Eighth Edition

8
CHAPTER VECTOR MECHANICS FOR ENGINEERS:
STATICS
Ferdinand P. Beer
E. Russell Johnston, Jr. Friction
Lecture Notes:
J. Walt Oler
Texas Tech University

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

Edition
Eighth
Vector Mechanics for Engineers: Statics
Contents

Introduction
Laws of Dry Friction. Coefficients
of Friction.
Angles of Friction
Problems Involving Dry Friction
Sample Problem 8.1
Sample Problem 8.3
Wedges
Belt Friction.
Sample Problem 8.8

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Edition
Eighth
Vector Mechanics for Engineers: Statics
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.

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

of degree.

• 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.
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Edition
Eighth
Vector Mechanics for Engineers: Statics
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 = µ s N

• Further increase in P causes the block to begin

to move as F drops to a smaller kinetic-friction
force Fk.
Fk = µ k N
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Edition
Eighth
Vector Mechanics for Engineers: Statics
The Laws of Dry Friction. Coefficients of Friction
• Maximum static-friction force:
Fm = µ s N

• Kinetic-friction force:
Fk = µ k N
µ k ≅ 0.75µ 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

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Edition
Eighth
Vector Mechanics for Engineers: Statics
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 > Fm)

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Edition
Eighth
Vector Mechanics for Engineers: Statics
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 µ s N Fk µ k N
tan φ s = = tan φ k = =
N N N N
tan φ s = µ s tan φ k = µ k

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Edition
Eighth
Vector Mechanics for Engineers: Statics
Angles of Friction
• Consider block of weight W resting on board with
variable inclination angle θ.

• No friction • No motion • Motion • Motion

impending

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Edition
Eighth
Vector Mechanics for Engineers: Statics
Problems 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

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Edition
Eighth
Vector Mechanics for Engineers: Statics
Sample Problem 8.1
SOLUTION:
• Determine values of friction force
and normal reaction force from plane
required to maintain equilibrium.

• Calculate maximum friction force

and compare with friction force
required for equilibrium. If it is
greater, block will not slide.

• If maximum friction force is less

A 100 lb force acts as shown on a 300 lb than friction force required for
block placed on an inclined plane. The equilibrium, block will slide.
coefficients of friction between the block Calculate kinetic-friction force.
and plane are µs = 0.25 and µk = 0.20.
Determine whether the block is in
equilibrium and find the value of the
friction force.

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Edition
Eighth
Vector Mechanics for Engineers: Statics
Sample Problem 8.1
SOLUTION:
• Determine values of friction force and normal
reaction force from plane required to maintain
equilibrium.
∑ Fx = 0 : 100 lb - 53 (300 lb ) − F = 0
F = −80 lb

∑ Fy = 0 : N - 54 (300 lb ) = 0

N = 240 lb
• Calculate maximum friction force and compare
with friction force required for equilibrium. If it is
greater, block will not slide.
Fm = µ s N Fm = 0.25(240 lb ) = 60 lb

The block will slide down the plane.

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Edition
Eighth
Vector Mechanics for Engineers: Statics
Sample Problem 8.1
• If maximum friction force is less than friction
force required for equilibrium, block will slide.
Calculate kinetic-friction force.
Factual = Fk = µ k N
= 0.20(240 lb )
Factual = 48 lb

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Edition
Eighth
Vector Mechanics for Engineers: Statics
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.
• Apply conditions for static equilibrium
to find minimum x.

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.
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Edition
Eighth
Vector Mechanics for Engineers: Statics
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 = µ s N A = 0.25 N A
FB = µ 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
∑ M B = 0 : N A (6 in.) − FA (3 in.) − W ( x − 1.5 in.) = 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.
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Edition
Eighth
Vector Mechanics for Engineers: Statics
Wedges

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

machines used to raise ∑ Fx = 0 : ∑ Fx = 0 :
heavy loads.
− N1 + µ s N 2 = 0 − µ s N 2 − N3 (µ s cos 6° − sin 6°)
• Force required to lift ∑ Fy = 0 : +P=0
block is significantly
less than block weight. − W − µ s N1 + N 2 = 0 ∑ Fy = 0 :
or − N 2 + N3 (cos 6° − µ 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.

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Edition
Eighth
Vector Mechanics for Engineers: Statics
Belt Friction
• Relate T1 and T2 when belt is about to slide to right.
• Draw free-body diagram for element of belt
∆θ ∆θ
∑ Fx = 0 : (T + ∆T ) cos − T cos − µ s ∆N = 0
2 2
∆θ ∆θ
∑ Fy = 0 : ∆N − (T + ∆T ) sin − T sin = 0
2 2
• Combine to eliminate ∆N, divide through by ∆θ,
∆T ∆θ  ∆T  sin (∆θ 2 )
cos − µ s T + 
∆θ 2  2  ∆θ 2
• In the limit as ∆θ goes to zero,
dT
− µ sT = 0
dθ
• Separate variables and integrate from θ = 0 to θ = β

= e µs β
T2 T2
ln = µ s β or
T1 T1
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Edition
Eighth
Vector Mechanics for Engineers: Statics
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.
• Taking pulley A as a free-body, sum
moments about pulley center to
A flat belt connects pulley A to pulley B. determine torque.
The coefficients of friction are µs = 0.25
and µk = 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.

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Edition
Eighth
Vector Mechanics for Engineers: Statics
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 µs β = e 0.25(2π 3) = 1.688
T2 600 lb
T1 T1
600 lb
T1 = = 355.4 lb
1.688
• Taking pulley A as free-body, sum moments about
pulley center to determine torque.

∑MA = 0: M A + (8 in.)(355.4 lb − 600 lb ) = 0

M A = 163.1 lb ⋅ ft

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