Stability of sliding with Coulomb friction law

This paper considers the behavior of an elastically-supported mass with three translational degrees-of-freedom which can make contact with a rigid Coulomb friction support. Even when the quasi-static analysis guarantees uniqueness of solutions, the dynamic solution is shown to deviate from the quasi-static solution and typical dynamic responses include oscillatory slip, Emit cycle, and stick-slip. A perturbation analysis is performed on the quasi-static solution and it predicts instability for certain slip directions. Simulation results for general loading scenario are presented to demonstrate the responses passing through unstable slip regions.