So:

L2
a= tan
2
The resultant of the normal force and frictional force act directly below the
center of mass.

EXAMPLE

Q: For what range of W0 is the block in equilibrium?

FBD
Case 1: Impending motion is down the plane.


Fx = 0
T1 + F1 W sin = 0


Fy = 0
N1 W cos = 0

4
Case 2: Impending motion is up the plane.


Fx = 0
T2 + F2 W sin = 0


Fy = 0
N2 cos = 0
What about T ?

FBD of Cable

Look at dierential element

5
 Fx = 0
   
d d
T () cos T ( + d) cos =0
2 2
T () = T ( + d) = T

Fy = 0
   
d d
dN T () sin T ( + d) sin =0
2 2
d d
dN T () T ( + d) =0
2 2
T d = dN
So:

T = W0
Back to block:

T1 = T2 = W0
N1 = N2 = N = W cos
For case 1:

F1 = s N = s W cos

s W cos + W0 + W sin = 0
W0 = W sin s W cos
The block will be stable against downward motion when:

W0 = W sin s W cos
For case 2:

F2 = s N = s W cos

s W cos + W0 + W sin = 0
W0 = W sin s W cos

6
 The block will be stable against downward motion when:

W0 W sin + s W cos
So it is stable when:

W (sin s cos ) W0 W (sin + s cos )

What about pulley with friction? Look at a dierential element.

Recall a rope around a rod.


Fx = 0
   
d d
T () cos T ( + d) cos dF = 0
2 2

Fy = 0
   
d d
dN T () sin T ( + d) sin dF = 0
2 2
 
d d
sin
2 2
 
d
cos 1
2

dT = T ( + d) T () T ( + d) = T () + dT = T + dT
So:

T () T ( + d) dF = 0
dT = dF

T d d
dN + (T + dT ) =0
2 2
T + dT 0
dN T d = 0
With impending motion:

dF = s dN

dT = s dN
 dT
dN =
s
Substitute:
dT
T d = 0
s
Thus:
dT
= s d
T
Integrate:
 T2 
dT
= s d
T1 T 0
 T2
ln T = s
T
 1
T2
ln = s
T1
T2
= exp(s )
T1
T2 = T1 exp(s )
This is known as the capstan eect.

EXAMPLE: Boat on a dock

= 3(2) 20
s = 0.4
T2 = T1 exp(8)
 
1
T2 T1
3000