| Introduction | p. 1 |
| Why is it called tribology? | p. 2 |
| Economic and technological importance of tribology | p. 3 |
| Some tribology success stories | p. 4 |
| Reducing automotive friction | p. 4 |
| MEMS and solving adhesion in Digital Micro-mirror Devices | p. 5 |
| Slider-disk interfaces in disk drives | p. 7 |
| A brief history of modern tribology | p. 10 |
| Scientific advances enabling nanoscale tribology | p. 12 |
| Breakthrough technologies relying on tribology at the small scale | p. 14 |
| Nanoimprinting | p. 16 |
| IBM's millipede for high density storage | p. 18 |
| Nanotechnology | p. 19 |
| References | p. 20 |
| Characterizing surface roughness | p. 24 |
| Types of surface roughness | p. 24 |
| Roughness parameters | p. 26 |
| Variations in Z-height | p. 26 |
| Asperity summits roughness parameters | p. 28 |
| Surface height distributions | p. 29 |
| Measuring surface roughness | p. 30 |
| Atomic force microscopy (AFM) | p. 30 |
| Example: Disk surfaces in disk drives | p. 33 |
| References | p. 37 |
| Mechanical properties of solids and real area of contact | p. 39 |
| Atomic origins of deformation | p. 39 |
| Elastic deformation | p. 43 |
| Basic relations | p. 43 |
| Elastic deformation of a single asperity | p. 44 |
| Approximating a single asperity contact | p. 44 |
| Elastic contact area for a sphere on a flat | p. 45 |
| Example: Spherical steel particle sandwiched between two flat surfaces | p. 46 |
| Plastic deformation | p. 48 |
| Basic relations | p. 48 |
| Hardness | p. 49 |
| Real area of contact | p. 50 |
| Greenwood and Williamson model | p. 51 |
| Example: TiN contacts | p. 53 |
| Real area of contact using the Greenwood and Williamson model | p. 54 |
| Example: Recording head on a laser textured disk surface | p. 55 |
| Inelastic impacts | p. 59 |
| References | p. 61 |
| Friction | p. 63 |
| Amontons' and Coulomb's laws of friction | p. 63 |
| Adhesion and plowing in friction | p. 66 |
| Adhesive friction | p. 66 |
| Plowing friction | p. 68 |
| Work hardening | p. 70 |
| Junction growth | p. 70 |
| Static friction | p. 72 |
| Stick-slip | p. 74 |
| Velocity-controlled stick-slip | p. 75 |
| Time-controlled stick-slip | p. 77 |
| Displacement-controlled stick-slip | p. 78 |
| References | p. 81 |
| Surface energy and capillary pressure | p. 82 |
| Liquid surface tension | p. 82 |
| Capillary pressure | p. 85 |
| Capillary pressure in confined places | p. 87 |
| The Kelvin equation and capillary condensation | p. 90 |
| Example: Capillary condensation of water in a nanosized pore | p. 91 |
| Example: Capillary condensation of an organic vapor at a sphere-on-flat geometry | p. 91 |
| Interfacial energy and work of adhesion | p. 92 |
| Surface Energy of Solids | p. 93 |
| Why solids are not like liquids | p. 93 |
| Experimental determination of a solid's surface energy | p. 95 |
| Contact angles | p. 96 |
| Estimating interfacial energies | p. 97 |
| Zisman method for estimating surface energy for a solid | p. 98 |
| Types of wetting | p. 101 |
| Contact angle measurements | p. 101 |
| Contact angle hysteresis | p. 103 |
| Adhesion hysteresis | p. 104 |
| References | p. 110 |
| Surface forces derived from surface energies | p. 113 |
| The Derjaguin approximation | p. 113 |
| Dry environment | p. 114 |
| Force between a sphere and a flat | p. 114 |
| Example: Adhesion force between two polystyrene spheres | p. 115 |
| Example: Adhesion force between a polystyrene sphere and a PTFE Flat | p. 115 |
