Ladder PDF

7.
1 Friction: Basic Applications
7.1 Friction: Basic Applications Example 1, page 1 of 2

1. The uniform ladder is 2-m long and makes an angle of = 60
with the floor. If the wall at B is smooth and the coefficient of
static friction at A is A = 0.3, determine if the ladder can remain
in the position shown.
B
Mass of ladder = 10 kg
Free-body diagram
No friction force is
present because the
wall is smooth.
NB
Fx = 0: NB
fA = 0
(2 m)(sin 60) = 1.732 m
Fy = 0: NA
98.1 N = 0
MA = 0: (98.1 N)(0.5 m)
1m
A
Weight = mg
2
= (10 kg)(9.81 m/s )
60
= 98.1 N
fA
4 Impending motion
NA
5
(1 m)(cos 60) = 0.5 m
Equations of equilibrium:
B
1m
Because the ladder is
uniform, the weight
acts through the center.
The friction force must

be drawn in a direction
opposing the
impending motion.
NB(1.732 m) = 0
Results of solving the above

equations of equilibrium:
NA = 98.1 N
NB = 28.3 N
f A = 28.3 N

8
Compute the maximum possible friction force that

the surfaces can develop at point A.
f A-max
A NA
= (0.3)(98.1 N) = 29.4 N
To determine whether or not the ladder will stay in

the original position, the friction force found from the
equilibrium equations, f A = 28.3 N, must be
compared with the maximum force that the surfaces
at A can develop:
f A-max = 29.4 N
Since
f A = 28.3 N < 29.4 N = f A-max
the surfaces are able to develop enough friction force
and the ladder will stay in equilibrium.

2. The uniform ladder is 2-m long and the wall at B
is smooth. If the coefficient of static friction at A is
A = 0.2, determine the smallest angle for which
the ladder can remain in the position shown.
2
1
Free-body diagram
NB
No friction force is
present because the
wall is smooth.
1m
(2 m) sin
1m
Fx = 0: NB
fA = 0
Fy = 0: NA
98.1 N = 0
MA = 0: (98.1 N)(1 m) cos
Weight = mg
= (10 kg)(9.81 m/s2)
= 98.1 N
(1)
fA
NA
Impending motion
(2)
NB(2 m) sin
=0
Three equations, but four unknowns: NB, f A, NA, and

An additional equation is needed.
(3)
4
(1 m) cos
The friction force

must be drawn in a
direction opposing the
motion.

The fourth equation comes from the condition of
impending slip at point A, because if slip is just about to
occur, then the friction force, f A, is at its maximum value,
which is ANA:
fA
f A-max
A NA
= (0.2)NA
Using f A = 19.62 N in Eq. 1 gives

NB = f A
= 19.62 N
(4)
Using NB = 19.62 N in Eq. 3 gives
Three of the four equations are linear but the moment

equation, Eq. 3, is nonlinear because cos and sin
appear.
(98.1 N) cos
(19.62 N)(2) sin
Dividing through by cos
MA = 0: (98.1 N)(1m) cos

- NB(2 m) sin = 0
(Eq. 3 repeated)
The easiest way to solve these equations is to use the

general equation solver on a calculator. Alternatively,
manipulate the equations as follows.
First note that Eq. 2 implies that
NA = 98.1 N
Then using this value for NA in Eq. 4 gives
f A = NA
= (0.2)(98.1 N)
= 19.62 N
sin
cos
=0
and rearranging gives
98.1 = 2.5
(19.62)(2)
Replacing the left-hand side of this equation by tan

gives
tan
= 2.5
which implies
68.2
Ans.

3. The uniform ladder is 2-m long. The
coefficient of static friction at A is A = 0.6 and
at B is B = 0.4. Determine the smallest angle, ,
for which the ladder can remain in the position
shown.
3
1
Free-body diagram
Friction force, f B, is
present and opposes
the possible motion.
B
NB
1m
Impending
motion
(2 m) sin
fB
1m
Weight = mg
= (10 kg)(9.81 m/s2)
= 98.1 N
fA
+
NA
Fx = 0: NB
fA = 0
(1)
Fy = 0: NA + f B
(1 m) cos
98.1 N = 0
MA = 0: (98.1 N)(1 m) cos

NB(2 m) sin = 0
(2)
f B(2 m) cos
6 Three equilibrium equations but five unknowns: NA,

NB, f A, f B, and two more equations are needed.
(3)
(2 m) cos
Friction force
opposes the
possible motion.

