Chapter 5

Friction
Lesson Outcomes: at the end of the lesson, the student should be able:

1. To introduce the concept of friction and show how to analyze the equilibrium of
rigid bodies subjected to this force.
2. To present specific applications of frictional force analysis on inclined plane.
3. To present specific applications of frictional force analysis on wedges and belts.

5-1 Friction Defined

Friction may be defined as the contact resistance exerted by one body when the second
body moves or tends to move past the first body. From this definition, it should be
observed that friction is a retarding force always acting opposite to the motion or to the
tendency to move.

Friction exists primarily because of the roughness of the contact surfaces. If the contact
surfaces are perfectly smooth, as assumed in some earlier problems, friction can be
neglected.

In machine, friction is both a liability and asset. Where it causes loss of power it is
undesirable; but certain types of friction drives or in brakes it is desirable. In this lesson
we shall consider the application of friction to engineering problems.
5-2 Theory of Friction

The following experiment is useful in discussing the principles of friction as applied to

dry unlubricated surfaces. Let a block of weight W rest on a rough horizontal surface.
Assume horizontal force P to be applied to the block, as shown in Fig 5-1. When P is
zero, the friction resistance is zero. When P is given increasing values, the frictional
resistance also increases; values are indicated on the graph in Fig 5-2. This graph is not
rigorously accurate; it is intended only as a guide for interpreting results.

Fig 5-1
The graph indicated that up to impending motion, the frictional resistance F is
numerically equal to the applied load P. After motion occurs, the frictional resistance
decreases rapidly to a kinetic value which remains fairly constant.

Fig. 5-2 – Variation of frictional resistance

From such experimental results it is observed that as long as the block remains at rest
the frictional resistance must equal the resultant force tending to cause motion. This is
true up to the instant at which the frictional resistance can no longer balance the
resultant of applied forces. When this condition exists, motion occurs. Once motion takes
place, the frictional resistance drops to a value below that acting when the motion
starts.
 Fig 5.3 Magnified view of contact surfaces

One way of understanding these results is to examine a magnified view of the contact
surfaces. These are shown in fig 5-3. The surfaces are assumed to be composed of
irregularities (which can be likened to hills and valleys) which mesh together. The
frictional resistance is developed by the effort of P to pull the hills up to the block out of
the meshing valleys of the plane surface. In an ideal smooth surface there are no hills
and vales to mesh together, and no friction resistance is possible. This is why we have
assumed the reaction to be normal to the surface when discussing ideal smooth surfaces
in preceding articles. Actually an ideal smooth surface does not exist; it may be
approximated by superfinishing ground surfaces.

It is apparent that friction resistance depends upon the degree of wedging action
between the hills and the vales of the contact surfaces. The measure of this wedging
action depends upon the normal pressure N between the surfaces. As a result, the
maximum frictional resistance is said to be proportional to the normal pressure and is
expressed symbolically as

𝐹∞𝑁 (a)
F=kN K = constant of proportionality
F=fN f = constant of proportionality
f = coefficient of Friction
Where the sign ∞ is read as “is proportional to.” This may reduce to an equation by
putting in a constant of proportionality say ƒ, which depends on the roughness of the
contact surfaces. This constant is called the coefficient of friction, ad Eq. (a) may be
written as

𝐹 = ƒ𝑁 (Eq. 5-1)

If the applied force exceeds the maximum frictional resistance; motion of the block
ensues. In the motion there is less chance for the wedging action described above to take
place; i.e.’ the hills and the vales are not as free to mesh as the block was at rest. This
is the reason for a decrease to a frictional resistance when motion occurs.
In the case of moving bodies, the resistance is defined as the kinetic frictional
resistance. It always acts at maximum value. Note the contrast with static friction,
which adjust itself to the value required to resist motion. (Refer to the graph discussed
above). The magnitude of the kinetic friction is also expressed by Eq. (5-1) by inserting
the coefficient for kinetic friction ƒ𝑘 in place of the coefficient of static friction ƒ𝑠 . In many
instances the subscript k and s are omitted when statement of the data makes the
meaning clear.
When motion first begins, the hills and vales of the contact surfaces mesh with less
frequency, causing the static friction to decease gradually to the kinetic friction value.
For high speed, the kinetic friction decreases still more. When a body in motion is being
brought to rest, the converse is also true; the kinetic friction gradually increases at very
low speed up to a maximum value equal to that of static friction as the finally comes to
rest. It is usually assumed, however, that the kinetic friction is constant in value.
The foregoing analysis applies only to friction between dry unlubricated surfaces. If a
lubricant such as oil is used, the hills and vales of the contact surfaces are separated by
the lubricant, thereby materially reducing the frictional resistance. Indeed, if the
thickness of the lubricating film is sufficient to separate the contact surface completely,
the only frictional resistance remaining will be the internal friction in the lubricant
itself measured by its viscosity. The viscosity varies with the temperature, being lass at
high than at low temperature. For an extended discussion of the theory of lubricated
surfaces, which is beyond the scope of this book, the reader is referred to a standard
work upon this subject.

