Rumus:
fs = gaya gesek statis
ms = koefisien gesek statis
fk = gaya gesek kinetis
mk = koefisien gesek kinetis
P = Resultan gaya reaksi yang mengimbangi gaya aksi F dan W
Nilai fs antara nol sampai maksimum (nilai fs = 0 jika tidak ada gaya luar F yang bekerja pada benda, dan nilai fs mencapai maksimum pada saat benda akan bergerak). fs maksimum ini tergantung pada sifat permukaan benda dan lantai yang bersinggungan serta tergantung pada gaya normal.
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