KG12903

Applied Mechanics
Ts. Dr. Norzilawati Mohamad
❖ Introduce the concept of dry friction and analyze the
equilibrium of rigid bodies subjected to this force

❖Present specific applications of frictional force analysis on

wedges

❖Investigate the concept of rolling resistance

1. The law of dry friction

2. Analysis of a wedges

3. Rolling resistance
 P Friction Dry Friction
The force that
Ff
against motion to
prevent/resist the Fluid Friction
P = Motion force
slipping of body
Ff = Friction force

▪ There are 2 types of frictions: dry or Coulomb friction and fluid friction
▪ Fluid friction applies to lubricated mechanisms
▪ Dry friction between non-lubricated surfaces
▪ In previous chapter, it was assumed that surfaces in contact
as frictionless
▪ There is no perfectly frictionless surface exists
▪ Friction forces act tangential (parallel) to the contacting
surface in a direction opposing the relative motion or
tendency for motion
▪ BUT, friction forces are limited in magnitude and will not
prevent motion if sufficiently large forces are applied.
▪ For the body to be in equilibrium
▪ F=P
▪ N =W Notes: N acts a distance x to the right of the
▪ W*x = P*h line of action of W.
This location coincides with centroids of N
distribution which to balance the ‘tripping
effect’ caused by P
▪ Block of weight, W is placed on a horizontal surface. Forces
acting on the block are its weight and reaction of surface
(normal force), N.
▪ Small horizontal force P is applied.
▪ To remain stationary in equilibrium, a horizontal component
𝑭𝒇 , 𝐬𝐭𝐚𝐭𝐢𝐜 − 𝐟𝐫𝐢𝐜𝐭𝐢𝐨𝐧 𝐟𝐨𝐫𝐜𝐞 of the surface reaction is required.
▪ As P increases, the static-friction force, F increases until it
reaches a maximum value
𝑭𝒔 , 𝒍𝒊𝒎𝒊𝒕𝒊𝒏𝒈 𝒔𝒕𝒂𝒕𝒊𝒄 𝒇𝒓𝒄𝒊𝒕𝒊𝒐𝒏𝒂𝒍 𝒇𝒐𝒓𝒄𝒆 - impending motion

𝐹𝑠 = 𝜇𝑠 𝑁
▪ Further increase in P causes the block to begin to move as F
drops to a smaller kinetic-friction force, 𝑭𝒌 - motion
Fk =  k N
➢ F is Static Frictional Force if equilibrium is
maintained

➢ F is a limiting static frictional force, 𝑭𝒔 when it

reaches a maximum value needed to maintain
equilibrium – impending motion

➢ F is a kinetic frictional force, 𝑭𝒌 when sliding

occurs at the contacting surface - motion
STEPS TO SOLVE DRY FRICTION

1. Draw FBD. Make sure show the friction force in the correct direction (opposite
to the motion or impending motion)

2. Determine the number of unknowns. Note: DO NOT ASSUME impending

motion condition unless stated in the problems!!

3. Apply the equations of equilibrium and appropriate frictional equations to

solve for unknowns.
▪ For a given W and h of the box, how to determine either
the block will slide or tip first? In this case, 4 unknowns
(F, N, x and P) and 3 E-to-E
▪ Thus, make assumption to have another equation
(friction equation)
▪ Solve the unknowns.
▪ Check if assumption made was correct or not.
Case 1
Assume: Slipping occurs
Known:
Solve: x, P and N
Check:

Case 2
Assume: Tipping occurs
Known: x = b/2
Solve: x, P and N
Check:
Example

Crate weight = 250 lb and 𝜇𝑠 = 0.4

Find the maximum force P that can be

applied without causing movement of the
crate.
Solution
▪ Wedges – simple machines used to raise/lower or maintain
heavy loads.
▪ Small force, P required to lift a large weight, W
▪ Friction prevents wedge from sliding out.

▪ To determine the force required to push the wedge in or

out, draw FBD of the wedge and the object on top of it.

Note:
➢Friction forces are always in opposite direction to motion or
impending motion of the wedge
➢Friction forces are along the contacting surfaces
➢Normal forces are perpendicular to the contacting surface
▪ FBD of the object on top of the wedge is drawn.

Note:
➢At the contacting surfaces between the wedge and object, the
forces are equal in magnitude and opposite in direction to
those on the wedge
➢All other forces acting on the object should be shown

➢Apply E-to-E to solve unknowns.

∑𝑭𝒙 = 𝟎 , ∑𝑭𝒚 = 𝟎 and 𝑭𝒔 = 𝝁𝒔 𝑵

➢Start analysing the FBD in which the number of unknowns are

less than or equal to number of E-to-E and frictional
equations.

Note: Wedge is self-locking if the value force P needed to

remove the wedge is positive
Example

The 3000-lb load is applied to wedge B. The

coefficient of static friction between A and C
and between B and D is 0.3, and between A
and B is 0.4.

Assume the wedges have negligible weight.

Find the smallest force P needed to lift 3000-

lb loads.
Solution
▪ If a rigid cylinder of weight, W rolls at constant velocity along
the rigid surface, the normal force exerted by the surface on
the cylinder acts at the tangent point of contact.
▪ Under these conditions, provided the cylinder does not
encounter frictional resistance from the air, motion will
continue indefinitely.
▪ No materials are perfectly rigid and the reaction of the
surface on the cylinder consists of a distribution of normal
pressure.
▪ Consider the cylinder to be made of a very hard material
and the surface on which it rolls to be relatively softer.
▪ Due to its W, the cylinder compresses the surface
underneath it.
▪ As the cylinder rolls, the surface material in front of the
cylinder retards the motion since it is being deformed
whereas the material in the rear is restored from the
deformed state and tends to push the cylinder forward.
▪ The normal pressures acting on the cylinder in this
manner are represented by their resultant forces 𝑵𝒅 and
𝑵𝒓
▪ The magnitude of the force of deformation 𝑵𝒅 and its
horizontal component is always greater than that
restoration 𝑵𝒓
▪ Consequently, a horizontal driving force P must be applied
to maintain the motion
▪ Rolling resistance is caused primarily by this effect although,
the result of surface adhesion and relative micro-sliding
between the surfaces of contact.
▪ Actual force P needed to overcome these effects is difficult to
determine, thus, consider the resultant of the entire normal
pressure acting on the cylinder
𝑵 = 𝑵𝒅 + 𝑵𝒓

▪ Force P acts at an angle θ with the vertical

▪ To keep cylinder in equilibrium, rolling at constant rate, N
must be concurrent with the driving force P and the weight,
W.
▪ Summation of moment about A
Wa = P (r cos θ)
Wa ≈ Pr
P ≈ (Wa) / r
Example

A 10kg steel wheel has a radius of 100mm

and rest on an inclined plans made of wood. If
θ is increased, so that the wheel begins to roll down
the incline with constant velocity when θ = 1.2°,
determine the coefficient of rolling resistance
Solution

1. FBD of the wheel

2. Wheel has impending motion

3. Normal reaction, N acts at point A defined

by dimension a
4. Summing moments about point A