6.Define angle of friction $\lambda$ and angle of repose $\theta_{repose}$, and prove $\mu_s = \tan\lambda = \tan\theta_{repose}$.
Sol: Limiting friction $f_s = \mu_s N$. Angle between resultant contact force and normal is $\tan\lambda = \frac{f_s}{N} = \mu_s$. On incline at impending slip $m g \sin\theta = f_s = \mu_s m g \cos\theta \implies \tan\theta = \mu_s$.