| Example: Adhesion force for an atomically sharp asperity | p. 116 |
| Adhesion-induced deformation at a sphere-on-flat contact | p. 117 |
| The Johnson-Kendall-Roberts (JKR) theory | p. 117 |
| The Derjaguin-Muller-Toporov (DMT) theory | p. 121 |
| Adhesion deformation in nanoscale contacts | p. 121 |
| Wet environment | p. 122 |
| Force for a sphere-on-flat in a wet environment | p. 122 |
| Example: Lubricant meniscus force on an AFM tip | p. 123 |
| Solid-solid adhesion in the presence of a liquid meniscus | p. 125 |
| Water menisci in sand | p. 126 |
| Meniscus force for different wetting regimes at contacting interfaces | p. 128 |
| Toe dipping regime | p. 128 |
| Example: Toe dipping adhesion with exponential distribution of summit heights | p. 129 |
| Pillbox and flooded regimes | p. 131 |
| Immersed regime | p. 132 |
| Example: Liquid adhesion of a microfabricated cantilever beam | p. 133 |
| References | p. 135 |
| Physical origins of surface forces | p. 137 |
| Normal force sign convention | p. 137 |
| Repulsive atomic potentials | p. 138 |
| Van der Waals forces | p. 139 |
| Van der Waals forces between molecules | p. 139 |
| Retardation effects for dispersion forces | p. 142 |
| Van der Waals forces between macroscopic objects | p. 142 |
| Molecule-flat surface interaction | p. 142 |
| Flat-Flat interaction | p. 144 |
| Sphere-flat interaction | p. 145 |
| The Hamaker constant | p. 145 |
| Determining Hamaker constants from Lifshitz's theory | p. 146 |
| Example: Van der Waals force on a polystyrene sphere above a Teflon flat | p. 151 |
| Surface energies arising from van der Waals interactions | p. 152 |
| Van der Waals adhesive pressure | p. 153 |
| Van der Waals interaction between contacting rough surfaces | p. 154 |
| Example: Stuck microcantilevers | p. 156 |
| Example: Gecko adhesion | p. 158 |
| Van der Waals contribution to the disjoining pressure of a liquid film | p. 160 |
| Liquid-mediated forces between solids | p. 162 |
| Solvation forces | p. 162 |
| Example: Squalane between smooth mica surfaces | p. 164 |
| Oscillatory solvation forces at sharp AFM contacts | p. 166 |
| Forces in aqueous medium | p. 167 |
| Electrostatic double-layer force | p. 167 |
| Hydration repulsion and hydrophobic attraction | p. 169 |
| Contact electrification | p. 171 |
| Mechanisms of contact electrification | p. 172 |
| Conductor-conductor contact | p. 172 |
| Example: Recording head slider flying over a disk in a disk drive | p. 175 |
| Metal-insulator and insulator-insulator Contacts | p. 177 |
| AFM studies of contact electrification | p. 179 |
| References | p. 181 |
| Measuring surface forces | p. 186 |
| Surface force apparatus | p. 188 |
| Atomic force microscope | p. 192 |
| Examples of forces acting on AFM tips | p. 195 |
| Van der Waals forces under vacuum conditions | p. 195 |
| Capillary condensation of contaminants and water vapor | p. 197 |
| Bonded and unbonded perfluoropolyether polymer films | p. 200 |
| Electrostatic double-layer force | p. 202 |
| References | p. 204 |
| Lubrication | p. 207 |
| Lubrication regimes | p. 207 |
| Viscosity | p. 209 |
| Definition and units | p. 209 |
| Non-Newtonian behavior and shear degradation | p. 211 |
| Temperature dependence | p. 214 |
| Fluid film flow in confined geometries | p. 214 |
| Slippage at liquid-solid interfaces | p. 216 |
| Definition of slip length | p. 217 |
| Measuring slip at liquid-solid interfaces | p. 218 |
| Pressure drop versus flow rate method | p. 218 |