7
The two additional equations come from the condition of

impending slip at points A and B, because if slip is just about
to occur, then the friction forces, f A and f B, are at their
maximum values, ANA and NB
fA
f A-max
A NA
fB
f B-max
BNB
= 0.6NA
(4)
= 0.4NB
(5)
Four of the five equations are linear but the moment equation
Eq. 3 is nonlinear (sin and cos are present). To solve these
equations, use the general equation solver on your calculator or
manipulate the equation algebraically and use a trig identity
such as tan = sin /cos .
Results of solving the five equations (three equilibrium and
two friction equations) given above:
NA = 79.1 N
NB = 47.5 N
f A = 47.5 N
f B = 19.0 N
= 32.3
Ans.

4. Four round pegs A, B, C, and D are attached to
the bracket and loosely straddle the vertical pole.
When a 100-N force is applied as shown, the
bracket rotates slightly and friction forces
develop between pegs B, C, and the pole. If the
coefficient of static friction between the pegs and
the pole is determine the smallest value of
for which the bracket will support the load.
Neglect the effect of the rotation of the bracket
on the distances shown.
Movement of bracket exaggerated for clarity
100 N
Bracket rotates a
small amount
Peg D loses contact with the pole

50 mm
100 N
D
B
100 mm
D
C
300 mm
A
C
Peg A loses contact with the pole

Free-body diagram
The friction forces, f B and f C,

resist the motion by pushing the
bracket up.
P = 100 N
B
Impending
motion of
bracket
NB
100 mm
fB
C
NC
5
fC
300 mm
As the bracket inclines slightly, the pegs at A and D

lose contact with the pole. That is why no forces
appear at A and D on the free-body diagram.
50 mm
The normal forces,

NB and NC, are
directed from the
pole to the pegs .
Fx = 0: NB
NC = 0
Fy = 0: f B + f C
100 N = 0
MC = 0: (100 N)(300 mm) + f B(50 mm)

NB(100 mm) = 0
(1)
(2)
(3)

8
There are only three equations of equilibrium but four

unknowns (f B, NB, f C, and NC), so at least one more
equation is needed. The additional equation comes from the
condition of impending slip at B, but if the bracket is going
to slip at B, it will also slip at C. So we have two additional
equations and one additional unknown, :
f B = f B-max
NB
(4)
f C = f C-max
NC
(5)
Solving Eqs. 1-5 gives the results below (Note that Eqs. 4
and 5 are nonlinear because multiplies NB and NC):
f B = 50 N
NB = 325 N
f C = 50 N
NC = 325 N
= 0.154
Ans.

5. Arm ABC acts as a brake on the wheel. The
coefficient of static friction at B is B = 0.4.
Determine the largest moment M that can act on the
wheel without causing it to slip.
C
100 N
M
O
Free-body diagram of
wheel.
M
Ox
300 mm
NB
B
A
Impending motion
of point on outer
surface of wheel
Oy
400 mm
3 The friction force f B

opposes the motion.
fB
200 mm
200 mm
Radius = 200 mm
Equation of moment equilibrium for the wheel

(Since we were not asked to compute the reactions
Ox and Oy, we do not need to write the
force-equilibrium equations.):
MO = 0: f B(200 mm)
M=0
(1)

5
6
The sense of the friction

force on the brake can be
determined by Newton's
Third Law (equal and
opposite to the force on
the wheel).
Free-body diagram of arm ABC.

fB
100 N
300 mm
Ay
NB
400 mm
A
Ax
200 mm
Equation of moment equilibrium for the brake (Since we

were not asked to compute the reactions Ax and Ay, we do
not need to write the force-equilibrium equations.):
MA = 0: f B(200 mm) NB(400 mm)

+ (100 N)(300 mm + 400 mm) = 0 (2)
Thus far we have two equations but three unknowns (M, f

B, and NB), so another equation is needed.
8 The third equation follows from the condition

that slip impends at B:
fB
f B-max
BNB
= 0.4NB
(3)
Solving Eqs. 1-3 simultaneously yields

f B = 87.5 N
NB = 218.8 N
M = 17 500 Nmm = 17.5 Nm
Ans.

