Geodesic
Multicomponent models of friction
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 6 (2011), pp. 57-59 
O. S. Sentemova. Multicomponent models of friction. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 6 (2011), pp. 57-59. http://geodesic.mathdoc.fr/item/VMUMM_2011_6_a13/
@article{VMUMM_2011_6_a13,
     author = {O. S. Sentemova},
     title = {Multicomponent models of friction},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
     pages = {57--59},
     year = {2011},
     number = {6},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VMUMM_2011_6_a13/}
}
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Voir la notice de l'article provenant de la source Math-Net.Ru

The problem of motion of a homogeneous ball on a horizontal plane is considered. It is assumed that the contact patch is a spherical segment, whereas the pressure center does not coincide with the center of the contact patch and is displaced in the direction of the ball sliding. The friction force has two components that are parallel and orthogonal to the sliding velocity; the friction force moment has a vertical component and two horizontal components.