5-3 Angle of Friction

Figure 5-1 is redrawn if Fig. 5-4 to show that F and N are really components of the
total reaction R exerted by the plane surface against the block. The size of the angle
between R and N depends on the value of the frictional resistance F. If f is zero, this
angle will be zero. As F increases, so does the angle. The particular value of this angle
when maximum frictional resistance is acting is defined as the angle of friction. It acts
at its maximum value of 𝝓 only when motion is impending.

Fig 5-4 Angle of Friction

∑𝐹𝑉 = 0
N – W =0
N=W

Tan ϕ = F/N
F= N Tan ϕ

F= fN
f= Tan ϕ
 From Fig. 5-4, it is apparent that the angle of friction may be defined by the relation

𝐹
𝑇𝑎𝑛 𝜙 = (b)
𝑁

Comparing eq. (b) with Eq. (5-1) we see that

𝑇𝑎𝑛 𝜙 = ƒ (5-2)

In other words, the tangent of the angle of friction is the coefficient of friction. Hence,
determining the angle of friction affords a means of obtaining the coefficient of friction.

A simple experiment for determining the angle of friction is to place a block of weigh
W upon an inclined plane for which the angle of inclination 𝜃 can be gradually increased
from zero to a maximum value at which the block is on the verge of sliding down the
incline. Figure 5-5 shows this condition. In order for equilibrium to exist, it is necessary
that the weight W and the reaction R be collinear (see Axiom 2). From the figure it is
evident that, when motion impends, the angle of inclination 𝜃 is equal to the angle of
friction 𝜙.

Fig. 5-5. At impending motion angle of friction equals the angle of incline.

When considering the coplanar forces, in order to have no motion the static reaction
must lie within the angle ABC in Fig. 5-6, whereas for problems involving non-coplanar
forces, it must be contained within the cone generate by revolving line AB about the
normal BN. The cone so formed is called cone of friction.

Fig. 5-6 - Cone of Friction

5-4 Law of Friction
A summary of the principles discussed in the preceding lessons may be called the laws
of friction and may be stated as follows:
(1) If friction is neglected, the reactions are always normal to the surfaces in
contact. W

R=W
(2) Friction always acts to oppose the motion of the free body (or its tendency to
move). It is tangent to the surface in contact.
W
P

F
N

(3) If static friction is acting, the value of the friction force may vary from zero to
the maximum available value, depending upon the resultant force tending to cause
motion.
P≤F
(4) The maximum available value of static friction (i.e., the limiting friction, when
motion impends) is equal to ƒ𝑠 𝑁 where ƒ𝑠 is the coefficient of static friction and N is the
normal pressure
P ≤ ƒ𝑠 𝑁

(5) If kinetic friction is acting, the friction force is constant at its limiting value.
(Actually, kinetic friction decreases somewhat at high velocities and increases at very
low speeds; see art 5-2) =
(6) The kinetic friction is equal to ƒ𝑘 𝑁 where ƒ𝑘 is the coefficient of kinetic friction
and N is the normal pressure
𝐹 = ƒ𝑘 𝑁
(7) The angle between the total reaction and its normal component, when limiting
friction is acting, is called the angle of friction. The tangent of this angle is the
coefficient of friction.

Example 1; Find the force P that will tend the 200 lb block to move if f = 0.20

∑𝐹𝑉 = 0 N-200 =0
 N = 200 lb
Friction Force F = fN
F= 0.20 (200)
F= 40 lb

∑𝐹𝐻 = 0 P – F =0
P – 40 =0
P=40 lb (force the will tend the block to move)

Example 2; Find the force P the will tend the block with a mass of 80 kg to move if f=0.20

W = mg = 80kg(9.81 m/sec2) = 784.80 kg-m/sec2 = 784.80 N

∑𝐹𝑉 = 0 N – 784.80N =0
N= 784.80N

Friction Force F=fN

F =0.20(784.8) = 156.96 N

∑𝐹𝐻 = 0 P – F =0
P – 156.96 = 0
P= 156.96 N

Example 3: Find the force P the will tend the 120 kg block to move if f=0.15

W= 120(9.81) = 1,177.20 N
 N – Psin 20 – 1177.20=0

∑𝐹𝑉 = 0 N – Pv - 1,177.20N = 0
N = PV + 1,177.20
N= Psin20 + 1,177.20

Friction Force F= fN
F = 0.15(Psin20 + 1,177.20)