6. The uniform block is initially at rest when a 10-lb
force is applied. The coefficient of static friction
between the block and the plane is = 0.6.
Determine if the block will move.
1 ft
10 lb
20 lb
(weight)
2 ft

1
Free-body diagram
Free-body diagram showing resultant forces

10 lb
1 ft
10 lb
20 lb
2 ft
20 lb
fd
The resultant of the

distributed force f d is f.
f
A
0.5 ft
B
3 The distributed friction force f d
opposes possible slip to the
right; the distributed normal
force Nd opposes possible
tipping of the block.
Nd
As the block is pushed to the right by the 10-lb force, the floor opposes the
possible motion by providing a distributed reaction force. The component of
this reaction force parallel to the floor is the distributed friction force f d, and
the component normal to the floor is the distributed normal force Nd.
x
N
The resultant of the distributed force

Nd is N. Because Nd opposes possible
tipping of the block, it is not uniform
but is greater near the right-hand side
of the base of the block to balance the
tendency to tip. Thus the resultant N
does not act at the middle of the base
but instead acts at some unknown
distance, x, from the middle.

7
+
Fy = 0: N
Fx = 0: 10 lb
MA = 0:
f=0
20 lb = 0
(20 lb)(0.5 ft)
(10 lb)(2 ft) + N(0.5 ft + x) = 0
Solving these equations gives

f = 10 lb
N = 20 lb
x = 1 ft
9 These are the values required if the system is to

stay in equilibrium, that is, not move. To
determine if the system can produce the 10-lb
friction force f required to keep the system in
equilibrium, we have to compare f with the
maximum possible value of the friction force:
f max
N = (0.6)(20 lb) = 12 lb
Because f = 10 lb is less than the 12 lb maximum

possible force, the surfaces can develop enough
force to balance forces in the x direction (thus the
block will not slide to the right).

10 lb
10 We next consider whether or not the block will tip.

Recall that solving the equilibrium equations gave the result
x = 1 ft. That is, to maintain equilibrium, the normal force
N must act at the location shown, 0.5 ft to the right of the
block. But this is impossible because N is the normal force
from the ground acting up on the block; the farthest N can
act is at the right hand corner, B. Thus the block will tip
because N cannot act far enough to the right to prevent it.
20 lb
f
0.5 ft
0.5 ft
x = 1 ft
N (impossible location
because outside the base of
the block)

7. The uniform block is initially at rest when the force P
is applied. The coefficient of static friction between the
block and the plane is = 0.6. Determine the minimum
value of P that will cause the block to move.
1 ft
20 lb
(weight)
2 ft

1
Free-body diagram
Free-body diagram showing resultant forces

P
1 ft
P
20 lb
2 ft
20 lb
fd
The resultant of the

distributed force f d is f. A
f
B
0.5 ft
x
N
Nd
2
As the block is pushed to the right by the force P, the floor opposes the
possible motion by providing a distributed reaction force. The component
of this reaction force parallel to the floor is the distributed friction force, f d,
and the component normal to the floor is the distributed normal force Nd.
The resultant of the distributed force Nd

is N. Because Nd opposes possible
tipping of the block, it is not uniform
but is greater near the right-hand side of
the base of the block to balance the
tendency to tip. Thus the resultant N
does not act at the middle of the base
but instead acts at some unknown
distance, x, from the middle.