| Drainage versus viscous force | p. 219 |
| Mechanisms for slip at liquid-solid interfaces | p. 220 |
| Molecular slip | p. 220 |
| Molecular slip at low energy surfaces | p. 220 |
| Slippage of polymers melts | p. 222 |
| Apparent slip | p. 222 |
| Example: Shear stress in the presence of slip | p. 225 |
| Why does the no-slip boundary condition work so well? | p. 225 |
| Fluid film lubrication | p. 226 |
| Hydrodynamic lubrication | p. 228 |
| Inclined plane bearing | p. 229 |
| Rayleigh step bearing | p. 229 |
| Journal bearings | p. 230 |
| Gas bearings | p. 232 |
| Slip flow in gas bearings | p. 234 |
| Elastohydrodynamic lubrication | p. 235 |
| Pressure dependence of viscosity | p. 235 |
| Pressure-induced elastic deformation | p. 236 |
| Example: Minimum film thickness between sliding gear teeth | p. 238 |
| Experimental measurements of elastohydrodynamic lubrication | p. 239 |
| Important physical and chemical properties of lubricants | p. 241 |
| Surface tension | p. 241 |
| Thermal properties | p. 242 |
| References | p. 243 |
| Lubrication in tight spots | p. 246 |
| Confined liquids | p. 246 |
| Boundary lubrication | p. 255 |
| Molecular mechanisms of boundary lubrication | p. 256 |
| Molecularly thin liquid boundary lubricant layers | p. 260 |
| Example of the importance of end-groups in a liquid lubricant film | p. 262 |
| Capillary and disjoining pressures | p. 265 |
| Disjoining pressure | p. 265 |
| Distribution of a liquid film around a pore opening | p. 267 |
| Example: Measurement of the disjoining pressure of a perfluoropolyether lubricant | p. 269 |
| Lubricant distribution between contacting surfaces | p. 270 |
| Meniscus force | p. 272 |
| Example: Stiction of a recording head slider | p. 272 |
| Calculating meniscus force | p. 273 |
| Example: Calculation of stiction force of disk drive sliders in the pillbox regime | p. 275 |
| Padded or stiction-free slider | p. 276 |
| Liquid menisci at high speeds | p. 278 |
| References | p. 279 |
| Atomistic origins of friction | p. 284 |
| Simple models for adhesive friction | p. 284 |
| Atomistic models for static friction | p. 286 |
| Frenkel-Kontorova model | p. 287 |
| Experimental realizations of ultra-low friction in incommensurate sliding systems | p. 289 |
| Tomlinson model | p. 290 |
| Example: An AFM tip sliding across an NaCl crystal at ultra-low loads | p. 291 |
| Molecular dynamic simulations | p. 295 |
| Example: Cold welding | p. 295 |
| Why static friction occurs in real-life situations | p. 295 |
| Atomic origins of kinetic friction | p. 297 |
| Sliding isolated molecules and monolayers across surfaces | p. 297 |
| Quartz crystal microbalance | p. 299 |
| Example: Xe on Ag(111) | p. 300 |
| Movement of a liquid film on a surface with the blow-off technique | p. 301 |
| Example: Wind-driven flow of perfluoropolyether lubricants on silicon wafers | p. 302 |
| Pinning of an absorbed layer | p. 307 |
| References | p. 308 |
| Wear | p. 313 |
| Simple model for sliding wear | p. 314 |
| Major influences on wear rates | p. 317 |
| Wear maps | p. 318 |
| Mechanisms of wear | p. 319 |
| Wear from plastic deformation | p. 319 |
| Adhesive wear | p. 320 |
| Example: An atomic level simulation of adhesive wear | p. 321 |
| Abrasive wear | p. 321 |
| Oxidative wear | p. 325 |
| Metals | p. 325 |
| Carbon overcoats | p. 326 |
| Ceramics | p. 326 |
| Plasticity at the nanoscale | p. 327 |
| References | p. 329 |
| Index | p. 331 |
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