∑𝐹𝐻 = 0 Ph - F=0
Pcos20 - F=0
Substitute the value of F
Pcos20 - 0.15(Psin20 + 1,177.20)=0
P = 198.76 N

Triangular solution by finding the angle of friction tan ϕ = 0.15 ; Therefore ϕ=8.53o

Using sine law

𝑃 1177.2
=
sin 8.53 sin 61.47

P= 198.74 N
Example 4
501. A 200-lb block is in contact with a plane inclined at 30o to the horizontal. A force P,
parallel to and acting up the plane, is applied to the body. If the coefficient of static
friction is 0.20, (a) find the value of P to just cause motion to impend up the plane, and
(b) find P to just prevent motion down the plane. (c) If P = 80 lb, determine the
magnitude and direction of the friction force.

Fig. 5-7 Impending motion up the plane

a. Force that tend the body to move upward

∑𝐹𝑦 = 0 N- 200( cos 30) =0

N = 173.21 lb
Friction Force F= 0.20(173.21)
F= 34.64 lb

∑𝐹𝑋 = 0 P –F – 200 sin30 =0

P = 34.64 + 100
P = 134.64
B .Force that tend the body to move downward

Fig. 5-8 - Impending motion down the plane

∑𝐹𝑋 = 0
P + F – 200 sin30 =0
P + 34.64 -100=0
P= 65.36

c. When P=80 find F

∑𝐹𝑋 = 0
80 + F – 200sin30=0
F=20 lb upward
502. A 200-lb block is at rest on a 30o incline. The coefficient of friction between the
block and the incline is 0.20. Compute the value of Horizontal force P that will cause
motion to impend up the incline.

Solution: The FBD of the block is shown in Fig 5-9a. since motion is impending up
the incline, the maximum static friction F is directed down the incline. A point
diagram of the forces is formed by first selecting X and Y axes with the X axis parallel
to and positive in the direction of impending motion, and then imagining the block
squeezed to a point coincident with the origin of the axes,

(a) (b)
Fig. 5-9

The forces on the body are then applied to this point to form the
concurrent shown in Fig. 5-9b. (Note: The point diagram is sometimes more
convenient than FBD for computing components.)

∑𝐹𝑦 = 0 N -200cos30 –Psin30= 0

N =Psin30 + 173.21 lb
Friction F = 0.20(Psin30+173.21)

∑𝐹𝑥 = 0 Px – 200 sin30 –F = 0

𝐹 = 𝑃 𝑐𝑜𝑠30 − 100
F= F

0.20(Psin30+173.21) = 𝑃 𝑐𝑜𝑠30 − 100

P=175.76 lb
Alternate solution
The three unknowns N, F, and P and the two equations of equilibrium for
concurrent forces, we now have
[∑𝑌 = 0] 𝑁 − 200 cos 30 − 𝑃 𝑠𝑖𝑛30 = 0
𝑁 = 173.2 + 0.50 𝑃 (a)
[𝐹 = 𝑓𝑁] F = 0.20(173.2 + 0.50P)
F = 34.64 + 0.10P (b)
[∑𝑋 = 0] P cos 30 – 200 sin 30 – F = 0
F= P cos 30 - 200 sin 30
F = 34.64 + 0.10P
P cos 30 – 200 sin 30 – F = 0
F= Pcos30 – 200sin 30

Substituting the value of F from (b) we obtain

F = 34.64 + 0.10P eqn b
P cos 30 - 200 sin 30 = 34.64 + 0.10P
0.866P -0.1P = 100+34.64
P= 134.64/0.766
P= 175.77 = 176 lb

𝑃 = 176 𝑙𝑏 𝐴𝑛𝑠.

503. Resolve Prob. 502, using the angle of friction ϕ and the total reaction of the
inclined on the block instead of its components F and N.

Fig 5-3

Solution: Whenever the normal pressure N must be expressed in terms of an

unknown force, such as P in the preceding example, it will generally be simpler
to use the total reaction R instead of its components F and N.
Φ = arctan 0.20= 11.30 degrees

𝑃 200
=
sin 41.3 sin 48.7

P= 175.70

Problem 504
The 2225-N block shown in Fig. P-504 is in contact with 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 = 1780 N, what is the amount and direction of the friction
force?
 Fig P-004

Problem 505
The blocks shown in Fig. P-505 are connected by flexible, inextensible cords
passing over frictionless pulleys. At A the coefficients of friction are μs = 0.30
and μk = 0.20 while at B they are μs = 0.40 and μk = 0.30. Compute the
magnitude and direction of the friction force acting on each block.

Fig P-505

Problem 506
What weight W is necessary to start the system of blocks shown in Fig. P-506
moving to the right? The coefficient of friction is 0.10 and the pulleys are
assumed to be frictionless.
Fig P-506