6
+
Fx = 0: P
f=0
(1)
Fy = 0: N
20 lb = 0
(2)
MA = 0:
(20 lb)(0.5 ft) P(2 ft)

+ N(0.5 ft + x) = 0
Case 1: Sliding
1 ft
(3)
P
Three equations but four unknowns (P, f, N and x),

so one more equation is needed.
The fourth equation comes from considering

possible impending motion. There are two cases to
consider: sliding and tipping.
20 lb
(weight)

10 Case 2: Tipping
11 We have to analyze each case separately. Let's (arbitrarily)

choose Case 1 first. If sliding impends, then
f = f max
N = 0.6N
12 Solving Eqs. 1-4 simultaneously gives

P = 12 lb
N = 20 lb
20 lb
(weight)
f = 12 lb
x = 1.2 ft
(4)

13 Free body diagram for Case 1 (Sliding impends)
P = 12 lb
14 But this diagram shows that the only way the equilibrium
equations for Case 1 can be satisfied is if the normal force N
lies to the right of the block (x = 1.2 ft). Since this is
impossible, the Case 1 assumption that sliding impends must
be incorrect.
20 lb
N = 20 lb
f = 12 lb
0.5 ft
x = 1.2 ft

15 Free body diagram for Case 2 (Tipping impends)
0.5 ft
0.5 ft
16 Since the block is just about to tip, it loses contact with the
floor except at the corner B, where the normal force N is
concentrated. Since N acts at the corner, we know
x = 0.5 ft
(5)
Solving the equilibrium equations, Eqs. 1, 2, and 3,

simultaneously with Eq. 5 gives
20 lb
f = 5 lb
N = 20 lb
P = 5 lb
B
A
f
Ans.
Since there were only two possibilities, sliding and tipping, and
we eliminated sliding, we know that the above result P = 5 lb is
correct. However, we can also check our work by verifying
that the friction force f is less than the maximum possible
value:
f = 5 lb < f max
N = (0.6)(20 lb) = 12 lb. (OK)

8. The cylinder is initially at rest when a horizontal
force P is applied. The coefficients of static friction
at A and B are A = 0.3 and B = 0.6. Determine
the minimum value of P that will cause the cylinder
to move.
Radius = 0.2 m
P
1
0.3 m
Free-body diagram
B
20 kg
A
Weight = mg
= (20 kg)(9.81 m/s2)
= 196.2 N
P
NB
0.3 m
fB
A
fA
5 The friction force from the floor
opposes the motion of point A on
the cylinder.
NA
Possible motion of
point B on cylinder.
Force P tends to
rotate the cylinder
clockwise.
0.2 m
3 The friction force from
the wall opposes the
motion of point B on
the cylinder.
Possible motion of point A.

6
Equilibrium equations
Fx = 0: P + f A
Fy = 0:
NB = 0
(1)
196.2 N + f B + NA = 0
(2)
MA = 0: f B(0.2 m) + NB(0.2 m)
P(0.3 m) = 0
Case 2
The cylinder spins

about its center.
f A = f A-max
A NA
= 0.3NA
(4)
f B = f B-max
BNB
= 0.6NB
(5)
(3)
There are three equations and five unknowns (P, f A, NA, f B, NB),
so two more equations are needed. The two additional equations
come from considering possible impending motion. There are
two cases to consider:
Case 1
We have to analyze each case separately. Let's

(arbitrarily) choose Case 1 first. Thus if the cylinder
is about to slip about its center, then slip impends
simultaneously at points A and B, so
Solving Eqs. 1-5 simultaneously gives

P = 554 N
f A = 34.6 N
The cylinder rolls up the

wall without slipping.
f B = 312 N
NA = 115 N
NB = 519 N
B
A
B
A
A negative normal force, NA, is impossible (The

floor can't pull down on the cylinder), so the
assumption of slip at both A and B must be wrong.

8
Next consider Case 2 the cylinder is about to roll up the wall. Thus
the cylinder is about to lose contact with the floor at point A, and so
the friction and normal forces there are zero:
fA = 0
(6)
NA = 0
(7)
Solving the equilibrium equations, Eqs. 1, 2, and 3, simultaneously

with Eqs. 6 and 7 gives
fA = 0
NA = 0
f B = 196 N
NB = 392 N
P = 392 N
Ans.
Since there were only two possibilities, spinning about the cylinder
center or rolling up the wall, and we eliminated spinning, the above
result P = 392 N must be correct. However, we can also check our
work by comparing the friction force, f B, with the maximum possible
value:
f B = 196 N < f B-max
BNB
= (0.6)(392 N) = 235 N (OK)

