Frictional coupling between sliding and spinning motion

We show that the friction force and torque, acting at a dry contact of two objects moving and rotating relative to each other, are inherently coupled. As a simple test system, a sliding and spinning disk on a horizontal flat surface is considered. We calculate, and also measure, how the disk is slowing down, and find that it always stops its sliding and spinning motion at the same moment. We discuss the impact of this coupling between friction force and torque on the physics of granular materials.