Dr.

Sayan Sadhu
Assistant Professor
Department of Mechanical Engineering
Thapar Institute of Engineering and Technology
Patiala, Punjab-147004
 The heat generated by the abrasive
action of friction can be noticed
when using this grinder to sharpen
a metal blade
Theory of Dry Friction

Regardless of the weight of the rake or

shovel that is suspended, the device has
been designed so that the small roller
holds the handle in equilibrium due to
frictional forces that develop at the
points of contact, A, B, C
Impending Motion
Motion

• F is a static frictional force if

equilibrium is maintained.
• F is a limiting static frictional force
when it reaches a maximum value
needed to maintain equilibrium.
• F is termed a kinetic frictional force
when sliding occurs at the contacting
surface
•The frictional force acts tangent to the contacting surfaces in a direction
opposed to the motion or tendency for motion of one surface relative to
another.

• The maximum static frictional force that can be developed is independent of

the area of contact, provided the normal pressure is not very low nor great
enough to severely deform or crush the contacting surfaces of the bodies.

• The maximum static frictional force is generally greater than the kinetic
frictional force for any two surfaces of contact. However, if one of the bodies is
moving with a very low velocity over the surface of another, becomes
approximately equal to i.e.,

• When slipping at the surface of contact is about to occur, the maximum static
frictional force is proportional to the normal force, such that

• When slipping at the surface of contact is occurring, the kinetic frictional force
is proportional to the normal force, such that
No Apparent Impending Motion

Strictly equilibrium problems, which

require the number of unknowns to
be equal to the number of available
equilibrium equations.
Impending Motion at All Points of Contact

In this case the total number of unknowns will equal

the total number of available equilibrium equations
plus the total number of available frictional
equations,
When motion is impending at the points of contact,
then
whereas if the body is slipping, then
Impending Motion at some Points of Contact

Here the number of unknowns will be less than the

number of available equilibrium equations plus the
number of available frictional equations or
conditional equations for tipping.

As a result, several possibilities for motion or

impending motion will exist and the problem will
involve a determination of the kind of motion which
actually occurs.
Consider pushing on the uniform crate that has a weight W and sits on the
rough surface. As shown on the first free-body diagram, if the magnitude of P is
small, the crate will remain in equilibrium. As P increases the crate will either be
on the verge of slipping on the surface F = μsN or if the surface is very rough
(large ) then the resultant normal force will shift to the corner, x=b/2, as
shown on the second free-body diagram. At this point the crate will begin to tip
over. The crate also has a greater chance of tipping if P is applied at a greater
height h above the surface, or if its width b is smaller.
Equilibrium Versus Frictional Equations

The applied vertical force P on this roll

must be large enough to overcome the
resistance of friction at the contacting
surfaces A and B in order to cause
rotation.
Free-Body Diagrams
• Draw the necessary free-body diagrams, and unless it is stated in the problem
that impending motion or slipping occurs, always show the frictional forces as
unknowns (i.e., do not assume F = μN ).
• Determine the number of unknowns and compare this with the number of
available equilibrium equations.
• If there are more unknowns than equations of equilibrium, it will be necessary
to apply the frictional equation at some, if not all, points of contact to obtain
the extra equations needed for a complete solution.
• If the equation F = μN is to be used, it will be necessary to show F acting in
the correct sense of direction on the free-body diagram.

Equations of Equilibrium and Friction

• Apply the equations of equilibrium and the necessary frictional equations (or
conditional equations if tipping is possible) and solve for the unknowns.
• If the problem involves a three-dimensional force system such that it
becomes difficult to obtain the force components or the necessary moment
arms, apply the equations of equilibrium using Cartesian vectors.
A wedge is a simple machine that is often used to transform an applied force
into much larger forces, directed at approximately right angles to the applied
force. Wedges also can be used to slightly move or adjust heavy loads.

Wedges are often used to adjust the

elevation of structural or mechanical
parts. Also, they provide stability for
objects such as this pipe.
Square-threaded screws find applications on valves, jacks, and
vises, where particularly large forces must be developed along
the axis of the screw.
Upward Impending Motion
Self-Locking Screw

then R will act vertically to balance W, and the screw

will be on the verge of winding downward

Downward Impending Motion

Flat or V-belts are often used to transmit
the torque developed by a motor to a
wheel attached to a pump, fan or blower.
The motor that turns the disk of
this sanding machine develops a
torque that must overcome the
frictional forces acting on the disk
Unwinding the cable from this spool
requires overcoming friction from the
supporting shaft
Rolling resistance of railroad wheels on the rails is small since steel is very stiff.
By comparison, the rolling resistance of the wheels of a tractor in a wet field is
very large
1. Beer, Johnston, Clausen and Staab, Vector Mechanics for
Engineers, Dynamics, McGraw-Hill Higher Education
(2003)
2. Hibler, R.C., Engineering Mechanics: Statics and
Dynamics, Prentice Hall (2012)
3. Timoshenko and Young, Engineering Mechanics, Tata
McGraw Hill Education Private Limited, (2006).
4. Meriam and Kraige, Engineering Mechanics -Statics,
John Wiley ansd Sons, (2002).
5. Meriam and Kraige, Engineering Mechanics -Dynamics,
John Wiley ansd Sons, (2002).
6. www.MATHalino.com

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