9. The small block B rests on top of the large block A. The
coefficients of static friction are shown in the figure.
Determine the smallest value of applied force P that will
keep block A from sliding down the inclined plane.
Frictionless
pulley
Cord
B
= 0.3
= 0.2
B
10 kg
60 kg
P
30

1
Free-body diagram of block B

Weight = mg
= (10 kg)(9.81 m/s2)
= 98.1 N
y
Tension in cord, T
3
4
Impending motion of
B
block B relative to
block A (If block A
moves down the plane,
block B must move up
the plane.)
N
Normal force B
from block A
5
The numerical value of

will be calculated later.
P
fB
30
x
The friction force from block A opposes the

impending motion of block B up the incline.
Equations of equilibrium for block B. We assume that the blocks will

not tip because they are much longer than they are high; thus no
moment equation is needed (Since no dimensions are given, we could
not write a moment equation even if we wanted to).
Fx =0: P
Fy = 0: NB
T + f B + (98.1 N) sin
(98.1 N) cos
=0
It's convenient to use an inclined

xy coordinate system.
=0
(1)
(2)

7
Geometry
= 90
y
60 = 30
Free-body diagram of block A

13 Weight = mg
= (60 kg)(9.81 m/s2)
= 588.6 N
60
10 Friction force from block B opposes
motion of block A.
30
30
x
fB
A
[Weight of block A alone (Note

that the weight of block B is not
included because block B is not
part of this free-body. The effect
of the weight of block B is
= 30 transmitted through the normal
force, NB.)]
y
NB
9 Impending motion
of block A relative
to block B.
fA
12 Friction force from
inclined plane opposes
NA
motion of block A.
Normal force from
inclined plane
11 Impending motion of block A
relative to inclined plane.
30
x

Free body diagram of block A repeated
14 Equilibrium equations for block A

+
Fx =0: (588.6 N) sin 30
fA
fB
T=0
(3)
fB
T
+
Fy = 0:
(588.6 N) cos 30 + NA
NB = 0
(4)
Four equations in six unknowns (T, P, f A, NA, f B, NB). Two

more equations come from the condition of impending sliding
between the blocks and between block A and the plane:
fA
f A-max
A NA
= 0.2NA
fB
f B-max
BNB = 0.3NB
fA
588.6 N
= 30
y
NB
(5)
NA
(6)
Solving Eqs. 1-6 simultaneously gives

f A = 119 N
NA = 595 N
f B = 25 N
NB = 85 N
T = 150 N
P = 75 N
30
Ans.

10. The three blocks are stationary when the force P is applied. The
coefficients of static friction for each pair of surfaces are given in the
figure. Determine the smallest value of P for which motion will
occur. The blocks are sufficiently long that tipping will not occur.
10 kg
AB
= 0.8
10 kg
BC
= 0.3
10 kg
= 0.15
Free-body diagram of block A

Weight = mg
= (10 kg)(9.81 m/s2)
= 98.1 N
4
+
Fx = 0: P
Fy = 0: NAB
A
f AB
2
NAB
Impending motion of
block A relative to B
3 Friction opposes the motion
Equilibrium equations for block A:
f AB = 0
(1)
98.1 N = 0
The last equation gives

NAB = 98.1 N
(2)

5
Free-body diagram of block B
Impending motion of block B

relative to block A (An observer
on A would see B moving in this
direction.)
NAB = 98.1 N
9 Friction force opposes

relative motion
f AB
B
6
f BC
Impending motion of
block B relative to C
Weight = 98.1 N
NBC
Fx = 0: f AB
10 Equilibrium equations for block B:
Fy = 0:
f BC = 0
98.1 N
(3)
98.1 N + NBC = 0

NBC = 196.2 N
(4)
Friction force opposes

relative motion

11 Free-body diagram of block C
14 Impending motion of block C
relative to block B (An observer
on B would see C moving in this
direction.)
NBC = 196.2 N
relative motion
f BC
C
fC
Weight = 98.1 N
NC
Fx = 0: f BC
16 Equilibrium equations for block C:
Fy = 0:
fC = 0
98.1 N
(5)
196.2 N + NC = 0

NC = 294.3 N
(6)
12 Impending motion of
block C relative to
floor
relative motion

