Coulomb Friction Condition Between Two Particles

Available identifiers

describes the transition between static and dynamic friction in a simple (linear) friction model

Defining Formula: $\begin{matrix} ‖ 𝑭_{i j}^{T, c o n s} ‖ & \leq μ ‖ 𝑭_{i j}^{N} ‖ with \\ 𝑭_{i j}^{T, c o n s} & = - k_{i j}^{T} 𝝃_{i j} = - k_{i j}^{T} (𝒙_{C_{j i}} - 𝒙_{C_{i j}} - ⟨ 𝒙_{C_{j i}} - 𝒙_{C_{i j}}, 𝒏_{i j} ⟩ 𝒏_{i j}) \end{matrix}$
$𝑭_{i j}^{N}$ symbol represents Normal Interaction Force of Two Particles
$𝒏_{i j} \in ℝ^{3}$ symbol represents Unit Normal Vector
$μ$ symbol represents Friction Coefficient
$k_{i j}^{T}$ symbol represents Tangential Stiffness
$x_{C_{i j}}$ symbol represents Contact Point Of Particles