Non-Linear Expressions for Rolling Friction of a Soft Ball on a Hard Plane

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20 Citations (Scopus)


A new set of expressions for the rolling friction of a viscoelastic sphere rolling on a hard plane is derived. The new expressions take into consideration the speed of rotation, the material relaxation time and other material characteristics. It is found that when the relaxation effect is not negligible, the relationship between rolling friction and rolling speed is non-linear. The derivation of this model is based on the energy-equivalence method that gives a more comprehensive consideration of dominant parameters in the calculation.
Original languageEnglish
Pages (from-to)33-41
Number of pages9
JournalNonlinear Dynamics
Issue number1
Publication statusPublished - 1 Jul 2003


  • Non-linear
  • Relaxation
  • Rolling friction
  • Viscous deformation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Aerospace Engineering
  • Ocean Engineering
  • Mechanical Engineering
  • Applied Mathematics
  • Electrical and Electronic Engineering


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