔𝟔𝟑 𝒍𝒃 (Note that 𝜷 = 𝟗𝟎° + 𝟐𝟎° = 𝟏𝟏𝟎° 𝒐𝒓 𝝅)
𝟏𝟖

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Statics of Rigid Bodies Chapter 5: Friction

Example 5.23

For a certain coefficient of friction 𝜇 and a certain angle 𝛼, the force P required to
raise 𝑚 is 4 𝑘𝑁 and that required to lower 𝑚 at a constant slow speed is 1.6 𝑘𝑁.
Calculate the mass 𝑚.

Solution:
𝑇2 4 𝑚𝑔
= 𝑒 𝜇𝛽 = 𝑒 𝛽𝜇 = 𝑒 𝛽𝜇
𝑇1 𝑚𝑔 1.6

4 𝑚𝑔
Thus, = 𝑚2 𝑔2 = 4(1.6)
𝑚𝑔 1.6

4(1.6)
𝑚 = √(9.81)2 𝒎 = 𝟎. 𝟐𝟓𝟖 𝑴𝒈 = 𝟐𝟓𝟖 𝒌𝒈 Answer

Example 5.24

Under the action of the applied couple 𝑀 of the 25 𝑘𝑔 cylinder bears against the roller A, which is free to turn. If
the coefficients of static and kinetic friction between the cylinder and the horizontal surface are 0.50 and 0.40,
respectively, determine the friction force F acting on the cylinder is (a) 𝑀 = 20 𝑁 ∙ 𝑚 and (b) 𝑀 = 40 𝑁 ∙ 𝑚.

Solution: b) Assume wheel slips and ∑ 𝑴𝒐 ≠ 𝟎.

So 𝑭 = 𝝁𝒌 𝑵𝟏
a) Assume complete equilibrium
∑ 𝐹𝑥 = 0
∑ 𝑀𝑜 = 0 𝑀 − 𝐹𝑟 = 0
𝑀 20 𝜇𝑘 𝑁1 − 𝐴 cos 30° = 0
𝐹= = = 133.333 𝑁
𝑟 0.15 0.40𝑁1 − 𝐴 cos 30° = 0 eq. 1
∑ 𝐹𝑥 = 0 133.333 − 𝐴 cos 30° = 0 ∑ 𝐹𝑦 = 0
𝐴 = 153.96 𝑁 𝑁1 − 25(9.81) − 𝐴 sin 30° = 0 eq. 2
∑ 𝐹𝑦 = 0
Solving eqs. 1 and 2 simultaneously
𝑁1 − 153.96 sin 30° − 25(9.81 = 0) 𝑁1 = 319.896 𝑁
𝑁1 = 322.23 𝑁 𝐴 = 147.292 𝑁
𝜇𝑠 𝑁1 = 0.5(322.23) = 161.115 𝑁 𝐹 = 0.4(319.896)
Since 𝟏𝟑𝟑. 𝟑𝟑𝟑 𝑵 < 𝟏𝟔𝟏. 𝟏𝟏𝟓 𝑵, slipping does 𝑭 = 𝟏𝟐𝟕. 𝟗𝟔 𝑵 Answer
not occur and assumption is valid. Thus, Assumption is valid since:
𝑭 = 𝟏𝟑𝟑. 𝟑𝟑𝟑 𝑵 Answer 𝟒𝟎𝑵 ∙ 𝒎 > {𝟎. 𝟏𝟓(𝟏𝟐𝟕. 𝟗𝟔) = 𝟏𝟗. 𝟏𝟗𝟒 𝑵 ∙ 𝒎}

Prepared by: Engr. Lucia V. Ortega Page 20 of 20