17
We now have six equilibrium equations but seven

unknowns (P, f AB, NAB, f BC, NBC, f C, NC), so another
equation is needed.
18 The seventh equation comes from the condition of

impending slip. We have to consider three cases:
Case 1
Impending
motion
A
B
Stationary
Case 2
A
Impending motion: blocks A and B move together
B
C
Stationary
Case 3
A
B
C
Impending
motion: blocks
A, B and C
move together

19 Analyze each case separately.
22 For block B, Eq. 3 is
f AB
f BC = 0
20 Case 1
So for equilibrium,
A
B
Stationary
= 78.5 N
Let's compare this with the maximum possible friction
force:
21 Slip impends so
f AB = f AB-max
ABNAB
f BC = f AB
f BC-max
by Eq. 2
= (0.8)(98.1 N) = 78.5 N
(7)
We have to check to see if the surfaces of contact between

blocks B and C develop enough friction force to keep block B
stationary.
BCNBC
= (0.3)(196.2 N) = 58.9 N
(8)
So the surfaces can develop only 58.9 N while 78.5 N

are needed for equilibrium. Thus block B will move,
contrary to our assumption for Case 1.

23 Case 2
A
Impending
motion
together
f BC
B
C
25 For block C, Eq. 5 is
Stationary
fC = 0
So for equilibrium,
f C = f BC
= 58.9 N
24 Slip impends so
f BC = f BC-max
by Eq. 8
= 58.9 N
We have to check to see if the surfaces of contact between
block C and the ground develop enough friction force to
keep block C stationary.
Compare this with the maximum possible friction force

f C-max
CNC
by Eq. 6
= (0.15)(294.3 N) = 44.1 N
(9)
So the surfaces can develop only 44.1 N while

58.9 N are needed for equilibrium. Thus block C will
move, contrary to our assumption for Case 2.

28 Eq. 5 gives f BC:
26 Case 3
A
Impending
motion together
f BC
fC = 0
Thus
C
f BC = f C
by Eq. 10
= 44.1 N
(11)
27 Slip impends so
and so
f C = f C-max = 44.1 N
by Eq. 8
(10)
44.1 N = f BC < f BC-max = 58.9 N
by Eq. 9
We don't have to check that the surfaces of contact
between blocks A and B and between B and C develop
enough friction to keep A and B in equilibrium, since there
were only three cases of possible motion, and we showed
that the first two cases were impossible. Nonetheless, we
can verify that our work is correct by showing that the
friction forces acting between A and B and between B and
C are less than their maximum possible values.
(OK)
Eq. 3 gives f AB:

f AB
f BC = 0
Thus
f AB = f BC
= 44.1 N
(12)
and so
by Eq. 7
44.1 N = f AB < f AB-max = 78.5 N
(OK)

29 Thus the surfaces of contact between blocks A
and B and between B and C can develop
enough friction to keep blocks A, B, and C
moving together as a unit.
30 Finally, we can calculate P from Eq. 1:
P
or,
f AB = 0
by Eq. 12
P = f AB = 44.1 N
Ans.
31 Why didn't we consider a case like this?

Case 4
A
32 Answer: No matter what the impending motion is,

there are only seven unknown forces (f AB, NAB, f BC, NBC,
f C, NC, and P). Since these seven unknowns must
satisfy the six equations of equilibrium, the unknowns
can be chosen to satisfy only one additional equation
a friction equation. In the unlikely event that the
masses and 's just happen to have values such that the
seven forces simultaneously satisfy the six equilibrium
equations and two friction equations, then one of the
eight equations must be redundant.
Applying this reasoning to Case 4, we see that if forces
exist that satisfy Case 4's equations, then these forces
must be identical to the forces satisfying the equations
for Case 1 (slip between A and B) and Case 2 (slip
between B and C). Since solving Case 4 would give
the same answer as solving Case 1 (or Case 2), we
don't have to consider Case 4. A similar argument can
be made for other possible motions.
Impending motion of A relative to B
Impending motion of B relative to C
Stationary

