The equilibrium of a rigid body on a plane with anisotropic dry friction

The problem of the conditions for the static equilibrium of a body, resting on a rough plane at one, two or three points, is considered. It is assumed that an arbitrary system of active forces is applied to the body, while the friction on the rough supporting plane is anisotropic. This model generalizes the well-known isotropic model of Coulomb dry friction. Explicit analytic formulae, which express the necessary and sufficient conditions for static equilibrium, are obtained. The investigation procedure uses the idea of an anisotropic force of static friction, which enables analytical results for the equilibrium conditions to be obtained more easily.