11. The two cylinders shown are initially at rest when
horizontal forces of magnitude P/2 are applied to the ends
of the axle in the lower cylinder. The coefficients of
static friction for each pair of surfaces are given in the
figure. Determine the largest value of P that can be
applied without moving the cylinders up the inclined
plane.
P/2
Radius of each cylinder = 300 mm
B
= 0.4
= 0.5
Mass of each cylinder = 50 kg
C
A
A
= 0.6
P/2
25

1
Impending motion of point C on lower

cylinder relative to upper cylinder (An
observer on the upper cylinder would
see this motion as the lower cylinder
moves).
Free-body diagram of lower cylinder

y
NC
Weight = mg
= (50 kg)(9.81 m/s2)
= 490.5 N
C
6 The friction force from f C
the upper cylinder
opposes the relative
motion of point C on the
lower cylinder.
fA
4 The numerical values of

calculated later.
and
will be
A
25
x
Radius = 300 mm
8
The friction force from the

plane opposes the motion
of point A on the cylinder.
NA
7
Impending motion of point A on

cylinder. The x component of
the applied force, P cos , is
pushing the cylinder up the
plane.
It is convenient to use an
inclined xy coordinate-system.

9
Equilibrium equations for cylinder:
Fx = 0: (490.5 N) sin
Fy = 0:
90.5 N) cos
MO = 0: f A(300 mm)
P cos
P sin
Free-body diagram of lower cylinder repeated

+ f A + NC = 0
(1)
+ f C + NA = 0
f C(300 mm) = 0
(2)
y
NC
490.5 N
(3)
C
fC
10 Geometry
= 90
= 25
65
O
y
A
fA
65
25
x
Radius = 300 mm
NA
= 25
25

11 Free-body diagram of upper cylinder
y
Radius = 300 mm
Weight = 490.5 N
= 25
P
fC
C
fB
15 The friction force

from the plane
opposes the motion
up the plane.
13 The friction force from the lower

cylinder opposes the relative
motion of point C on the upper
cylinder.
.
NC
x
12 Impending motion of point C on upper

cylinder relative to lower cylinder (An
NB
observer on the lower cylinder would
see this motion as the upper cylinder
moves).
14 Impending motion of point B as
normal force NC pushes the
upper cylinder up the plane.

Free-body diagram of upper cylinder repeated
16 Equilibrium equations
Fx = 0: (490.5 N) sin 25 + f B
Fy = 0:
(490.5 N) cos 25
MO' = 0: f B(300 mm)
NC = 0
(4)
f C + NB = 0
(5)
f C(300 mm) = 0
490.5 N
(6)
17 Thus far we have six equation but seven unknowns (P, f A, NA,
f B, NB, f C, NC), so another equation is needed.
The seventh equation comes from the condition of impending
slip. We have to consider only two cases:
1. slip occurs at point B (and simultaneously rolling
occurs about points A and C).
2. slip occurs at point C (and simultaneously rolling
occurs about points A and B).
Slip at point A will be discussed later.
25
P
C
fB
NC
x
Radius = 300 mm
NB
fC

18 Case 1
Before motion
O'
C
After motion
A
O'
B
20 Slip
For impending slip at B,

f B = f B-max
BNB
= 0.4NB
Displacement of point O
(Point O moves up the plane)
A
(7)
19 Rolling without slipping (The radial

line OA on the lower cylinder
rotates through the same angle, , as
the radial line O'C on the upper
cylinder.)

21 Solving Eqs. 1-7 simultaneously gives
f A = 296 N
NA = 618 N
f B = 296 N
NB = 741 N
f C = 296 N
NC = 504 N
P = 1111 N
22 We must check that the surfaces at A and C can provide enough friction
force to prevent slip and allow rolling:
fA
296
f A-max
A NA
= (0.6)(618 N) = 371 N (OK)
f C-max
CNC = (0.5)(504 N) = 252 N (Not enough! We need
f C = 296 N for equilibrium.)
So the assumption of impending slip at B is wrong.

23 Case 2 (Slip at C, rolling at A
and B)
Before motion
O'
C
After motion
A
O'
C
O
25 Rolling without
slipping
Displacement
of point O
A
26 Slip
24 Rolling without
slipping
For impending slip at C,

f C = f C-max
CNC
= 0.5NC
(8)

27 Solving the six equilibrium equations, Eqs. 1-6, plus Eq. 8
yields
f A = 207 N
NA = 624 N
f B = 207 N
NB = 652 N
f C = 207 N
NC = 415 N
P = 915 N
Ans.
28 The above answers must be correct since we eliminated

the only other possible case where slip impends. But we
can check our results by verifying that the friction forces
at A and B are less than their maximum possible values.
f A = 207 N
f A-max
A NA
= (0.6)(624 N)
= 374 N (OK)
f B = 207 N
f B-max
BNB
= (0.4)(652 N)
= 261 N (OK)
29 What about slip occurring at point A only? Well if the

lower cylinder moves, then the upper cylinder must also
move. But the only way that the upper cylinder can move
is if either 1) it slips at point B, or 2) it slips at point C.
Thus the case of slip impending at point A alone is
impossible and does not have to be considered.
What about simultaneous slip at A and B? Answer: we
have already found values of the seven unknowns in the
problem that satisfy the six equilibrium equations and the
equation for slip at B. In the unlikely case that the seven
values happen to satisfy an eighth equation (slip at A), then
that equation must be redundant, and the solution for the
eight equations is the same as we have already found for
the seven equations.
An analogous statement can be made for the case of
simultaneous slip at A and C.

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7.

1 Friction: Basic Applications

7.1 Friction: Basic Applications Example 1, page 1 of 2

(2 m)(sin 60) = 1.732 m

(1 m)(cos 60) = 0.5 m

The friction force must

Results of solving the above

7.1 Friction: Basic Applications Example 1, page 2 of 2

Compute the maximum possible friction force that

To determine whether or not the ladder will stay in

7.1 Friction: Basic Applications Example 2, page 1 of 2

MA = 0: (98.1 N)(1 m) cos

Three equations, but four unknowns: NB, f A, NA, and

The friction force

7.1 Friction: Basic Applications Example 2, page 2 of 2

Using f A = 19.62 N in Eq. 1 gives

Three of the four equations are linear but the moment

(19.62 N)(2) sin

Dividing through by cos

MA = 0: (98.1 N)(1m) cos

The easiest way to solve these equations is to use the

and rearranging gives

Replacing the left-hand side of this equation by tan

7.1 Friction: Basic Applications Example 3, page 1 of 2

MA = 0: (98.1 N)(1 m) cos

6 Three equilibrium equations but five unknowns: NA,

7.1 Friction: Basic Applications Example 3, page 2 of 2

The two additional equations come from the condition of

7.1 Friction: Basic Applications Example 4, page 1 of 3

Movement of bracket exaggerated for clarity

Peg D loses contact with the pole

Peg A loses contact with the pole

7.1 Friction: Basic Applications Example 4, page 2 of 3

The friction forces, f B and f C,

As the bracket inclines slightly, the pegs at A and D

The normal forces,

MC = 0: (100 N)(300 mm) + f B(50 mm)

7.1 Friction: Basic Applications Example 4, page 3 of 3

There are only three equations of equilibrium but four

7.1 Friction: Basic Applications Example 5, page 1 of 2

3 The friction force f B

Equation of moment equilibrium for the wheel

7.1 Friction: Basic Applications Example 5, page 2 of 2

The sense of the friction

Free-body diagram of arm ABC.

Equation of moment equilibrium for the brake (Since we

MA = 0: f B(200 mm) NB(400 mm)

Thus far we have two equations but three unknowns (M, f

8 The third equation follows from the condition

Solving Eqs. 1-3 simultaneously yields

7.1 Friction: Basic Applications Example 6, page 1 of 4

7.1 Friction: Basic Applications Example 6, page 2 of 4

Free-body diagram showing resultant forces

The resultant of the

The resultant of the distributed force

7.1 Friction: Basic Applications Example 6, page 3 of 4

(10 lb)(2 ft) + N(0.5 ft + x) = 0

Solving these equations gives

9 These are the values required if the system is to

Because f = 10 lb is less than the 12 lb maximum

7.1 Friction: Basic Applications Example 6, page 4 of 4

10 We next consider whether or not the block will tip.